59 results about "Integral sliding mode controller" patented technology

The invention relates to a spacecraft attitude integral sliding mode fault tolerance control method taking consideration of a performer fault and provides a robustness attitude active fault tolerance control method based on an integral sliding mode surface for problems of the performer fault, external disturbance and control moment amplitude limits in a spacecraft attitude control process. The method comprises steps that firstly, a spacecraft attitude dynamics model taking consideration of the performer fault and containing external disturbance is established; secondly, on the condition that a performer is not in fault, a designed nominal controller can guarantee system stability, and input saturation amplitude limits can be easily satisfied through adjusting controller parameters; lastly, the fault information is introduced to design an integral sliding mode controller, robustness of external disturbance and the performer fault can be effectively improved, system stability is analyzed on the basis of an Lyapunov method. The method is advantaged in that stability of the attitude control system is guaranteed when a spacecraft operating on orbit generates the performer fault, and relatively strong fault tolerance capability and external disturbance robustness are realized.

The invention discloses an ESO-based control method of a double-fed wind power generation system integral sliding mode controller, and is implemented according to the following steps: first a mathematical model of a double-fed wind power generation system is written; after the mathematical model is obtained, on this basis an extended state observer based on the double-fed wind power generation system is designed according to the principle of the extended state observer; then, a switching function of a controller of a sliding mode variable structure is determined; and finally, according to a control objective that a system error is reached in limited time and maintained on a sliding mode surface, the sliding mode control law is obtained. Feasibility of the strategy is verified through simulation. According to the ESO-based control method of the double-fed wind power generation system integral sliding mode controller, the extended state observer-based sliding mode variable structure control strategy is researched, thereby realizing decoupling control in the running process of the double-fed wind power generation system, improving corresponding speed of the system, and enhancing parameter robustness of the system.

The invention relates to an anti-interference control method of a control moment gyro frame servo system, and aims at the problems of high-frequency vibration interference, friction moment, motor moment perturbation and unmodeled dynamic multi-source interference caused by rotor dynamic unbalance of the control moment gyro frame servo system. The anti-interference control method comprises the following steps of firstly, establishing a dynamic model of the control moment gyro frame servo system containing high-frequency vibration interference, friction moment, motor moment perturbation and unmodeled dynamic multi-source interference caused by rotor dynamic unbalance; secondly, establishing an interference model for high-frequency vibration interference caused by rotor dynamic unbalance anddesigning a harmonic interference observer to estimate the harmonic interference observer; then, designing an integral sliding mode controller in a feedback channel to inhibit friction moment, motor moment perturbation and unmodeled dynamic, and finally finishing anti-interference control of the control moment gyro frame servo system. The anti-interference control method of the control moment gyroframe servo system has the advantages of strong engineering practicability, high anti-interference performance and the like.

The invention provides a method for tracking a third-order strict feedback chaotic trajectory based on a global integral sliding mode. The method includes the following steps that S1, a trajectory tracking error system is established according to a state equation and a desired trajectory of a third-order strict feedback chaotic system; S2, a global integral sliding mode surface and an adaptive exponential approach law are designed; and S3, a global integral sliding mode controller is designed to control the trajectory tracking error system and form a closed-loop system, and the closed-loop control system can realize trajectory tracking control of a third-order strict feedback chaos in different initial states. Stability of the closed-loop system is proved through a Lyapunov stability theory, under the condition of uncertain modeling and external disturbance signals, only a single global integral sliding mode controller is used, and trajectory tracking control of the third-order strictfeedback chaos in different initial states is realized. Experimental simulation results show that the effectiveness of the method is achieved, the trajectory tracking speed is very high, and good robustness and reliability are achieved.

The invention provides a global integral sliding mode-based third-order strict-feedback chaos proportion projection synchronization method. The method comprises the following steps: step 1, establishing a driving system and a response system according to a state equation of the third-order strict-feedback chaos system, and establishing a proportion projection synchronization error system; step 2,designing a global integral sliding mode surface and a self-adaptive exponential approaching law; and step 3, designing a global integral sliding mode controller to control the proportion projection synchronization error system, and forming a closed-loop system, wherein the closed-loop control system can realize proportion projection synchronization control of the driving system and the response system. Stability of the closed-loop system is demonstrated through Lyapunov stability theory. Proportion projection synchronization control of isomorphic or heterogeneous third-order singular feedbackchaos of different initial states is realized by using only the single global integral sliding mode controller in a case of modeling uncertainty and external disturbance signals. An experiment resultshows effectiveness of the method, and the method has very good robustness and reliability.

