311 results about "Disturbance observer" patented technology

The invention provides a magnesium alloy electric drive main shell mold machining precision control method and system, and belongs to the field of precision numerical control machining. The method comprises the steps that dynamic milling force, key point temperature and position signals of all shafts are synchronously collected through a multi-source sensor; a recursive least square method is adopted to identify the dynamic rigidity and damping coefficient of the tool-workpiece system on line, and the thermal deformation drift distance is calculated in combination with a temperature signal; predicting a three-dimensional deformation error vector in real time based on the dynamic model, thermal deformation and geometric errors, and constructing a space compensation field; macro motion compensation is achieved by modifying numerical control program coordinate points, and meanwhile high-frequency micro-amplitude compensation is conducted through a spindle tail end fast tool servo system. And establishing an adaptive disturbance observer to perform online estimation on unmodeled disturbance and feed-forward compensation, and realizing online self-tuning of model parameters in combination with in-situ measurement feedback. Real-time sensing, full-band dynamic compensation and closed-loop self-adaptive control of multi-source errors are achieved, and the machining precision and long-term stability of the mold are remarkably improved.

The invention relates to the technical field of process control, and discloses a multiple cyclic utilization process control method of regenerated polyethylene for tailing seepage prevention, which comprises the following steps: synchronously acquiring melt pressure, screw driving motor current and a control input sequence, calculating a cross-correlation function of the current and the pressure, and identifying physical transmission lag time; monitoring an uncommanded residual component of the current in real time, deducing an impending pressure fluctuation amplitude based on a cross-correlation function, and generating an inertia feedforward compensation amount; according to the method, a dual-time scale model is utilized to update parameters online and construct a disturbance observer to generate a feedback compensation control quantity, feedforward and feedback compensation are superposed to a basic output quantity to generate a final driving instruction, a heterogeneous signal time sequence correlation mechanism is utilized, reverse adjustment is carried out before pressure fluctuation is transmitted to a machine head through a screw, and the pressure fluctuation is reduced. And a control blind area caused by physical transmission lag is avoided.

The invention provides an unmanned surface vessel recursive terminal sliding mode control method based on a novel disturbance observer, and relates to the technical field of unmanned surface vessels. The method comprises the following steps: firstly, designing a fixed time disturbance observer (FTDO) to suppress model uncertainty and adverse effects of external disturbance; and then an adaptive fixed time disturbance observer (AFTDO) is developed, and the adaptive law does not need lumped disturbance priori knowledge. Different from an existing fast non-singular terminal sliding mode surface (FNTSMs) which adopts a linear sliding mode (LSM) to avoid singularity, the method innovatively constructs a recursive terminal sliding mode surface (RTSM), thoroughly avoids singularity through a recursive structure, and remarkably improves convergence precision and speed near a balance point at the same time. A fixed-time recursive terminal sliding mode controller (FTRTSMC) is designed based on a lumped disturbance estimated value of the AFTDO, and it is strictly ensured that a trajectory tracking error converges to zero within fixed time (convergence time is irrelevant to an initial state).

The invention discloses a satellite attitude system anti-interference finite time control method under complex dynamic disturbance, and the method comprises the steps: building a rigid satellite attitude maneuver control model according to satellite attitude dynamics and kinematics equations; designing a self-adaptive fine disturbance observer to estimate the total disturbance of a satellite attitude system by combining the influence of the external disturbance variable on the rigid satellite attitude maneuver process, and outputting an estimated value of the external disturbance variable; a three-stage segmented sliding mode control method is designed, dynamic continuity of a three-stage sliding mode is ensured, and segmented sliding mode control output is obtained; and compensating the segmented sliding mode control output by using an estimated value of an external disturbance variable output by a self-adaptive fine disturbance observer to realize satellite attitude stable control. According to the method, the problem that the stability of the satellite is reduced in the attitude maneuvering performance process when external disturbance exists is solved, better observation performance and shorter attitude stabilization time are achieved, and the control precision of the satellite is effectively improved.

