259 results about "Differentiator" patented technology

The invention discloses an LADRC control system based on a linear expansion tracking differentiator and a parameter setting method of the LADRC control system, according to the control system, the n + 1-order linear expansion tracking differentiator is designed, high-order differential signals are increased, and lagging and estimation errors of a standard LADRC during signal tracking are effectively solved. The problem that overshoot exists in closed-loop transfer function step response after linear LADRC and a control object are combined is solved. The setting method has clear and specific theoretical guidance and clear and reasonable debugging rules, is more suitable for field debugging habits, and avoids the problems of fuzzy parameter interpretation and unclear debugging process caused by a traditional experience setting formula.

The invention provides an unmanned aerial vehicle motor rotating speed control method based on active disturbance rejection. The method comprises the following steps: 1) measuring the rotating speed of a motor by adopting a high-precision rotating speed sensor based on a quantum effect; 2) designing a tracking differentiator TD to smooth an expected rotating speed, and outputting a rotating speed tracking signal and a rotating speed tracking signal change rate; 3) introducing a dynamic weight matrix to form a dynamic weight expansion state observer DWESO, and taking an output state variable estimation value and a total disturbance estimation value as the input of the NLSEF; 4) automatically searching the optimal combination of the gain parameters of the DWESO by adopting an ALA (artificial Louver Mouse Algorithm), so that the optimal state variable estimation value and the optimal total disturbance estimation value are output to the NLSEF; compared with the prior art, the method for controlling the rotating speed of the unmanned aerial vehicle has the advantages that the dynamic response speed, the anti-jamming capability and the parameter adaptability of the system are remarkably improved, and the flight performance and the robustness of the unmanned aerial vehicle are improved.

The invention discloses a control system and method for a thermal power generating unit and flywheel energy storage to cooperatively participate in power grid frequency modulation and a power grid frequency modulation method. According to the method, a low-pass filtering algorithm is abandoned, a tracking differentiator is used for decomposing a primary frequency modulation instruction of the thermal power generating unit, and decomposed low-frequency power components are distributed to the thermal power generating unit; high-frequency power components are distributed to the flywheel for energy storage, action times and output abrasion of the thermal power generating unit are reduced, and the service life of the unit is prolonged. A gain coefficient which adaptively changes along with the state of charge (SOC) and frequency deviation is introduced into the decomposed high-frequency power component, so that accurate matching requirements are facilitated, the energy utilization efficiency is improved, the frequency fluctuation of a power grid is better stabilized, and the quality of the power grid is improved; and meanwhile, a Logistic function for preventing the flywheel from being overcharged and overdischarged is introduced to restrain the theoretical response power of flywheel energy storage, deep charging and discharging of the flywheel are avoided, and therefore the loss of the flywheel is reduced.

The invention relates to a four-rotor unmanned aerial vehicle anti-interference trajectory tracking control method based on an observer and a tracking differentiator, and belongs to the field of aerial robot control. According to the method, various aerodynamic disturbances in the environment are estimated in real time by using the nonlinear disturbance observer; then, external interference estimated in real time is used as an interference compensation item of a sliding mode controller to obtain control laws of a four-rotor position subsystem and a four-rotor attitude subsystem, and meanwhile, an improved tracking differentiator is used for providing a smoother expected attitude signal; and finally, proving accurate estimation of the nonlinear disturbance observer on external disturbance through a global consistent final bounded stability theory, and proving the stability of the four-rotor control system through a Lyapunov method. A novel high-frequency switching function established in a control law is combined with an improved tracking differentiator, so that the buffeting problem of sliding mode control is effectively suppressed, and a nonlinear interference observer improves the anti-interference capability of four rotors; the control input buffeting is reduced while the robustness of the four rotors is improved.