The invention discloses a guaranteed performance robust decentralized control of a dual-motor servo system, and can realize system load tracking and motor synchronization under the influence of a loadinter-load coupling factor, specific to a tooth space interconnecting item-containing dual-motor servo system. The guaranteed performance robust decentralized control comprises the following steps ofperforming analysis on the tooth space-containing dual-motor servo system, and establishing a state space expression of the dual-motor servo system by adopting a tooth space dead zone model. Specificto the dual-motor servo system, when the unknown nonlinearity of the load end satisfies a Lipschitz condition, the optimal state feedback is designed by a linear secondary type tracker; by combination with a robust controller, a guaranteed performance-based robust decentralized tracking controller is configured by combination with the robust controller. When it is supposed that the unknown nonlinearity of the respective motors is consistent, the optimal integral sliding mode controller is designed so as to realize synchronization between two motors; and by combination of the guaranteed performance-based robust decentralized tracking controller and the optimal integral sliding mode controller of the motor, the actual controller of each motor is configured in order to perform motor synchronous control.

The invention provides an immersed invariant flow adaptive quadrotor control method based on integral sliding mode. The method comprises the following steps of providing a quadrotor UAV, measuring itsposition data, and constructing an extended state observer to estimate the total interference; constructing an integral sliding mode controller according to the position data and observation values,and obtaining its output value to eliminate the observation error of the extended state observer; constructing an adaptive controller based on immersed invariant flow pattern, superimposing its outputvalue and the output value of the integral sliding mode controller to obtain the sum of the output values to eliminate the total interference, and sending the sum of the output values to an attitudecontroller that drives the quadrotor UAV. The immersed invariant flow adaptive quadrotor control method based on integral sliding mode provided by the invention adopts an extended state observer to observe various types of disturbances, constructs an integral sliding mode controller to eliminate observation errors, and designs a path tracking controller based on an adaptive controller to eliminateinterference, thereby realizing adaptive estimation ability for interference such as air interference, and ensuring stability under the interference such as air resistance.

The invention relates to an air-to-air missile direct force/aerodynamic finite time anti-saturation control method. In order to avoid the singularity of the traditional terminal sliding mode, a new integral sliding surface is proposed, which can converge the system state to the equilibrium position for a given finite time. An integral sliding mode controller that can deal with the bounded disturbance and the input saturation problem is designed,, and the virtual control torque needed to build a missile overload is obtained based on the longitudinal motion model of the missile. Controlled distribution is used to map the desired control torque to the aerodynamic rudder surface and direct force device. Both theoretical analysis and digital simulation show that the proposed controller enablesthe composite control missile to track an overload command signal for a limited time, and the closed loop system is stable.

The invention discloses a sensorless intelligent second-order integral sliding mode control method based on wind speed estimation in order to solve a problem of maximum power tracking of a wind driven generator. The rotating speed of the wind driven generator is adjusted by controlling a permanent magnet synchronous motor, and maximum capture of wind energy is achieved. Firstly, an intelligent second-order integral sliding mode controller used for speed loop and current loop control is designed, and the controller is high in convergence speed, high in robustness and capable of effectively restraining buffeting. Secondly, a novel cascade coupling observer based on a direct sliding mode observer and an extended high-gain observer is provided for estimating the rotating speed and the position of the rotor. In addition, a combined radial basis function neural network is adopted to estimate a wind speed effective value. And finally, the effectiveness of the method under the condition of considering model uncertainty and external interference is verified through simulation.

The invention discloses a neural network fractional order integral sliding mode control method for a hydraulic position servo system. The neural network fractional order integral sliding mode controlmethod is implemented according to the following steps of: step 1, performing hydraulic position servo system modeling and model linearization; step 2, designing a fractional order integral sliding mode controller of the hydraulic position servo system; and step 3, estimating an uncertain function in a model by adopting a neural network. According to the neural network fractional order integral sliding mode control method, effective control can be implemented without knowing system model information and accurate zero point of a proportional valve; and compared with a traditional sliding mode control method, a better tracking effect and higher control precision can be achieved.

