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73 results about "Full state feedback" patented technology
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Full state feedback (FSF), or pole placement, is a method employed in feedback control system theory to place the closed-loop poles of a plant in pre-determined locations in the s-plane. Placing poles is desirable because the location of the poles corresponds directly to the eigenvalues of the system, which control the characteristics of the response of the system. The system must be considered controllable in order to implement this method.
Control method of hypersonic vehicle orienting uncertainty condition
ActiveCN106997208AReduce switching gainEliminate chatterAttitude controlPosition/course control in three dimensionsBacksteppingDynamic equation
The invention discloses a control method of a hypersonic vehicle orienting the uncertainty condition. The control method comprises the following steps that step S1, full state feedback linearization processing is performed on flight speed V and flight height h according to a hypersonic vehicle longitudinal dynamic equation so as to obtain a corresponding state equation; step S2, an anti-step sliding mode controller is designed according to the state equation, and the double exponential approximation law of the selected sliding mode surface is S<.>=-k<1>|S|<eta>sgn(S)-k<2>|S|<lambda>sgn(S), wherein k<1>>0, K<2>>2, eta>1 and 1>lambda>0 are parameters in the formula; and step S3, a test platform is established based on the anti-step sliding mode controller to perform performance simulation. According to the method, the double exponential sliding mode controller based on the backstepping method is adopted, and switching gain and the problem of buffeting existing in sliding mode control can be effectively reduced by the method.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Design method of stabilizer of power system
InactiveCN102157933AProblems affecting control effectivenessGood control effectGenerator control by field variationAc network circuit arrangementsPower system stability controlState variable
The invention discloses a design method of a stabilizer of a power system in the technical field of stable control of the power system. The method comprises the following steps: selecting a variable corresponding to maximum feedback gain from a full-state feedback gain matrix of the system as a primary variable; and adjusting the feedback gain of the primary variable for realizing the control of damping of the system, and setting a zero point of the system in a matching way for adjusting oscillation mode. By adopting the method, low-frequency oscillation of the system is effectively inhibited, the problem that the overall control effect of the stabilizer is affected due to unreasonable pole configuration of a state variable observer when adopting the full-state feedback control is simultaneously avoided, and the good control effect is realized.
Owner:NORTH CHINA ELECTRIC POWER UNIV (BAODING) +1
Steer-by-wire system and stability control method thereof
ActiveCN107512305AExact gear ratioRealize variable transmission ratio controlSteering linkagesAutomatic steering controlSteering wheelFeedback controller
The invention provides a steer-by-wire system and a stability control method thereof. The steer-by-wire system comprises a steering wheel module, a front wheel steering module and an ECU electronic control unit, wherein the ECU electronic control unit comprises a variable transmission ratio controller, a fuzzy self-adaptive PID controller and a full state feedback controller. The stability control method is as follows: the variable transmission ratio controller calculates an ideal transmission ratio at the moment according to a steering wheel rotation angle signal and a vehicle speed signal, to obtain an ideal front wheel rotation angle at the moment; the full state feedback controller of an automobile calculates a compensation rotation angle of front wheels according to a yaw rate signal and a lateral acceleration signal of the automobile, to realize the outer ring control of the steer-by-wire system; and finally the fuzzy self-adaptive PID controller is designed, to realize the inner ring control of the steer-by-wire system. The operating stability of the automobile is effectively improved through the coordinated control of inner and outer rings of the steer-by-wire system.
Owner:NANJING AUTOMOBILE GROUP CORP
Bridge crane control method based on sliding mode surface
The invention discloses a bridge crane control method based on a sliding mode surface, and provides a novel control method based on a sliding mode surface for positioning and anti-swing tasks in a bridge crane conveying process. The method comprises the steps that an original crane model is converted into a line-similar mode through coordination transformation at first; then, the novel sliding mode surface is designed, and a corresponding nonlinear control algorithm is built for keeping the system state always in the sliding mode surface; and finally, the Lyapunov method strictly proves that a system balance point can reach approximate exponent stability as long as parameter selection meets conditions given in the method. Compared with an existing crane control method (which can only ensure asymptotic convergence), the method is higher in convergence speed (approximate to exponential convergence). In addition, control input is smoother compared with general full-state feedback methods and is beneficial to practical application. Stimulation and experiment results prove that the method is high in positioning speed, good in anti-swing effect and quite high in robustness for various kinds of external disturbance.
