30 results about "Integral sliding mode controller" patented technology

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 discloses a permanent magnet synchronous motor nonlinear integral compound control method based on a novel reaching law. The method comprises the following steps: detecting a motor rotating speed omega and position angle information theta; calculating a rotating speed deviation e; transforming to obtain id and iq; calculating a nonlinear integral sliding mode surface s and a novel reaching law to observe a motor rotating speed omega and a load torque TL; calculating an output current given value iq *; performing Park inverse transformation to obtain u alpha and u beta; and performing voltage space vector pulse width modulation to obtain three switching signals of a three-phase inverter, and controlling the permanent magnet synchronous motor. According to the permanent magnet synchronous motor control method, the load disturbance observer and the nonlinear integral sliding mode controller are combined to construct the novel composite sliding mode controller, unknown disturbance can be estimated and compensated timely and accurately, the degree of dependence on high gain is effectively reduced, and the robustness of dealing with the unknown disturbance is remarkably improved.

The present invention belongs to the field of control theory and control engineering. The method described in the present invention includes designing a PMSM mathematical model and introducing a cross-covariance matrix based on the traditional EKF disturbance observer implementation process; accurately predicting the disturbance torque during motor operation using different parameters in the system noise covariance matrix; and designing a fuzzy adaptive EKF disturbance observer to predict the system disturbance torque, thereby obtaining an improved EKF disturbance observer. The present invention designs an improved EKF disturbance observer that accurately observes sudden and continuous disturbances in real time, introduces the disturbance observation values ​​into an improved integral sliding mode controller, and effectively improves the overall motor system's ability to resist load disturbances.

The present invention relates to the field of manipulator control technology, and in particular to a method for controlling an underwater mobile manipulator based on load estimation, comprising: establishing a kinematic model and a dynamic model of the manipulator based on the motion data of the manipulator; determining whether the degree of environmental interference meets requirements based on underwater noise, and determining an adjustment method if it does not meet the requirements; obtaining the current position and posture; calculating the output parameters of an integral sliding mode controller and the compensation output parameters of an extended state observer; calculating the torque of the manipulator; calculating the thrust values ​​of several propellers of the manipulator; calculating the load mass of the manipulator; updating the position and posture of the manipulator based on the thrust values ​​and the load mass of the manipulator, and obtaining the updated position and posture. The present invention improves the operational stability and control accuracy of the manipulator.

The application discloses a mechanical arm path planning method based on a mixed proportional integral sliding mode control, and comprises a three-link mechanical arm, the length of three links of the three-link mechanical arm and the corresponding joint angle are connected through a forward kinematics equation of the three-link mechanical arm to obtain the coordinates of an end effector of the three-link mechanical arm in a Cartesian coordinate system; an initial state and a target state are set, the initial state is connected with the target state to generate a predefined path of the end effector of the three-link mechanical arm, a proportional integral controller PI is combined with a sliding mode controller SMC to obtain a proportional integral sliding mode controller PI-SMC; a mixed proportional integral sliding mode controller is generated; the mixed proportional integral sliding mode controller is combined with the predefined path to generate a mechanical arm path planning, and the mechanical arm of the robot can accurately repeat the same action in an unstructured scene.

A method for controlling an intelligent truck platoon includes: obtaining a desired path based on collected multi-source signals and calculating a desired vehicle distance using a time-to-headroom strategy; parameterizing and reconstructing the desired path based on the multi-source signals to obtain a continuous reference trajectory; establishing a high-order kinematic model for each vehicle in the platoon; designing a lateral sliding mode controller that is resistant to path fluctuations based on the high-order kinematic model and the continuous reference trajectory of each vehicle, and calculating a desired front wheel angle; designing a second-order hyperbolic integral sliding mode controller with lateral adhesion suppression based on the high-order kinematic model, the continuous reference trajectory, and the desired vehicle distance of each vehicle, and calculating a desired acceleration; and outputting a steering torque and a driving torque or braking pressure of the wheels based on the calculated desired front wheel angle and desired acceleration to achieve coordinated movement of the intelligent truck platoon. The present invention enables precise and stable coordinated movement of intelligent truck platoons.

This application belongs to the field of DC bus voltage control, specifically disclosing a super-spiral sliding mode active disturbance rejection control method based on an RBF neural network, including the following steps: establishing a mathematical model of a bidirectional Buck / Boost circuit; designing an active disturbance rejection controller, which includes a tracking differentiator and an extended state observer; using an RBF neural network to dynamically optimize the gain parameters of the extended state observer in real time; constructing a super-spiral integral sliding mode controller to replace the nonlinear state error feedback loop in the active disturbance rejection controller; calculating a current reference signal based on the output signal of the tracking differentiator and the observation signal of the extended state observer through the super-spiral integral sliding mode controller; generating a drive signal based on the current reference signal to control the bidirectional Buck / Boost circuit to maintain the stability of the DC bus voltage. This application can effectively improve the stability and disturbance rejection capability of the DC microgrid bus voltage.