The invention provides a quadrant switching smooth control method, device and equipment for an electro-hydrostatic system, and relates to the technical field of electro-hydraulic compound drive control. According to the method, sensor state information is acquired, a discretization state-space equation is established, a cost function is designed, improved sequential quadratic programming is called to solve the optimal control quantity, instructions are smoothly processed through a linear tracking differentiator, a reference value is calculated through a current distribution strategy and pressure feed-forward compensation, and cooperative impact resistance control is achieved through a PI controller and SVPWM. The response speed and stability of the electro-hydraulic compound system in the quadrant switching process can be remarkably improved, the problems of impact and torque overshoot are effectively restrained, the service life of equipment is prolonged, and the electro-hydraulic compound system is suitable for high-performance requirement scenes under complex working conditions such as electric loaders, excavators and winches.

The invention discloses a low-rigidity heavy-load permanent magnet synchronous motor flexible system structure resonance suppression method, and relates to the technical field of permanent magnet synchronous motor control, and the method comprises the steps: carrying out the dynamic filtering of an input position signal through setting a TD tracking differentiator, and generating a smooth planning instruction and a differential signal thereof; based on the planned instruction differential signal, a speed feed-forward control method is adopted to introduce feed-forward compensation in a position closed loop; constructing a disturbance observer according to the electromagnetic torque equation of the motor, estimating the actual wheelbase of the system in real time, and performing disturbance compensation; based on system resonance characteristics, an IP control method is adopted to perform pole assignment, and proportional gain and integral gain are set to suppress structure resonance and optimize closed-loop response. According to the method, a relatively good resonance suppression effect can be achieved without displacement, speed or acceleration signals of a load end and information such as very accurate load resonant frequency, relatively good dynamic response is achieved, and the requirement on hardware is reduced.

The invention discloses an anti-interference control method for a longitudinal model in a ground effect area of a ground effect aircraft, and the method comprises the steps: firstly arranging a transition process for system expected input and system actual output through a tracking differentiator, and enabling the transition process to reduce the initial value deviation as much as possible; secondly, a new nonlinear function is introduced to improve the extended observer, so that the anti-interference capability of the system is greatly enhanced, and the robustness of the system is enhanced; finally, a new nonlinear function is introduced, a nonlinear feedback law is improved, a system control law is obtained, and the control precision of the system is greatly improved.

The invention discloses a miniature proportional valve control method based on active-disturbance-rejection control, and relates to the technical field of miniature proportional valve control, and the method comprises the steps that a target flow set value is received and is used as a control signal to be sent to a control unit, and the control unit comprises a tracking differentiator, an expansion state observer and a nonlinear feedback controller; the tracking differentiator processes the target flow set value to obtain a differential input signal; the expansion state observer receives the differential input signal and the actual flow feedback signal, and estimates the total disturbance of the system in real time to obtain a disturbance estimation value; the non-linear feedback controller combines the differential input signal and the disturbance estimation value to generate a compensation current signal; the compensation current signal is used as a control parameter of the micro proportional valve, and the position of the valve element is accurately adjusted. An active disturbance rejection control algorithm is adopted, the control performance and disturbance rejection are improved, accurate flow control of the micro proportional valve is achieved, and the micro proportional valve is more suitable for industrial application with high requirements.

The invention provides an active-disturbance-rejection sliding mode compound control system of a wrist rehabilitation robot, and relates to the technical field of rehabilitation robot control, the wrist rehabilitation robot adopts a folding air bag as a driving element, and the control system comprises a tracking differentiator used for tracking and differentiating an input target angle signal; the extended state observer is used for estimating the system state and the total disturbance in real time; the sliding mode controller is used for designing a nonlinear control rate; the dead-zone nonlinear inverse function control module is used for compensating the nonlinear control rate of the sliding mode controller and eliminating dead-zone nonlinearity of the high-speed switch valve; and the self-adaptive combination valve comprises two high-speed switch valves, a control unit and a pressure sensor and is used for executing the control instruction and monitoring the pressure in the folding air bag. The problems of compressibility of air in the air bag, dead zone nonlinearity of a gas control element, nonlinearity of gas flow and the like can be solved, and high-precision trajectory tracking control over the wrist rehabilitation robot is achieved.