The invention discloses a collaborative robot joint external force estimation method, and relates to the technical field of collaborative robot joint external force estimation, and the method comprises the steps: building a joint kinetic model, and obtaining the basic kinetic parameters of a collaborative robot joint; the angular displacement deviation between the input shaft and the output shaft of the speed reducer is obtained, and the compensated torsional angle difference is calculated according to the angular displacement deviation; a joint variable stiffness model is established, multiple sets of calibration data are obtained through experiments, and parameters in the joint variable stiffness model are identified according to the multiple sets of calibration data; based on the basic dynamic model and the joint variable stiffness model after parameter identification, a nonlinear disturbance observer is constructed in combination with introduced auxiliary variables; and system disturbance is observed and compensated through a nonlinear disturbance observer, so that an external torque estimated value acting on the tail end of the joint is calculated and output in real time. According to the method, high-precision and real-time estimation of the external torque can be effectively considered, and meanwhile, the system hardware cost and the structure complexity are greatly reduced.

The invention discloses an electric linear servo system control method based on cascade LESO-DISMC. The method comprises the following steps: firstly, establishing a complete mechanism model of a permanent magnet synchronous motor servo loading system; then designing DOB interference observer real-time compensation by adopting a LuGre friction model and a gap dead zone model; a feedforward control quantity is constructed by utilizing a measurable displacement signal, and redundant torque is inhibited; designing a dynamic integral sliding mode controller to ensure global stability; a high-low bandwidth LESO is constructed, and both fast tracking and smooth filtering are considered; and finally, trajectory optimization is carried out, a smooth trajectory is generated by adopting polynomial interpolation for the step and triangular wave signals, and mechanical vibration is inhibited. According to the method, a LuGre friction model is adopted to compensate nonlinear friction, cascade linear LESO and sliding mode control are combined, a track is optimized through an S-shaped curve, and the problem of'differential explosion 'is solved; according to the method, instruction smoothing, core control and friction compensation are fused, and the anti-interference capability and the loading precision of the system are improved.

The invention provides a permanent magnet synchronous motor sliding mode control method and system based on disturbance compensation, and the method comprises the steps: constructing a first motor state equation based on a permanent magnet synchronous motor mathematical model containing disturbance; secondly, on the basis of a sliding mode control theory, a novel adaptive reaching law and a non-singular fast terminal sliding mode surface are constructed, stability proving is completed, and the fast convergence capability is analyzed; designing a novel speed ring controller through the state equation, the reaching law and the sliding mode surface; designing a sliding mode disturbance observer for a disturbance part in the speed loop controller; and finally, carrying out FOC speed regulation control on the permanent magnet synchronous motor by using the designed speed ring controller and the disturbance observer. Compared with an existing well-known sliding mode control scheme, the hybrid control method of the speed loop controller and the sliding mode disturbance observer is adopted, system buffeting is effectively weakened, meanwhile, the dynamic response speed is considered, and the system robustness is improved.

The invention belongs to the technical field of EL system control, and discloses a preset performance control method considering dynamic and constraint of an execution mechanism. The method comprises the following steps: firstly, establishing a system dynamics model considering dynamic and input saturation constraints of an executing mechanism; then, designing an asymmetric tubular performance boundary to restrain a system tracking error, and defining a conversion error according to the system tracking error; meanwhile, a disturbance observer based on immersion and invariance is designed, and composite disturbance is estimated. Furthermore, a tubular preset performance controller is designed by adopting a backstepping method, a virtual control law and an expected torque are constructed, and a multi-state auxiliary system is introduced to compensate the input saturation influence. And finally, a control instruction is generated by integrating the auxiliary system state, the virtual control law, the expected torque and the interference estimation value, and the control instruction acts on the system after being processed by a saturation function. According to the method, actuator dynamics, input saturation and external disturbance can be processed at the same time, and tracking errors are ensured to strictly follow a preset performance boundary.