Owner:NANKAI UNIV
State feedback based vehicle path tracking H-infinity control method
InactiveCN107015477AGuaranteed accuracyGuaranteed reliabilityAdaptive controlVehicle dynamicsDynamic models
The invention relates to a state feedback based vehicle path tracking H-infinity control method, which comprises the steps of firstly acquiring horizontal and vertical coordinates of a reference path, solving a reference course angle, finding a corresponding reference point on the reference path according to the current position of a vehicle, and calculating the position deviation and the course angle deviation between the reference point and a current point of the vehicle; then improving a single-track traditional vehicle dynamic model into a position deviation and course angle deviation based dynamic model, and acquiring a state equation of the system; then taking major influence factors for transverse motion control of the vehicle in the model as bounded disturbance of the system by referring to the yaw rate, and designing a static state feedback controller according to a state feedback H-infinity control law; and finally, converting into a convex optimization problem with linear matrix inequality constraints and a linear objective function, solving a coefficient matrix of the controller by using a linear matrix inequality toolbox, acquiring controller output, namely, a tire rotation angle, and thus realizing path tracking control for the vehicle. The method provided by the invention is applicable to vehicle path tracking control in complex traffic scenes.
Owner:TONGJI UNIV
Rigid-flexible system attitude control method based on vibration compensation and state feedback
ActiveCN105045270AFeedforward Compensation ImplementationAchieve flex vibration suppressionAttitude controlAttitude controlPerformance index
Provided is a rigid-flexible system attitude control method based on vibration compensation and state feedback. According to the method, dynamic measuring information of flexible vibration is directly employed, compensation and feedback control of vibration influence is performed in an attitude controller of a central rigid body, and actuators do not need to be arranged on flexible accessories. Conventional PID control is difficult to adapt to the condition of inaccurate parameters or changing parameters of controlled objects, and general adaptive control has internal conflicts between the ensuring of the steady-state performance and the dependence on continuous excitation. According to the method, the state feedback control parameters change with the change of estimation states, good steady-state performance indexes can be maintained by variable system and environment, and the method is especially applicable to attitude control of satellites with large flexible influence and high-stability performance index.
Owner:BEIJING INST OF CONTROL ENG
Self-adapting state feedback forecasting control method based on noise computing
InactiveCN101082811AStrong ability to suppress noiseSmall amount of calculationAdaptive controlEstimation methodsModel parameters
The invention discloses a feedback prediction controlling method of self-adaptation condition based on noise estimation, which comprises the following steps: A. utilizing Singular Pencil Model to represent real controlled course; B. adopting recurrence expanded Kalman filter parameter estimation method to estimate the real controlled condition and model reference through Singular Pencil Model; C. utilizing the estimated condition and model parameter to calculate the present control action; adding the calculated control action into the controlled course; D. repeating the step B and C in the next executing period; realizing the feedback prediction controlling method of self-adaptation condition in the real controlled course. The invention improves the noise inhibiting ability through controlling method greatly, which reduces the calculating quantity for industrial application conveniently.
Owner:INST OF AUTOMATION CHINESE ACAD OF SCI
State discrimination method for gateway electrical energy metering device based on the multiple agents
ActiveCN105022021ARealize remote online monitoringAchieving identifiabilityElectrical measurementsFeature extractionPower station
The invention provides a state discrimination method for a gateway electrical energy metering device based on the multiple agents. The method comprises the following steps: firstly, data collection is carried out; secondly, feature extraction is carried out; thirdly, state classification is carried out; fourthly, database is constructed; fifthly, analysis discrimination is carried out, namely, electrical information of a gateway electrical energy metering device is collected in real time, and on-line monitoring and state discrimination of the gateway electrical energy metering device are carried out by utilization of the multi-agent algorithm; sixthly, state feedback is carried out, namely, state discrimination of the gateway electrical energy metering device is displayed on a display screen for user reading, remote on-line monitoring and state discrimination of the gateway electrical energy metering device are achieved, and discrimination basis is provided for existence or not of metering errors. Inconvenience of on-site verification and regular replacing of a gateway metering device is avoided, economic loss of power grid companies and power plants caused by metering errors is lowered.