The invention relates to the technical field of power system operation and control, and discloses an improved model-free adaptive flexible low-frequency power transmission oscillation suppression method, which performs zero-phase lag filtering on noisy signals through a nonlinear tracking differentiator, effectively solves the problem of control divergence caused by signal noise, and improves the suppression efficiency. A tight-format dynamic linearization and linear expansion state observer technology is adopted, accurate capture of dynamic characteristics of a strong nonlinear system and real-time observation and compensation of internal and external full-dimensional disturbance are achieved without dependence of a physical model, and particularly, an adaptive estimation algorithm of an output variable quantity penalty factor is introduced. The problem that model parameter identification jumps severely under the broadband oscillation working condition is solved, the robustness of a control system is enhanced, and the self-adaptive optimality of a control strategy is guaranteed and interference of long-term online operation on steady-state performance is avoided by combining parameter optimization of a cuckoo search algorithm and an event triggering mechanism of time-frequency double criteria.

The invention discloses a method for an unmanned ship to cooperatively surround an unknown target in a GPS denial environment, and relates to the technical field of unmanned ship cooperative control. In order to solve the problems that effective surrounding is difficult to complete in a GPS denial or unstable signal environment, the unmanned surface vehicle does not respond to target maneuvering in time and the surrounding precision of a dynamic complex water area is difficult to guarantee, the scheme is provided as follows: establishing an unmanned surface vehicle motion mathematical model, and describing the two-dimensional plane motion and dynamics of the unmanned surface vehicle; calculating a target speed estimator according to the distance and azimuth measurement between the adjacent unmanned ships; designing a first-order fixed time differentiator, and approaching a target speed and a derivative thereof within a preset time; on the basis of azimuth rigidity, the azimuth between the adjacent unmanned surface vehicle and the target is regarded as a rigid constraint, a rotation item is introduced to realize collaborative surrounding, and uncertain interference and model errors are compensated online. The scheme can be applied to cooperative surrounding operation of multiple unmanned ships on unknown targets in a GPS denial or signal limited environment.

The invention discloses a sliding mode-extended state observer vibration control method based on time delay compensation in the field of vibration control. The sliding mode-extended state observer vibration control method comprises the following steps: step 1) carrying out novel modeling on a four-side fixed support plate system; 2) designing an extended state observer; 3) designing a sliding mode controller; 4) designing a time delay compensator; and step 5) calculating the control quantity by using the NI-PCIe acquisition card and the Simulink. According to the invention, based on NI-PCIe hardware-in-the-loop platform development, the problems of system time lag, model uncertainty, influence of an inertial actuator and external excitation existing in a four-side fixed support plate are solved, and the total disturbance of the system including internal and external disturbance is estimated through an extended state observer. A content system is simplified into an integral series connection type for control by eliminating total disturbance through feedforward, and a delay compensator based on an enhanced differentiator is introduced to carry out non-delay design on the system, so that the vibration suppression performance of the sliding mode controller is improved.

The invention relates to the technical field of motor control, and discloses a management method, device and equipment of a sliding-mode active-disturbance-rejection controller, a storage medium and a computer product, and the method comprises the steps: obtaining a first-order tracking differentiator of a second-order active-disturbance-rejection controller; constructing a newfal function according to the design condition of the nonlinear function and the fal function, and constructing a second-order expansion state observer according to the newfal function; obtaining an adjustment function according to the approaching speed of the moving point and the distance from the moving point to the sliding mode surface, and substituting the adjustment function into a traditional exponential approaching law to obtain an output controller; and according to the first-order tracking differentiator, the second-order expansion state observer and the output controller, constructing a sliding-mode active-disturbance-rejection controller. The control precision of the permanent magnet synchronous motor is improved by constructing a new continuous smooth expansion state observer, introducing sliding mode control and designing a new sliding mode adaptive reaching law.