The invention belongs to the technical field of optical device control, and discloses a fast reflector sliding mode control method and related equipment, and the method comprises the steps: building a closed-loop error model of a fast reflector; the closed-loop error model comprises a lumped disturbance item jointly formed by external disturbance and system parameter measurement deviation; setting a fixed time RBF disturbance observer; the fixed-time RBF disturbance observer is used for estimating a lumped disturbance item so as to output a lumped disturbance estimated value, and the fixed-time RBF disturbance observer is configured with a weight updating law which enables an estimation error to converge within fixed time irrelevant to an initial state; constructing a sliding mode controller based on a lumped disturbance estimated value output by the fixed-time RBF disturbance observer and a closed-loop error model; a sliding mode controller is used for controlling the fast reflecting mirror; therefore, the control precision and the anti-interference capability are improved, and the problems that the controller depends on the disturbance upper bound and the disturbance estimation convergence time depends on the initial state are solved.

The invention discloses an unmanned ship adaptive optimal interference control method based on reinforcement learning, and particularly relates to the technical field of unmanned ship automatic control, and the method comprises the steps: building an unmanned ship trajectory kinematics model based on the position information and heading angle information of an unmanned ship under a geodetic coordinate system, and the corresponding speed information under an unmanned ship appendage coordinate system; the method comprises the following steps: establishing an unmanned ship trajectory dynamics model by considering the control operation of the unmanned ship and the time-varying environment interference problems of wind, waves, flow, unmodeled dynamics and the like in a marine environment in which the unmanned ship is located; introducing a radial basis function neural network based on a set unmanned ship trajectory mathematical model; designing a self-adaptive interference observer to estimate and offset time-varying environment interference in unmanned ship trajectory tracking; based on a radial basis function neural network and an interference observer, an unmanned ship adaptive interference suppression controller is designed by using an adaptive vector backstepping method.

The invention relates to a transverse movement berthing control method considering main thrust idling, which comprises the following steps of: dividing transverse movement berthing control into a controller part and a thrust distribution part, designing a three-degree-of-freedom controller for ship movement by utilizing a nonlinear disturbance observer in the aspect of the controller, and calculating force and moment required for transverse movement of a ship; in the aspect of thrust distribution, the discontinuity of a main thrust idle speed area and rudder force is considered, a thrust action range is decomposed into nine action ranges according to the thrust state of double main thrusters, multi-domain switching logic is designed to complete thrust distribution of control force, and therefore closed-loop control over ship transverse moving berthing is achieved. A simulation result proves the effectiveness of the method.

The invention discloses a mechanical arm self-adaptive sliding mode control method based on a disturbance observer, and relates to the technical field of mechanical arm control, and the mechanical arm self-adaptive sliding mode control method comprises the following steps: constructing an initial dynamic model based on a Lagrange equation; constructing a simplified two-degree-of-freedom rigid mechanical arm dynamic model based on the initial dynamic model; designing a novel reaching law fusing the advantages of an exponential reaching law and a power reaching law, and combining a hyperbolic tangent function to replace a sign function to construct a sliding mode surface; designing a nonlinear disturbance observer, estimating the total disturbance of the system in real time, carrying out feed-forward compensation, and bringing the composite disturbance influence into a control law; designing a control law and an adaptive law of the mechanical arm through a Lyapun function; the stability of the system is analyzed through a Lyapunov function, tracking errors are proved to be asymptotically converged, and the method is used for ensuring the reliability and stability of the control system. According to the method, the disturbance observer and the self-adaptive sliding mode control strategy are combined, and the control precision and robustness of the mechanical arm when external disturbance and model uncertainty exist are effectively improved.