Owner:STATE GRID CORP OF CHINA +2
Complex dynamic network modeling method and model controller design method
The invention discloses a complex dynamic network modeling method and a model controller design method. Modeling of a complex dynamic network is performed under the condition of random exchange of non-time-delay and time-delay coupling matrixes by applying the idea of robustness firstly, a novel partially time-delay dependent random spinning controller is designed and the problem of stabilization of the complex network system under the condition of random exchange of the coupling matrixes related to network topology is solved. The designed spinning controller is different from conventional controllers, the non-time-delay and time-delay state feedbacks of the spinning controller asynchronously occur at a certain probability. Corresponding sufficient conditions enabling the system to be stabilized are given and prevented in linear matrix inequalities under the effect of the designed controller based on the constructed complex network model. When the probability of random variables is unavailable, a self-adaptive partially time-delay dependent controller is provided for processing the situation.
Owner:LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY
Position control method of single-joint flexible manipulator based on state feedback
ActiveCN107290956ASolve the clipping problemStable controlControllers with particular characteristicsPosition controlFeedback control
The invention discloses a position control method of a single-joint flexible manipulator based on state feedback. Firstly the time variation effect of SEA load movement on a motor end kinetic model is considered, the load moment acts as disturbance to be fed back to the motor end through a speed reducer and modeling of the motor and the SEA overall system is performed in comparison with the method of separately establishing a motor model and an SEA module; then the state space and the root locus are combined, and a SEA single-joint position controller design method based on state feedback is given so that coordinated optimization of stable, fast, static difference and parameter insensitive performance of the control system can be visually performed; and finally the situation that the full-state feedback method cannot meet the current requirements is considered, and the SEA single-joint position controller design method based on combination of state feedback and PI is put forward to perform PI control on the current, and state feedback control is still performed on other variables so as to achieve a great control effect.
Owner:ZHEJIANG UNIV
Sound sleep control system with sleep state feedback in closed loop path and method thereof
PendingCN107715276AImprove purposeImprove effectivenessMedical devicesDiagnostic recording/measuringFrequency spectrumClosed loop
The invention relates to a sound sleep control system with sleep state feedback in a closed loop path and a method thereof, which include a sensor, a controller, and an actuator; wherein the sensor isa brain wave detection device, which is used for having a real-time collection of an EEG signal of human body sleep and sending the EEG signal to the controller; the controller is a computer, which is used for identifying a stage of the human body sleep according to the EEG signal, generating an acoustic model similar to a sleep spectrum of the next stage, and sending the model to the actuator; the actuator is a player of hypnotic sound, which is used for playing the hypnotic sound. The sound sleep control system with the sleep state feedback in the closed loop path and the method thereof arecharacterized in that based on a feedback control idea, the sleep control system is established with human body sleep states as control object and the EEG signal as a feedback quantity; based on studying features of the EEG signal frequency in the sleeping process, a control sound base and sleep control rules are established according to a bio-resonance principle; and have the advantages that thesleep control system based on the sleep control rules is capable of progressively controlling the human body into deep sleep, and sleep quality is greatly increased.
Owner:SHAANXI UNIV OF SCI & TECH
Rotor state feedback system
A control system is provided and includes a servo control system configured to control aerodynamic element pitching, an optical sensor system disposed along rotor blades to generate an optical response reflective of rotor feedback states of the rotor blades and a processing unit operably coupled between the servo control and optical sensor systems, the processing unit being configured to calculate strain in the rotor blades from the optical response, convert the calculated strain into readings of the rotor feedback states and issue a servo command to the servo control system as an instruction for controlling the aerodynamic element pitching.
Owner:SIKORSKY AIRCRAFT CORP
Adaption-based implementation method of motor servo system robust position controller
ActiveCN106100469ARobustVerify validityDC motor speed/torque controlResearch ObjectFeedback controller
The invention belongs to the field of electromechanical servo control, and provides a method for realizing a robust position controller of a motor servo system based on self-adaptation. Taking the position servo system of a DC rotating motor as the research object, a nonlinear model of the system is established, and the system is comprehensively considered. The parameter uncertainty of the system and the uncertainty of external interference; for the parameter uncertainty of the system, the parameter adaptive algorithm designed based on the discontinuous projection operator can accurately estimate the unknown parameters, and can ensure that the estimated value of the parameter is always In the known area; the controller designed by introducing the robust term based on the integral of the expansion error signal has good robustness against uncertainties such as external disturbances and unmodeled dynamics of the system; the motor realized by the present invention The robust position controller of the servo system is a full state feedback controller, so that the position output of the motor servo system has global asymptotic tracking performance, that is, when the time tends to infinity, the tracking error is zero, and the control input is continuous and regular, which is more conducive to applied in engineering practice.