The invention relates to a permanent magnet synchronous motor improved fractional order sliding mode active-disturbance-rejection control method based on an improved fractional order super-spiral sliding mode observer, and the method specifically comprises the steps: firstly, building a mathematical model of a PMSM in an alpha-beta and d-q coordinate system, designing an improved fractional order super-spiral sliding mode disturbance observer, and estimating the unknown disturbance in a system in real time; and finally, optimizing a steepest function and designing a fractional order tracking differentiator in combination with a fractional order calculus principle. A nonlinear state error feedback law is constructed, nonlinear calculation is carried out on the proportion, differential and integral of an error signal, and the anti-interference capability, the response speed and the control precision of the controller are improved; and combining a fractional order tracking differentiator, a fractional order state observer and a nonlinear feedback control law, and designing a fractional order sliding mode active-disturbance-rejection controller. According to the method, system buffeting is effectively weakened while the convergence speed is increased, and the robustness of the controller under load disturbance is effectively improved.

The invention provides a method for correcting a flow coefficient of a large-diameter regulating valve, which belongs to the technical field of aero-engines and comprises the following steps: filtering original test data by adopting a tracking differentiator to obtain filtered test data; constructing a regulating valve flow characteristic model, and retrieving an original model theoretical flow coefficient by setting a simulation condition which is the same as a test working condition; constructing a flow coefficient calculation model, inputting the filtered test data into the model, and calculating a real flow coefficient; establishing a flow coefficient deviation prediction model based on a random forest algorithm, substituting the difference value between the real flow coefficient and the theoretical flow coefficient into the model for training, obtaining a flow coefficient prediction deviation value, superposing the flow coefficient prediction deviation value with the theoretical flow coefficient to generate a new flow coefficient, and replacing the theoretical flow coefficient of the original model with the new flow coefficient; and new test working condition data are obtained, the steps are repeated, and the flow coefficient is continuously updated. According to the scheme, the adjusting valve transition state working condition flow coefficient and the flow calculation accuracy are improved.

The invention discloses an LLC converter output voltage optimization method and device based on active disturbance rejection control. The method comprises the following steps: inputting an observed output voltage of a resonant converter to an extended state observer; inputting the reference output voltage into a tracking differentiator, outputting a smooth voltage tracking signal and a voltage change rate estimation value by the tracking differentiator, and subtracting from the output of the extended state observer to obtain a first error signal and a second error signal; inputting the first error signal and the second error signal into a nonlinear state error feedback controller, and outputting an error integral signal by the nonlinear state error feedback controller; subtracting the error integral signal and the output of the extended state observer, and dividing the difference by a stability coefficient to obtain a switching frequency control quantity; parameters in the extended state observer and the nonlinear state error feedback controller and a stability coefficient are obtained through a multi-objective optimization algorithm. By adopting the technical scheme, the anti-disturbance capability of the LLC resonant converter is effectively improved.

The invention discloses a method for realizing a multi-polarization high-numerical aperture Laplace differentiator based on a metasurface, and belongs to the technical field of micro-nano photonics, optical simulation calculation and light field regulation and control. The single-layer metasurface is composed of a cylindrical array which is made of an amorphous silicon material and has a hexagonal lattice period. Geometric parameters of a silicon cylinder are designed and selected, so that the metasurface excites resonance spectrums with large-angle dispersion capability under illumination of p polarized light and s polarized light in the same working wavelength range, and an optical transfer function required by optical Laplacian differential operation with broadband and high numerical aperture is realized in a real airspace; and Laplacian operation can be executed under non-polarized light and non-coherent light conditions. And generating a processing file of the corresponding metasurface according to the determined geometric dimension of the silicon cylinder unit. And processing the dielectric metasurface by adopting a micro-nano processing technology of electron beam etching. In a working wave band, the metasurface can directly obtain two-dimensional second-order edge contour information of a target image under various illumination conditions.