The invention discloses a self-adaptive robust control method for a pipeline robot, and belongs to the technical field of robot control. The method comprises the following steps: firstly, establishing a high-fidelity dynamic model considering a pipeline inclination angle and nonlinear friction; on this basis, a hierarchical control architecture is designed, which operates a high gain state observer in parallel to estimate speed, a finite time disturbance observer (FTDO) to quickly estimate and compensate lumped disturbance, and an adaptive nonsingular terminal sliding mode controller (NTSMC) to ensure finite time convergence of tracking errors. An adaptive law is introduced into a control law, robust gain is adjusted online to suppress residual disturbance, and the upper bound of disturbance does not need to be predicted. And an anti-saturation mechanism and a boundary layer flutter suppression strategy are integrated, so that the smoothness of a control signal and the safe operation of an actuator are ensured. According to the method, the problem that the control precision and robustness of the pipeline robot are insufficient due to parameter uncertainty, nonlinear friction and external disturbance in a complex environment is effectively solved.

The invention discloses an unmanned ship event triggering adaptive tracking control method based on an improved optimization backstepping technology. The method comprises the following steps: S1, establishing a motion mathematical model of a three-degree-of-freedom unmanned ship considering external interference; s2, designing a fixed time disturbance observer based on the motion mathematical model, and estimating external marine environment disturbance without depending on velocity derivative information; s3, designing an event triggering mechanism based on the position error of the unmanned ship so as to measure a control input signal without depending on an additional sensor; and S4, adopting an improved optimal backstepping control strategy based on actor-commentator reinforcement learning, and directly estimating a cost function gradient by using a neural network so as to generate a final control law, thereby eliminating complex matrix differential operation required in a traditional method. The invention also discloses a system for realizing the method. According to the invention, the control precision, robustness and real-time performance of trajectory tracking of the unmanned ship in a complex marine environment are improved.

The invention relates to the technical field of industrial control systems, and discloses an insulating mechanical arm self-adaptive control method for a hot-line work platform. The method comprises the following steps: acquiring joint angle, angular velocity, torque, temperature, humidity and wind speed information in real time; time-varying stiffness and damping parameters are identified on line based on a recursive least square method with a forgetting factor; constructing a nonlinear disturbance observer to estimate a composite disturbance torque and generate feed-forward compensation; dynamically adjusting the PID gain according to a pole assignment strategy; and fusing the feedback control torque, the model feed-forward torque and the disturbance compensation torque to generate a synthetic control instruction. According to the invention, through a dual adaptive mechanism, the trajectory tracking precision, interference resistance and dynamic stability of the mechanical arm under complex working conditions are improved.

The invention relates to a spacecraft collaborative formation safety control method and system based on an adjustable self-adaptive control barrier function. The method comprises the following steps: establishing a six-degree-of-freedom model for describing relative motion of a spacecraft formation; multiple safety key constraints which need to be met by the spacecraft formation are established, and the constraints are formalized into a zero-hyperlevel set function of a state variable; a disturbance observer is designed, and unknown lumped disturbance existing in the six-degree-of-freedom model is estimated and compensated online; a safety controller is constructed, the safety controller comprises an adjustable self-adaptive control barrier function used for generating a safety constraint boundary changing along with time, and parameters of the adjustable self-adaptive control barrier function are adjusted online through the auxiliary dynamic system; and constructing a quadratic programming problem, and solving to obtain an optimal safety control instruction which minimizes the deviation between the actual control input and the nominal control input. Compared with the prior art, the method has the advantages of improving the task success rate and safety of the spacecraft formation in a complex, dynamic and uncertain environment and the like.