Owner:NANJING UNIV OF SCI & TECH
Inverter active damping control method based on full-state feedback
InactiveCN107134936AImprove reliabilitySimplify the design processDc-ac conversion without reversalControl signalCarrier signal
An inverter active damping control method based on full-state feedback belongs to the distributed grid-connected generation technology field. The method includes the following steps: conducting asymmetric rule sampling on a bridge arm current i1, an inverter grid-connected current i2 and a filter capacitance voltage uc in each sampling period; subtracting a grid-connected current given value i<2><*> from a feedback value i2 to obtain a current error value which passes through a proportion-resonance regulator, and outputting a control signal uctrl of a grid-connected current regulator; multiplying the state quantity bridge arm current i1, the filter capacitance voltage uc and the grid-connected current i2 by a state feedback coefficient k1, a state feedback coefficient k2 and a state feedback coefficient k3 respectively to obtain a full-state feedback signal ufeed; subtracting the output control signal uctrl of the grid-connected current regulator from the full-state feedback signal ufeed and then adding a feedforward signal uPCC of a common coupling point voltage, the result being a modulation signal u<inv><*> of an inverter; and comparing the modulation signal of the inverter with a high-frequency triangular carrier wave, and generating a PWM pulse. Positions of three poles of an LCL-type grid-connected inverter can be matched freely, and the design process is easy and practical.
Owner:TIANJIN WEIHAN ELECTRIC CO LTD
LMIs state feedback system control method based on uncertain model
ActiveCN104407515AImprove certaintyImprove robustnessSpecial data processing applicationsAdaptive controlRobustificationComponent Object Model
The invention discloses a LMIs state feedback system control method based on an uncertain model. The LMIs state feedback system control method disclosed by the invention comprises the following steps of: establishing a controlled object model containing uncertain parameters at first, introducing a system state feedback controller, constructing a function of a closed-loop system, and designing a nonlinear system control law in the event of satisfying a Lyapunov theorem. The control method disclosed by the invention considers the control problems including influence caused by modelling error, model parameter variation, system noise and the like, of a system having uncertainty in a certain degree; the control method disclosed by the invention has good adaptive capacity to the uncertain factors of the system; in addition, compared with general conventional methods, the method disclosed by the invention is more rapid in response speed and higher in stability and robustness.
Owner:SOUTH CHINA UNIV OF TECH
Hypersonic aircraft composite control method utilizing state feedback and neural network
The invention discloses a hypersonic aircraft composite control method utilizing state feedback and neural network. The hypersonic aircraft composite control method utilizing state feedback and neural network is characterized by measuring the attack angle speed signal and the pitch angle speed signal of a hypersonic aircraft, designing a big gain state feedback controller, and then on the above basis, utilizing a neural network structure taking the sine function as the primary function, aiming at the strong nondeterminacy of a pneumatic parameter of the hypersonic aircraft, and designing an adaptive adjusting rule of the neural network weight, and finally forming a composite controller of state feedback and neural network of the hypersonic aircraft to realize tracking of an expected attack angle signal. The hypersonic aircraft composite control method utilizes state feedback and neural network utilizes the state feedback controller to guarantee the basic stability of the system while the neural network is used for compensating a modeling error which is caused by nondeterminacy of the pneumatic parameter, and finally can select the Lyapunov function to perform closed loop stability analysis on the whole system so as to guarantee the theoretical correctness of system design.
Owner:ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
Control method for bionic flapping-wing aerial robot
ActiveCN106707749AEfficient Trajectory Tracking ControlAttitude controlPosition/course control in three dimensionsKinematicsFlapping wing
The invention provides a control method for a bionic flapping-wing aerial robot. Trajectory tracking control can be performed on the attitude and the position of the bionic flapping-wing aerial robot. The method comprises the steps that kinematic and dynamic analysis is performed on the bionic flapping-wing aerial robot, and a Lagrange model is established; a model-based attitude controller equipped with a disturbance observer is designed based on the Lagrange model; a neural network full state feedback attitude controller equipped with the disturbance observer is designed based on the designed model-based attitude controller equipped with the disturbance observer; a model-based position controller equipped with the disturbance observer is designed based on the position control model of the bionic flapping-wing aerial robot; and trajectory tracking control can be performed on the attitude and the position of the bionic flapping-wing aerial robot according to the designed model-based attitude controller equipped with the disturbance observer, the neural network full state feedback attitude controller equipped with the disturbance observer and the model-based position controller equipped with the disturbance observer. The control method for the bionic flapping-wing aerial robot relates to the technical field of automatic control.