The invention discloses a reentry vehicle attitude control method based on self-adaptive gain disturbance compensation. The reentry vehicle attitude control method comprises the steps: step 1, establishing a control-oriented reentry flight kinematics and dynamics model of a reentry vehicle; step 2, establishing a fixed-time convergence disturbance compensation observer, and observing the state anddisturbance items of the reentry vehicle; and step 3, designing an integral sliding mode controller, introducing an observer disturbance observation item into the integral sliding mode controller, and performing self-adaptive adjustment on the control gain by adopting a double-layer self-adaptive gain strategy. The novel fixed-time convergence disturbance compensation observer disclosed by the invention can ensure that the observation error is quickly converged to zero within the fixed time, has good noise suppression capability, and greatly improves the anti-interference capability of an aircraft.

The invention relates to a distributed autonomous underwater vehicle attitude collaborative optimization control method. An autonomous underwater vehicle is considered as a rigid body; a distributed autonomous underwater vehicle attitude system is considered as a multi-rigid-body attitude system; and the distributed autonomous underwater vehicle attitude system is constructed into a fuzzy system through a fuzzy theory. In order to overcome disturbance existing in an external environment, an integral sliding mode controller is designed according to the constructed fuzzy system, and the equivalent control system of movement on a sliding mold surface is solved. A distributed state feedback nominal controller is designed according to the equivalent control system on the sliding mold surface; and conditions which can ensure the stability and optimal performance index of the system are given according to a linear quadratic type optimal regulator theory, so that the optimal parameters of thenominal controller are designed. With the method provided by the invention adopted, control input can be optimally designed, so that the system can achieve expected control performance with small control input.

The invention discloses an intelligent double-integral sliding mode control method and device for a five-degree-of-freedom active magnetic bearing. The method comprises the steps that a dynamic modelof a five-degree-of-freedom active magnetic bearing system is calculated, the dynamic model of the five-degree-of-freedom active magnetic bearing system is decoupled into five independent subsystems by using a decentralized controller, the first output of the five subsystems is calculated by using an improved proportional-integral-differential neural network MPIDNN observer, the second output of the five subsystems is calculated by using an intelligent double-integral sliding mode controller, and the position of a rotor of the five-degree-of-freedom active magnetic bearing is controlled by utilizing the second output of the five subsystems. The method has the advantages that buffeting of the active magnetic bearing system can be relieved, the control precision is improved, and the stability is higher.

The invention provides a discrete integral sliding mode control device and method for a brain-controlled mobile robot. The control device comprises a brain-computer interface, a speed interface, a zero-order retainer, a discrete integral sliding mode controller and a speed sensor communicating with the discrete integral sliding mode controller, wherein the brain-computer interface, the speed interface, the zero-order retainer and the discrete integral sliding mode controller are sequentially connected. The control method comprises the following steps: initializing a brain-controlled mobile robot, and detecting the state of a speed sensor; receiving a control decision of a brain control operator through the brain-computer interface; converting the control decision of the brain control operator through the speed interface and the zero-order retainer, and outputting an expected control speed signal; and according to the expected control speed signal and the real-time speed of the speed sensor, performing control input solving through the discrete integral sliding mode controller to obtain a new control signal, and acting on the brain-controlled mobile robot. After the brain-computer interface outputs the expected robot speed signal, the controller is designed to enable the control signal to complete tracking of the expected speed, and the robustness of the system is guaranteed.

The invention provides a multi-mechanical-arm system synchronous control method based on a composite integral sliding mode. The method comprises the following steps of 1, establishing a multi-mechanical-arm system model; 2, defining a tracking error, a synchronous error and a coupling error of a multi-mechanical-arm system; and 3, designing a composite integral sliding mode controller. By means ofthe cross coupling synchronous control method, the synchronous performance of the interiors of mechanical arms is improved; the steady-state error of the system is effectively reduced by means of thecomposite integral sliding mode; meanwhile, the upper bound of the uncertainty is estimated through a self-adaption method and is compensated for, and the robustness of the system is improved.