The invention discloses a flexible humanoid robot joint control method based on a frameless torque motor, which belongs to the technical field of robot intelligent control and comprises the steps of hardware platform building, compliance control modeling, environmental perception enhancement and intelligent strategy integration. According to the joint mixed compliance control method based on the double-ring disturbance observer, the joint can keep the expected mechanical compliance characteristic and the stable force control response under the complex contact condition; therefore, safe, stable and high-consistency control of the flexible humanoid robot joint under various working conditions such as free movement, flexible contact and load interaction is achieved. By adopting a depth observer fusion perception method based on passivity, reliable extraction and enhanced perception of external acting force of the joint are realized on the premise of not introducing extra unstable factors, so that the robot joint can stably distinguish self motion disturbance and real environment interaction under complex motion and contact conditions, and the robot joint is more stable in motion and contact. And a timely and credible environment sensing basis is provided for compliance control.

The invention belongs to the technical field of spacecraft control, and discloses a flexible spacecraft attitude control method and related equipment based on an all-drive system theory, and the method comprises the steps: building an attitude tracking error model containing flexible vibration, external interference and rotational inertia uncertainty, the model is converted into a second-order all-wheel-drive system model with a lumped disturbance term; converting the second-order all-drive system model into a linear steady-state closed-loop system containing a lumped disturbance term, and constructing a preset time sliding mode control law capable of enabling the state of the linear steady-state closed-loop system to converge within a preset time; constructing an RBF disturbance observer for performing approximation estimation on the lumped disturbance item; according to the second-order all-drive system model, the preset time sliding mode control law and the RBF disturbance observer, an RBF preset time pseudo-linear sliding mode controller is constructed; the flexible spacecraft is controlled by the pseudo-linear sliding mode controller according to the RBF preset time; therefore, the method has the advantages of realizing preset time convergence and improving attitude control precision and stability.

The invention discloses a speed loop two-degree-of-freedom PI control method and device based on feedforward and a medium, and relates to the technical field of speed loop control methods.According to the method, on the premise that the bandwidth of an inner current loop is higher than that of a speed loop, a PI feedback steady state is adopted, and a disturbance observer is used for load disturbance estimation and compensation; feedforward forming is introduced to a given side, a'given-output 'closed loop is shaped into a first-order or critical damping second-order target model, and a disturbance observer time constant, a target bandwidth and a sampling period are systematically set. The device is composed of an error acquisition module, a PI feedback module, a disturbance observation module, a feed-forward forming module and an execution interface module. According to the scheme, under the condition that hardware is not changed, rapid low-overshoot tracking is achieved, the anti-interference performance is not weakened, parameters can be reused, and the method is suitable for servo scenes such as numerical control, robots and stabilized platforms.

The invention discloses a lower limb exoskeleton man-machine synchronization self-adaptive admittance control method based on a disturbance observer, and provides a torque-sensor-free control scheme for solving the problems that an existing lower limb exoskeleton is large in intention recognition delay, high in model dependence and prone to drifting of a physical sensor. The method comprises the following steps: firstly, establishing a man-machine coupling dynamic model of a single-joint equivalent rigid body, and uniformly representing human body active torque, nonlinear friction and external load change as total disturbance of a system; secondly, constructing a three-order linear extended state observer, observing the total disturbance in real time by using a joint encoder and a control instruction, and reconstructing a man-machine interaction torque through a model-assisted disturbance separation strategy; furthermore, a variable parameter admittance controller is constructed in combination with a gait phase calculated by an inertial measurement unit, and the virtual stiffness and the damping coefficient are dynamically adjusted according to the observed interaction torque amplitude. According to the invention, accurate perception and compliant response to human body motion intentions can be realized on a low-computing-power embedded platform, the phenomenon of asynchronous man-machine motion is effectively eliminated, and the comfort and walking metabolism efficiency of a wearer are remarkably improved while the robustness of the system is ensured.

The invention discloses a heavy-load mechanical arm obstacle function adaptive sliding mode control method and device based on a disturbance observer, and the method comprises the steps: building a dynamic model which considers the model error, an unmodeled part, friction and lumped disturbance caused by an external load; converting a lumped disturbance estimation problem into a linear system state estimation problem of defined auxiliary state variables and unknown input driving, and designing a sliding mode disturbance observer used for estimating and compensating lumped disturbance; for a disturbance estimation error, a bounded adaptive control gain of a controller is designed by adopting a barrier function, and the error is kept within a preset range while control jitter is avoided. Through systematic control architecture design, the key problem that high-precision tracking and smoothness control of the excavator in a complex working environment are difficult to consider at the same time is effectively solved.