Owner:UNIV OF SCI & TECH BEIJING
Low-frequency standard vibration table based on full state feedback
ActiveCN110221101AEasy to set upThe convergence process is adjustableTesting/calibration of speed/acceleration/shock measurement devicesGratingHarmonic
The invention discloses a low-frequency standard vibration table based on full state feedback. The low-frequency standard vibration table based on the full state feedback comprises a low-frequency standard vibration table, a grating displacement sensor, a current sensor, a power amplifier and a controller; the output channel of the controller sends a voltage driving signal, which is amplified by the power amplifier and added to the two ends of a driving coil of the low-frequency standard vibration table; the energized driving coil bears an ampere force under the action of a magnetic field anddrives the moving parts of the vibration table to generate vibration; and the grating displacement sensor is mounted on the bottom of the moving parts of the low-frequency standard vibration table. The low-frequency standard vibration table based on the full state feedback has the characteristics that the convergence process of state variables is adjustable and the suppression effect of low-frequency harmonic distortion is better.
Owner:嘉兴亿恒测试技术有限公司
Plane profile trajectory tracking control method
ActiveCN104375458ARealize synchronous coordination tracking controlSimple designNumerical controlNumerical controlState space
The invention discloses a plane profile trajectory tracking control method. The plane profile trajectory tracking control method comprises the steps that based on a plane profile trajectory tracking control state space mathematic model, a full-state feedback tracking controller is designed by solving a Riccati matrix equation, the input voltage of an X-axis motor and the input voltage of a Y-axis motor of a numerical control machine tool are then calculated, and the high-speed and high-precision stabilized tracking control over plane profile trajectory position functions sX and sY by the numerical control machine tool is achieved. The plane profile trajectory tracking control method has the advantages that the profile trajectory controller is designed by directly adopting the double-axis tracking control state space model, and the synchronous coordinate tracking control over the two spindle motors is achieved; the tracking controller only has one adjusting parameter, and thus online implement is easy, convenient and reliable.
Owner:ZHEJIANG UNIV OF TECH
Load balancing method and device based on output state feedback in CLOS system
ActiveCN105634976ALoad balancingReasonable loadData switching networksParallel computingOutput feedback
The invention discloses a load balancing method and device based on output state feedback in a CLOS system, and relates to the technical field of load balancing of the CLOS system. The method comprises the following steps that: cache state information of CMs (Central Modules) is stored in corresponding data cells, and the corresponding data cells are transmitted to OMs (Output Modules); after the data cells are received, the OMs resolve cache states of the CMs, and transmit the resolved cache states to IMs (Input Modules); the IMs build CM cache state lists according to the cache states transmitted by the OMs, and update the built CM cache state lists; and the IMs obtain bit vector groups feeding back cache state minimum values with the CM cache state lists in a mode based on output state feedback, perform calculation and inquiry according to the bit vector groups to obtain links of data cells to be transmitted, and transmit the data cells to be transmitted through the links under the condition that the links are valid. Through adoption of the load balancing method and device, the working efficiency and performance of the CLOS system are not lowered due to load unbalance, so that the overall scheduling capability and performance of the system are maintained.
Owner:FENGHUO COMM SCI & TECH CO LTD
Vehicle Path Tracking h∞ Control Method Based on State Feedback
The invention relates to a state feedback based vehicle path tracking H-infinity control method, which comprises the steps of firstly acquiring horizontal and vertical coordinates of a reference path, solving a reference course angle, finding a corresponding reference point on the reference path according to the current position of a vehicle, and calculating the position deviation and the course angle deviation between the reference point and a current point of the vehicle; then improving a single-track traditional vehicle dynamic model into a position deviation and course angle deviation based dynamic model, and acquiring a state equation of the system; then taking major influence factors for transverse motion control of the vehicle in the model as bounded disturbance of the system by referring to the yaw rate, and designing a static state feedback controller according to a state feedback H-infinity control law; and finally, converting into a convex optimization problem with linear matrix inequality constraints and a linear objective function, solving a coefficient matrix of the controller by using a linear matrix inequality toolbox, acquiring controller output, namely, a tire rotation angle, and thus realizing path tracking control for the vehicle. The method provided by the invention is applicable to vehicle path tracking control in complex traffic scenes.