The present invention discloses an adaptive sliding mode control method for a sway robot to resist false injection attacks, belonging to the technical field of sway robot control. The method comprises obtaining the initial trajectory tracking error equation of the sway robot based on the robot's dynamic model, a tracking trajectory reference signal, and the trajectory the sway robot needs to track; simulating the actuator attack signal using a neural network, obtaining the weight estimate of the neural network through a linear filter based on the Lyapunov stability theorem, and determining the actuator attack signal; determining the trajectory tracking error equation of the sway robot after being attacked by a false injection actuator based on the attack signal and the initial trajectory tracking error equation; and setting an adaptive integral sliding mode controller with the trajectory tracking error converging to 0 within a fixed time as the control goal to control the sway robot to achieve trajectory tracking. This method can ensure that trajectory tracking is not affected by attacks and interference, resolving the problem of insufficient protection against targeted attacks.

The invention discloses a finite-time robust control method and system for the temperature of a chilled water outlet of an evaporator of a central air-conditioning system. The finite-time robust control method comprises the following steps that S1, a steam compression type refrigerating unit system model is built; s2, linearizing the system mathematical model based on the steam compression type refrigerating unit system model; and S3, an integral terminal sliding mode controller is adopted to achieve tracking error finite time convergence, and central air conditioning system evaporator chilled water outlet temperature control is achieved. Finally, through simulation verification, compared with a PID controller and an integral sliding mode controller, the method has more advantages in the aspects of suppressing buffeting and resisting various interferences.

This invention relates to the field of intelligent manufacturing technology, and more particularly to a design method and system for a dynamic vibration absorber in the field of vibration control. The invention establishes a two-degree-of-freedom nonlinear dynamic vibration absorber system, and optimizes a passive mechanical network of biquadratic optimal form based on the linearized model fitted from this system model. Based on the system model combined with the passive mechanical network, a fractional-order integral sliding mode controller based on a disturbance observer is designed. The fractional-order switching disturbance observer can estimate and supplement various unknown factors in the system, and outputs the optimal control force through fractional-order integral sliding mode control. Finally, a semi-active capacitive control law is designed, and a suboptimal control force is obtained through force tracking to achieve vibration reduction control. This invention effectively improves the control accuracy of the dynamic vibration absorber.

This invention discloses a dual friction parameter identification and adaptive synchronous control method for a multi-axis electro-hydraulic system, comprising: constructing a dynamic model of a hydraulic leveling system including a LuGre friction model; using a genetic algorithm to perform offline optimization identification of the friction parameters of the LuGre friction model to obtain initial estimated parameters; based on the initial estimated parameters, designing an adaptive parameter adjustment law based on control error to fine-tune the friction parameters in the LuGre friction model online in real time, forming a dual friction parameter identification framework consisting of offline identification and online adaptation; using the dual identification framework, designing an integrated adaptive feedforward integral sliding mode controller, introducing the online fine-tuned friction parameters into the sliding mode control law for feedforward compensation, and ensuring that synchronous control and online estimation of friction parameters are performed synchronously; based on the dynamic model, distributing the virtual torque in the overdrive coupling system, and designing an inner-loop voltage controller to achieve pressure control under constant back pressure.

The invention discloses a new energy power station rapid power adaptive control method and system based on short-circuit ratio distribution, and the method comprises the steps: introducing an adaptive droop coefficient, a dynamic virtual inertia, a virtual capacitance adaptive rate and an adaptive damping coefficient, and dynamically adjusting a control parameter according to the short-circuit ratio of a power grid system; and the problems of frequency collapse in a weak power grid and excessive response in a strong power grid are effectively solved. Meanwhile, the robustness of the power grid system is optimized by adopting a superhelix observer and an integral sliding mode controller. The system comprises a droop control module, a dynamic virtual inertia adjustment module, an oscillation adjustment module and a robustness optimization module, realizes optimal power adjustment under different power grid intensities, and significantly improves the power adaptive capability of a new energy power station and the overall stability of a power grid system. Simulation results show that the method can effectively stabilize power fluctuation and improve the frequency and power stability of a power system.

The invention provides an inertial measurement system stable loop redundant sensor system instability recovery method, and belongs to the field of inertial measurement. The method comprises the following steps: firstly, for a three-frame four-axis stable platform, carrying out physical modeling analysis and designing a non-linear integral sliding mode controller capable of resisting random disturbance; then, configuring a redundant sensor for the stabilized platform; according to the rotation relation between the frames of the stabilized platform, coordinate transformation between the frame systems is carried out, and the data relation between the sensors is obtained; and finally, considering multi-party signal sources after the redundant sensors are added, positioning a fault, setting a signal substitution scheme, and carrying out multiple redundant backup on data required by platform stability maintenance. And a non-linear integral sliding mode controller with a rapid instability recovery characteristic is used to verify the replaced signal. According to the method, a fiber-optic gyroscope, an MEMS gyroscope, a grating ruler and other sensors are used for data fusion, coordinate system transformation and a signal replacement strategy are combined, a fault sensor is accurately positioned, and signal replacement is carried out.