This application relates to a predetermined-time tracking control method for a free-floating space manipulator system, and pertains to the field of trajectory tracking control technology for manipulator systems. The aim is to address the poor stability and low robustness of free-floating space manipulator systems when facing model uncertainties and external disturbances. This application establishes a dynamic model of the space manipulator in free-floating mode; designs a nonlinear disturbance observer based on predetermined-time convergence; constructs piecewise continuous sliding mode variables based on the dynamic model; constructs a non-singular predetermined-time sliding mode controller based on the dynamic model, the nonlinear disturbance observer, and the piecewise continuous sliding mode variables; and utilizes the non-singular predetermined-time sliding mode controller to perform predetermined-time trajectory tracking control on the free-floating space manipulator system.

The application discloses an inverter nonlinear composite control method and system based on a PR controller and belongs to the field of power electronics. In view of the problems that the existing control scheme is weak in control performance or even fails when facing actual inverter parameter uncertainty, external disturbance during grid connection or load access operation and the like, Taylor series is adopted to solve the problem that a nonlinear model predictive control structure is complex and difficult to implement, and a nonlinear disturbance observer is introduced to improve control accuracy, so that the finally constructed grid-connected inverter nonlinear composite control inverter has the advantages of simple control structure implementation and convenient actual application while being capable of realizing good tracking capability on a reference signal and rapid inhibition capability on external interference.

The invention discloses a linear drive continuous mechanical arm fixed time impedance control method based on a non-singular fast terminal sliding mode, and the method comprises the steps: firstly, building a dynamic model of a linear drive continuous mechanical arm; secondly, designing an impedance model based on expected inertia, damping and rigidity, and representing an impedance error; and finally, a linear drive continuous type mechanical arm fixed time impedance control system is designed, the control system comprises a fixed time disturbance observer for estimating external unknown disturbance and unmodeled dynamics and a singular avoiding piecewise function for eliminating control law singularity, and an impedance control law is designed through a non-singular fast terminal sliding mode method. The linear drive continuous mechanical arm can achieve stable transition between free motion and a contact environment, and has high-precision and high-robustness compliant control capacity.

The invention provides an anti-swing nonlinear control method and system based on a variable frequency driver, and relates to the technical field of ocean engineering equipment.The method comprises the steps that obtained system parameters of an offshore crane system are input into a nonlinear disturbance observer, and an aggregation disturbance observation value output by the nonlinear disturbance observer is obtained; determining mechanical energy, a state error vector and an anti-swing parameter of the offshore crane system based on the system parameters; processing the mechanical energy, the state error vector and the anti-swing parameter by using an energy storage function to obtain virtual energy; and inputting the aggregated disturbance observation value, the mechanical energy, the state error vector and the anti-swing parameter into a nonlinear anti-swing controller to obtain a control parameter which is output by the nonlinear anti-swing controller and corresponds to the virtual energy, so that the offshore crane system executes the control parameter. According to the invention, high-precision positioning of the load can be ensured, and swinging can be effectively inhibited.

This invention discloses a fault-tolerant and vibration suppression control method for rigid-flexible coupled robots based on synchronous disturbance observation and dynamic event triggering. The method includes: establishing a large-deformation dynamic model of the rigid-flexible coupled robot mechanism and constructing rigid coordinates, flexible modal coordinates, and control targets; establishing an actuator effectiveness decay fault model and transforming the original underactuated system into an equivalent fully actuated model oriented towards trajectory tracking; designing a fixed-time synchronous disturbance observer based on error dynamics to estimate external disturbances and composite uncertainties online; constructing a dynamic event triggering mechanism and a time-synchronous fault-tolerant sliding mode control law to achieve synchronous convergence of the system state to the sliding surface within a fixed time; introducing a hybrid reference trajectory and virtual input to establish an augmented state model and designing a robust linear quadratic state feedback controller. This invention achieves coordinated control of trajectory tracking and flexible vibration suppression under conditions of external disturbances, actuator failures, and limited communication resources.