Owner:TONGJI UNIV
State feedback based adaptive control method for brain-computer communication speed
ActiveCN103440039AAchieve outputImprove transfer rateInput/output for user-computer interactionGraph readingValue setControl objective
The invention discloses a state feedback based adaptive control method for brain-computer communication speed. The method comprises the following steps of: (1) applying visual stimulation of fixed-frequency blinking in a Phase1 mode; (2) executing a system objective identification process; (3) judging whether the maximum value of mixed characteristics exceeds a threshold value set by a system; (4) judging whether an objective control key for system identification in the Phase1 mode is 'del', if not, ending the selection of the Phase1 mode, and storing row coordinate of the objective control key by the system; (5) enabling the system to enter in a fixed-frequency blinking stage in a Phase2 mode and executing the system objective identification process; (6) judging whether the maximum value of the mixed characteristics in the system objective identification process in the Phase2 stage exceeds the threshold value set by the system, if so, entering in the step (7); (7) judging whether the objective control key for system identification in the Phase2 stage is 'del', and finally outputting a control command. The method disclosed by the invention is based on a simple principle, is simple and convenient to implement, high in control accuracy and capable of improving the system information transfer rate.
Owner:NAT UNIV OF DEFENSE TECH
Control law design method for civil fly by wire airplane PIO research
ActiveCN109703779ADifferent flight quality characteristicsAddressed issue where there was no test object for PIO research on civilian fly-by-wire aircraftAircraft components testingFly-by-wireTime delays
The invention provides a control law design method for civil fly by wire airplane PIO research, which belongs to the technical field of flying tests. The method of the invention is realized based on an air stimulation tester. Through analyzing an aerodynamic model and flight quality feature of the air stimulation tester at the test state point, target quality features having different levels in longitudinal and transverse direction can be selected based on Cooper-Harper criterion. A full-state feedback method is adopted to compute the feedback gain matrix of control law. With the adding of a time delay module and a steering engine rate saturation module, a full-quantity model in the air stimulation tester has classic civil fly by wire airplane responding feature and can trigger a driver tostimulate oscillation PIO. The invention is advantageous in that under the premise that flying safety is guaranteed, the oscillation PIO can be triggered by different drivers, test objects can be provided for civil fly by wire airplanes PIO research, and domestic gaps can be filled up.
Owner:CHINESE FLIGHT TEST ESTAB
Method for realizing adaptive robust position controller of electro-hydraulic servo system with accurate tracking performance
Owner:NANJING UNIV OF SCI & TECH
Design method of synchronous generator excitation output feedback controller
InactiveCN107231107AEliminate trigonometric termsPractical applicationPower oscillations reduction/preventionSynchronous generator controlSynchronous generator excitationEngineering
The invention discloses a design method of a synchronous generator excitation output feedback controller. First, a three-phase state space system model of a synchronous generator is built; then, the three-phase state space system model is reshaped equivalently into a four-phase state space system model by using a variable replacement method; then, an excitation controller is designed through output feedback; and finally, an optimized excitation controller is obtained by using a quadratic sum method. The existing excitation control algorithm is complex and state feedback cannot be realized in a power system. The method solves the problems in the prior art.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Digital filtering method based on HMM/KF (Hidden Markova Model/Kalman Filter) steady-state feedback
InactiveCN103401533AImprove stabilityImprove real-time performanceDigital technique networkFilter modelInertial navigation system
The invention relates to a digital filtering method based on HMM / KF (Hidden Markova Model / Kalman Filter) steady-state feedback. The method comprises the following steps: establishing a two-order HMM / KF filter equation for a sampling output signal of an optical gyroscope; monitoring the parameter matrix of an HMM / KF filtering process; performing equivalent digital processing on a steady-state HMM / KF filtering model; and establishing a four-order Butterworth IIR low-pass filtering model for the original output signal of the optical gyroscope, filtering and denoising the output signal of the optical gyroscope with high-frequency noise by using the equivalent cut-off frequency fc of the HMM / KF steady-state model. According to the method, the characteristics of high stability of a Hidden Markov Model and high instantaneity of a Kalman filter are combined, and a subsequent four-order IIR filter is provided with filtering cut-off frequency intelligently and stably in real time, so that the accuracy of a system is increased remarkably; and moreover, the time delay of the four-order IIR filter is small, so that the requirement of instantaneity of an inertial navigation system is further met.