The invention relates to a control and adjustment method and device of an accelerometer, electronic equipment and a medium, and belongs to the technical field of accelerometers, and the method comprises the steps: obtaining a first parameter value representing the acceleration of the accelerometer through a detection device of the accelerometer; inputting the first parameter value into a preset rapid tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration; inputting the actual given value of the accelerometer and the first parameter value into a preset state observer to obtain a first estimated value, a second estimated value and a third estimated value of the accelerometer; determining a first error value between the tracking value and the first estimated value, determining a second error value between the differential value and the second estimated value, and determining a comparison value of the third estimated value and a control gain of the accelerometer; and inputting the first error value, the second error value and the comparison value into a preset feedback control rate model to obtain a feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

The invention discloses a non-singular fast terminal sliding mode observer based on a neural network phase-locked loop. A Sigmoid function is adopted to design a non-singular fast terminal sliding mode surface in the observer; a stator current error system is defined, an equivalent item of a sliding mode control law is obtained according to an equivalent sliding mode control principle, a switching control law is designed for control of the stator current error system state on a sliding mode surface, and the sliding mode control law in the observer is obtained according to the equivalent item and the switching control law; introducing a rapid tracking differentiator comprising a terminal attractor, wherein the rapid tracking differentiator is used for accurately tracking and filtering the back electromotive force; and a phase-locked loop in the observer is controlled through the BP neural network, and the phase-locked loop is used for extracting an electrical angle and an electrical angular velocity signal from the back electromotive force to obtain a final sliding-mode observer. According to the method, the convergence speed is effectively increased, high-frequency buffeting is reduced, phase delay is compensated, and the dynamic performance is improved.

The invention discloses a ship rust removal mechanical arm anti-interference motion control method introducing jet flow counter-acting force, and relates to the technical field of ship rust removal equipment control. Aiming at the problems of poor robustness, easy saturation of an integral term and poor dynamic response effect when a ship rust removal mechanical arm is faced with water jet reaction force and other interferences in traditional PID control, the invention provides an active disturbance rejection control (ADRC) scheme introducing jet reaction force. The method comprises the following steps: constructing a jet reaction force model, mapping the jet reaction force model into a joint torque compensation item based on a Jacobian matrix, and integrating the joint torque compensation item to an ADRC control law; an improved tracking differentiator, a nonlinear extended state observer (ESO) and a nonlinear state error feedback (NLSEF) module are designed, real-time estimation and compensation of internal and external disturbance of a system are achieved, and joint control performance is optimized. Experiments show that by means of the method, the joint angular displacement tracking error can be reduced by 10% or above, the adjusting time is shortened to 2 s from 10 s, the absolute value of the transient error is smaller than 0.3 rad, and the anti-interference capacity and the control precision of the mechanical arm are remarkably improved.

The invention relates to the field of control, in particular to a flight attitude control method and system for an unmanned aerial vehicle, and the method comprises the steps: obtaining an expected attitude angle instruction and actual attitude angle feedback of the unmanned aerial vehicle, calculating an attitude angle error, employing a tracking differentiator to calculate a transition process for the expected attitude angle instruction, and enabling a tracking rate factor to achieve the control of the flight attitude of the unmanned aerial vehicle when the instruction is subjected to step change. Based on initial attitude angle error setting, instruction smooth transition is ensured, based on a transition signal output by a tracking differentiator and an estimated value of an expansion state observer, a basic control quantity is generated through nonlinear state error feedback, and control gain is adjusted on line according to a lumped disturbance amplitude. And predicting the lumped disturbance historical sequence by using a grey prediction model, calculating a predicted value at a future moment, and carrying out algebraic summation on the basic control quantity, a compensation component of the lumped disturbance predicted value and a gyroscopic moment decoupling component to generate an attitude control moment signal so as to realize stable flight of the unmanned aerial vehicle.