The application discloses a self-disturbance rejection control method and system based on an error compensation type extended state observer, and the method comprises the following steps: a linear self-disturbance rejection controller acquires input signals and each output state of an extended state observer, and outputs a first control signal; the linear self-disturbance rejection controller acquires input signals and each output state of the extended state observer, and outputs the first control signal; an estimation error model of the extended state observer for output displacement is constructed, a controlled object is converted into an integrator series type form, and an output displacement signal is obtained based on the controlled object; the output displacement signal and a control input signal are input into the extended state observer, and each output state is obtained; and then the linear self-disturbance rejection controller and the output displacement model are fed back. The estimation capability of the observer is greatly improved without increasing the bandwidth of the observer; the error compensation type disturbance observer is combined with the self-disturbance rejection control, and the tracking performance of the self-disturbance rejection control is further improved.

The application discloses an aircraft constraint attitude control method and system based on explicit reference management, belongs to the field of aerospace, and solves the aircraft attitude maneuver control problem existing multiple constraints (including attitude pointing constraint, angular velocity constraint and control constraint). The application separates constraint processing from control law design, designs a reference manager to generate a reference attitude trajectory, can provide a feasible maneuver trajectory satisfying the constraints and reaching the target attitude from the initial attitude, and designs a feedback control law based on an immersion and invariant disturbance observer to ensure the stability and robustness of the system and realize asymptotic tracking of the reference attitude trajectory. For an aircraft attitude control system with a flywheel as an actuator, the method can realize attitude maneuver control satisfying the pointing constraint, angular velocity constraint and control constraint in the presence of external disturbance. The numerical simulation result of the attitude control method proves the effectiveness and feasibility of the application.

The invention discloses a spacecraft attitude stability control method based on a liquid neural network. The method comprises the following steps: S1, establishing a spacecraft attitude dynamic model under multi-source complex disturbance; s2, designing a conventional spacecraft attitude stability controller, and constructing a data set in combination with the attitude dynamics model; s3, training and obtaining a liquid neural network interference observer by adopting a liquid time constant network and a neural circuit strategy architecture; s4, designing a spacecraft attitude stability controller based on a liquid neural network disturbance observer, and proving the stability of a closed-loop system by using a Lyapunov function; s5, verifying the estimation effect of the liquid neural network interference observer and the stability effect of the spacecraft attitude control system through simulation; results show that the method has the advantages that interference of the spacecraft attitude can be effectively estimated, stable control over the spacecraft attitude can be achieved, high real-time performance, low power consumption and high robustness are achieved, and the spacecraft attitude stable control efficiency can be improved.

The invention discloses a DC-NGPC reactor load tracking control method and system fused with disturbance compensation, and the system comprises a nonlinear disturbance observer which is used for calculating a nonlinear disturbance estimation value of a reactor system according to the speed of a control rod and state feedback information outputted by the reactor system; the nonlinear generalized predictive controller based on disturbance compensation is used for providing a predictive control law of reactor load tracking control, and the predictive control law is used for calculating the speed of a control rod according to a power track provided by the outside, state feedback information output by a reactor system and a nonlinear disturbance estimated value calculated by the nonlinear disturbance observer; wherein the control rod speed is provided for the reactor system after being subjected to rod speed amplitude limiting, so as to track and control the load of the reactor system. The disturbance observed quantity obtained through estimation is introduced into the nonlinear generalized predictive controller, dynamic compensation of disturbance is effectively achieved, and the robustness of the whole system is improved.