Owner:HARBIN ENG UNIV
Current source inverter mixed H2/ H-infinity optimal guaranteed cost control method
The invention relates to a current source inverter mixed H2 / H-infinity optimal guaranteed cost control method. The method comprises the following steps: establishing a current source inverter state equation model and carrying out discretization thereon; carrying out extension on the discretized current source inverter state equation model to obtain an error augmented state equation model; obtaining a full state feedback control rate through the mixed H2 / H-infinity optimal guaranteed cost control method; and substituting the state feedback control rate into an inverter servo control closed-loop system to realize mixed H2 / H-infinity optimal guaranteed cost control. The method has better dynamic and static performance compared with a conventional proportional integral (PI) or proportional resonant(PR) control scheme, and has robustness in grid inductance fluctuation.
Owner:SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
LCL-type inverter decoupling control method based on state feedback
ActiveCN105048501AEliminate couplingReduce coupling effectSingle network parallel feeding arrangementsDc-ac conversion without reversalCapacitanceClosed loop
The invention relates to an LCL-type inverter decoupling control method based on state feedback. The method comprises the following steps of: S1, setting an active component and a reactive component of a net current given value i2, acquiring a monitoring parameter in real time, and obtaining the active component and the reactive component corresponding to the monitoring parameter, wherein the monitoring parameter comprises the net current given value i2, actual voltage values u<c> of the two ends of a capacitor, an actual current value i1 passing through a first inductor and a network voltage e; S2, respectively acquiring an active component and a reactive component of a grid-connected inverter output voltage given value through the state feedback and closed-loop control of the monitoring parameter according to the active component and the reactive component of the net work current given value I2; and S3, carrying out pulse width modulation (PWM) control according to the active component and the reactive component of the grid-connected inverter output voltage given value, and controlling a grid-connected inverter through an output switch-controlled PWM wave. Compared with the prior art, the LCL-type inverter decoupling control method based on state feedback has the advantages that independent control of the active component and the reactive component is achieved, and high output current quality is also guaranteed.
Owner:SHANGHAI UNIVERSITY OF ELECTRIC POWER
Method for achieving motor servo system position controller based on self-adaptive and expanded error symbol integral robustness
The invention belongs to the field of electromechanical servo control, and discloses a method for designing a self-adaptive position controller of a motor servo system based on the expanded error symbol integral robustness. According to the method, a direct-current rotary motor position servo system is selected as a research object, and a nonlinear model of the system is established. Meanwhile, the parameter uncertainty of the system and the uncertainty of external interference are considered at the same time. The controller can accurately estimate unknown parameters based on the parameter adaptive algorithm designed for the parameter uncertainty of the system. The designed controller is good in robustness through considering the external interference of the system on the expanded error symbol integral-based robustness and the uncertainty of unmodeled dynamics. The designed controller is in the form of a full-state feedback controller, and the asymptotic tracking performance is enabled for the position output of the motor servo system. That means, when the time tends to be infinite, the tracking error is zero. The designed controller is continuous in control voltage, and more applicable to practical engineering application.
Owner:NANJING UNIV OF SCI & TECH
Discontinuous projection mapping-based implementation method for nonlinear robust position controller of electro-hydraulic servo system
The invention belongs to the field of electromechanical hydraulic servo control, and provides a discontinuous projection mapping-based implementation method for the nonlinear robust position controller of an electro-hydraulic servo system. The method considers the uncertainty of the parameters of the system and the uncertainty of the external interference to establish a nonlinear model of the system. Meanwhile, for the uncertainty of the parameters of the system, unknown parameters are estimated accurately according to the parameter adaptive algorithm designed based on discontinuous projection operators, so that the estimated values of parameters are always within a known region. By means of a controller designed by introducing an auxiliary function, the robustness is ensured to be good for the external interference of the system and the uncertainty of unmodeled dynamics and the like. The controller is a full-state feedback controller, and enables the asymptotic tracking function for the position output of the electro-hydraulic servo system. Even when the time tends to be infinite, the tracking error is ensured to be zero. The controller designed in the invention is continuous in control voltage, and can be better applied in the practical engineering application.
Owner:NANJING UNIV OF SCI & TECH
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