The invention discloses a finite time tracking control method and device for an under-actuated unmanned ship based on an integral sliding mode, and belongs to the technical field of unmanned ship trajectory tracking control. At present, the traditional backstepping design of an under-actuated unmanned ship is too complex, and ship tracking is difficult to effectively control through traditional PID control. The tracking control method comprises the following steps: establishing a high-order under-actuated unmanned ship dynamic model obtained based on unmanned ship model conversion; designing a finite time integral sliding mode controller according to the high-order under-actuated unmanned ship dynamic model; and according to the high-order under-actuated unmanned ship dynamics model and the finite time integral sliding mode controller, designing a finite time tracking controller, and designing an adaptive law to eliminate external interference uncertainty. Compared with the prior art, the method has the beneficial effects that the backstepping design is avoided, and the calculation amount is effectively reduced; and the designed integral sliding mode controller still has good tracking precision and quick response capability under the conditions of external interference and the like.

The invention discloses a carrier-based D-class amplifier double-integral sliding mode controller design method and circuit, and the method comprises the steps: 1, building a state space model of a D-class amplifier by taking the output voltage and inductive current of the D-class amplifier as state variables; 2, designing the sliding surface equation as a function state variable for determining the dynamic characteristics of the system; 3, deducing an equivalent control equation serving as a state variable function; and 4, obtaining the controller gain by utilizing the existence condition ofthe system kept on the sliding surface and the stable condition of the system dynamically approaching the balance point on the sliding surface. The circuit comprises a first differential amplifier circuit, a reference voltage bias circuit, a proportional integral controller circuit, a second differential amplifier circuit and a comparator circuit. According to the invention, the Q factor is compensated, the flat frequency response is ensured, the switching frequency is ensured to be fixed, the influence of power level nonlinearity is reduced, the total harmonic distortion and noise are improved, and the cost and the overall efficiency are not influenced.

The invention discloses a trajectory tracking method within fixed time of an underwater robot-manipulator system, which belongs to the field of robot control. The method comprises the following steps: designing a fixed time disturbance observer, and adopting the fixed time disturbance observer to realize observation on unmodeled dynamics and exterior disturbance of the underwater robot-manipulator system within fixed time, thereby obtaining influence torque, on the underwater robot-manipulator system, of the unmodeled dynamics and exterior disturbance; designing a fixed time integral sliding mode controller which balances influences, on the underwater robot-manipulator system, of the unmodeled dynamics and exterior disturbance by generating a compensation torque according to the influences; and finally, realizing precise tracking on the operation trajectory of the underwater robot-manipulator system by the fixed time integral sliding mode controller. The fixed time integral sliding mode controller designed by the method can track an expected trajectory within the fixed time, and realizes fixed-time stabilizing of the system.

The invention relates to a novel unmanned aerial vehicle attitude system integral sliding mode control method and device based on a disturbance observer, an unmanned aerial vehicle and a storage medium. The method comprises the following steps: acquiring parameter errors and external disturbance observed by a disturbance observer in real time; inputting the parameter error and the external disturbance into a novel integral sliding mode controller, so that the novel integral sliding mode controller outputs a control signal to control the attitude of the unmanned aerial vehicle according to the parameter error and the external disturbance; wherein the construction mode of the novel integral sliding mode controller is as follows: according to the dynamic characteristics of the unmanned aerial vehicle, constructing an unmanned aerial vehicle attitude dynamic system model; determining an attitude angle error, and constructing an integral sliding mode surface; constructing an integral sliding mode reaching law; and according to the unmanned aerial vehicle attitude dynamics system model, the integral sliding mode surface and the integral sliding mode reaching law, a novel integral sliding mode controller is constructed, so that the problem that transient performance is weakened during initial control is relieved.

The invention provides a wheel control small satellite adaptive integral sliding mode attitude controller. For the influence of the flywheel friction torque and the external disturbance torque on theattitude control precision of the small satellite, a disturbance observer is designed to compensate the flywheel friction torque, and a sliding mode variable structure is introduced to achieve the control of the uncertain external disturbance robust. Aiming at the chattering problem of sliding mode controller, the adaptive law is designed for the switching gain to weaken the chattering, and an adaptive integral sliding mode controller is designed based on the disturbance observer and the adaptive law, and the controller is high in precision and small in chattering.