The invention discloses a piezoelectric micro-positioning platform preset performance control method based on an extended state observer, and the method mainly comprises the steps: firstly, building a piezoelectric micro-positioning platform system model considering input hysteresis and unknown disturbance; secondly, designing an extended state observer based on a radial basis function neural network to estimate an unmeasurable state of the system and lumped disturbance containing input hysteresis; then, a preset performance function is used, so that the overshoot performance of the system is effectively improved; thirdly, in combination with a preset performance function, a first-order sliding mode differentiator and an expansion state observer, providing a virtual control law and an adaptive control law; and finally, a preset performance controller is utilized, a Lyapunov stability theory is combined, proper parameters are selected to ensure that the closed-loop system is kept stable within preset time, and tracking errors are controlled within a set error range.

The invention discloses an active control method and system for suppressing torsional vibration of a permanent magnet synchronous wind driven generator, and the method comprises the steps: building a dual mass-rigidity-damping model through a lumped mass method based on transmission chain parameters and pneumatic torque, and obtaining a transmission chain dynamic equation; performing torsional vibration characteristic analysis on the natural wind speed, the pneumatic torque and the transmission chain dynamic equation to obtain a torsion angle, an eigenfrequency, a damping ratio equation and electromagnetic torque influence evaluation; and controller design is carried out on the torsional vibration mathematical model and the active disturbance rejection controller parameters to obtain an electromagnetic torque compensation amount, and active suppression of torsional vibration is realized. According to the invention, through cooperation of a physical model and intelligent control, a sensing-analysis-compensation closed loop is formed; a high-precision mathematical model is constructed, and a wind-machine-electricity coupling effect is captured; the ADRC regards unknown parameters and external disturbance as total disturbance, real-time estimation and compensation are carried out through a tracking differentiator, and an accurate system model is not needed; torsional vibration is restrained, and adaptability is enhanced.

The invention discloses a preset time intelligent active disturbance rejection control method and device. The method comprises the following steps: acquiring an error kinetic equation of a target control system; constructing a preset performance function according to the error kinetic equation; constructing a target tracking differentiator according to the preset performance function; constructing an extended state observer according to the error kinetic equation; constructing a nonlinear control law according to the target tracking differentiator and the extended state observer; obtaining an active disturbance rejection controller according to the target tracking differentiator, the extended state observer and the nonlinear control law; and combining an intelligent anti-disturbance algorithm with the active-disturbance-rejection controller, and controlling the target control system to obtain environment state data. The method can improve the stability and robustness of a control system, and can be widely applied to the technical field of active disturbance rejection control.

According to the monitoring device based on the optical fiber sensor cable joint, the temperature detection unit adopts an optical fiber temperature sensor to measure a cable joint temperature signal and an environment temperature signal, the measured cable joint temperature signal is corrected according to the influence of the environment temperature signal on the measured cable joint temperature signal, and the corrected signal enters the fault fitting unit; the current detection unit adopts an optical fiber current sensor to measure current during cable operation, power consumption is calculated according to a current signal, the power consumption enters the fault fitting unit after being filtered, the partial discharge detection unit adopts an optical fiber sonic sensor to detect a partial discharge signal, and the partial discharge signal enters the fault fitting unit after being converted by a transformer and a differentiator; the fault fitting unit is used for avoiding instantaneous false triggering through bidirectional triggering alarm when the measured cable joint temperature signal is abnormal or the partial discharge is abnormal after the power consumption superposition correction, and is used for rapidly triggering and timely alarming when the partial discharge signal is abnormal, and the action is reliable.

The invention discloses a permanent magnet synchronous motor control method based on dynamic surface active disturbance rejection. Comprising the steps that a tracking differentiator tracks an expected position signal of the permanent magnet synchronous motor, and a tracking signal and a differential signal of the expected position signal are obtained and output; the dynamic surface expansion state observer is used for obtaining a state estimation value, giving an estimation value by taking a known factor and an uncertain factor as sum disturbance, and compensating the estimation value of the sum disturbance; according to the dynamic surface nonlinear state error feedback control law, the output value of a controller is obtained through the output of a tracking differentiator and the feedback value of the actual position, the total disturbance estimated value of the nonlinear expansion state observer is added into the system control law in a feedforward compensation mode, and the total control law of the system is obtained; the second-order dynamic surface active-disturbance-rejection permanent magnet synchronous motor speed controller is designed on the basis of a nonlinear active-disturbance-rejection controller by introducing a dynamic surface control thought into an extended state observer and transforming a nonlinear state error feedback control law, and engineering implementation is facilitated.

The invention discloses a shore power winch cable tension control system and method based on fuzzy active-disturbance-rejection control. The system comprises a tension sensor module, a fuzzy active-disturbance-rejection control module, a real-time parameter updating module, a motor control signal output end and a motor driving and executing module. The tension sensor collects a cable tension signal in real time and transmits the cable tension signal to the fuzzy active-disturbance-rejection control module. The module integrates a tracking differentiator, an expansion state observer and nonlinear state error feedback combined with fuzzy logic, and accordingly, a control signal is generated. The real-time parameter updating module dynamically obtains rotational inertia and rolling diameter parameters and feeds back the rotational inertia and rolling diameter parameters to the controller; and finally, controlling the signal to drive the motor to execute cable winding and unwinding operation. Through the fuzzy active disturbance rejection control core, the rapid transition of the tracking differentiator and the real-time disturbance estimation of the expansion state observer are combined, the influence of the time-varying working condition and the strong disturbance is effectively overcome, and the optimal consideration of the response speed and the control precision is realized.

The invention discloses a Malus metasurface-based dynamic optical differentiator and a design method thereof, the dynamic optical differentiator comprises a metasurface array and a grating structure, and the metasurface array is formed by a plurality of nano brick structure units on the same plane; each nano brick structure unit comprises a silicon substrate, a silicon dioxide layer and a silicon nano brick which are sequentially arranged from bottom to top; a layer of grating structure composed of vanadium dioxide is tightly attached to the bottom of the substrate, and the state of the vanadium dioxide is changed by controlling the temperature, so that dynamic switching between first-order differential and second-order differential is completed, that is, the vanadium dioxide is in a medium state before phase change, the first-order differential is completed, and the vanadium dioxide is in a metal state after phase change, and the second-order differential is completed. The functions of a first-order differentiator and a second-order differentiator can be achieved without additional optical elements, and the vanadium dioxide material is introduced to achieve dynamic regulation and control of functions.

The invention discloses a control method of an unmanned aerial vehicle operation holder device based on fuzzy active disturbance rejection. The control method comprises the following steps: acquiring attitude Euler angle data of an operation load; a fuzzy active disturbance rejection control system is designed, the control system comprises a tracking differentiator, a linear extension observer, a fuzzy control module and a linear error compensation controller, attitude Euler angle data are input, and a speed target value of a three-axis motor is calculated and output; designing an FOC motor control algorithm comprising a sliding mode PI ring and a current control ring; the sliding mode PI ring receives a speed target value from the fuzzy active disturbance rejection control system and outputs a current control signal to a current control ring of an inner ring; the current control loop combines the current of the motor and the rotor position of the motor to obtain q-axis current so as to control the electromagnetic output torque of the motor; and the motor controller performs angle rotation action according to the speed target value. The stability of the holder can be improved, and the buffeting performance of the holder can be reduced.

The invention discloses an all-digital TIADC (Time-Interleaved Analog to Digital Converter) time sequence mismatch calibration method based on a reference channel, which belongs to the technical field of digital signal processing and comprises the following steps: S1, an all-digital calibration structure estimates time sequence mismatch by utilizing cross-channel statistical characteristics, and S2, by comparing output differences between the reference channel and subchannels which are sampled at the same time, the time sequence mismatch is calibrated. The deviation of the differentiator can be calibrated; and S3, the two calibration results are combined to generate accurate final output. The time sequence mismatch compensation structure with the reference channel is provided, compared with a traditional method, the method has remarkable advantages in the aspects of area consumption and convergence speed, an excellent calibration result is achieved while the precision of the same level is kept, and the higher convergence speed and the wider effective bandwidth are provided.