The present invention discloses a motion control method for adjusting a center of mass mechanism slider during the reconstruction process of a deformable robot, comprising the following steps: 1. establishing a deformable robot model; 2. inputting the deviation between the desired zero-torque point and the actual zero-torque point into a fuzzy-PID controller, calculating and outputting the desired displacement of the slider; 3. performing anti-impact rapid motion planning on the desired displacement to obtain the desired speed of the slider; 4. inputting the deviation between the desired speed and the actual speed into an integral sliding mode controller, calculating and outputting the slider control voltage; 5. inputting the control voltage into an electromechanical dynamics model to obtain the actual speed, and feeding it back to the integral sliding mode controller to achieve smoothness closed-loop control; 6. integrating the speed to obtain the displacement, calculating the zero-torque point using the displacement, and feeding it back to the fuzzy-PID controller to form stability closed-loop control. The present invention can perform multi-objective integrated control on the displacement and speed of the slider movement, so that the slider can quickly reach the desired position without impact, thereby effectively improving the reconstruction stability of the deformable robot.

The invention discloses a wide-range multi-level converter control method based on improved integral sliding mode control, and the method comprises the steps: building a fractional order multi-mode unified state space model of a multi-level converter control system, and constructing a distributed collaborative prediction control architecture; a composite nonlinear integral sliding mode controller is adopted as an execution layer of the distributed collaborative predictive control architecture; a radial basis function neural network is adopted to provide an accurate feed-forward compensation signal for a multi-level converter control system; based on stability analysis, a self-adaptive online setting rule of an effective integral coefficient of a composite nonlinear integral sliding mode surface S of the composite nonlinear integral sliding mode controller is provided, and parameter self-healing of the multilevel converter control system is realized through a parameter identification module. The wide-range multi-level converter control method has the advantages of being capable of eliminating steady-state errors, remarkably improving output voltage precision and response speed, dynamically optimizing robustness and dynamic performance of a multi-level converter control system and the like.

The application discloses a wide-range multi-level converter control method based on improved integral sliding mode control, which comprises the following steps: establishing a fractional-order multi-modal unified state space model of a multi-level converter control system, and constructing a distributed collaborative predictive control architecture; adopting a composite nonlinear integral sliding mode controller as an execution layer of the distributed collaborative predictive control architecture; adopting a radial basis function neural network to provide an accurate feedforward compensation signal for the multi-level converter control system; based on stability analysis, proposing an adaptive online setting rule of an effective integral coefficient of a composite nonlinear integral sliding mode surface S of the composite nonlinear integral sliding mode controller, and realizing parameter self-healing of the multi-level converter control system through a parameter identification module. The wide-range multi-level converter control method has the advantages of being capable of eliminating steady-state error, significantly improving output voltage precision and response speed, dynamically optimizing robustness and dynamic performance of the multi-level converter control system and the like.

The application discloses a truss robot anti-interference positioning control method and system, comprising the following steps: S1, based on the operation condition parameters of the truss robot system, combining the Lagrange dynamics equation, establishing a three-dimensional truss robot system mathematical model and performing characteristic analysis; S2, adding a time delay estimation module to the three-dimensional truss robot system mathematical model, and estimating the uncertainty and external interference in the system in real time; S3, according to the real-time estimation of the uncertainty and external interference in the system, combining a sliding mode controller, and performing anti-interference positioning control on the truss robot. The truss robot anti-interference positioning control method and system can reduce the requirement of high system model precision of the sliding mode control through the time delay link, and an integral sliding mode controller module is proposed to improve the positioning precision and robustness of the system, so that efficient trajectory tracking and disturbance suppression are realized through the combination of the two, and the control effect is achieved.

The application relates to the field of photovoltaic power generation technology and discloses a control method of a photovoltaic VSG inverter based on an improved reaching law integral sliding mode, which aims to enhance the robustness and steady-state accuracy of a photovoltaic grid-connected VSG system.The control method of the photovoltaic VSG inverter based on the improved reaching law integral sliding mode is characterized in that a feedforward decoupling control is performed on a three-phase inverter mathematical model in a dq coordinate system, single control of dq-axis voltage and current is realized, a backstepping method is used to compensate for non-matching uncertain disturbance in the system, an integral sliding mode controller is designed for a voltage outer loop and a current inner loop subsystem, and the fast response of inverter d-axis current, active power and reactive power and the accurate tracking of the actual value and the reference value of the d-axis current under the condition of external disturbance and internal parameter perturbation are realized.

The invention relates to a DAB converter control method based on a double-integral sliding mode and current stress optimization. The method comprises the following steps: establishing a DAB converter system order reduction model; designing a double-integral sliding mode controller; calculating a voltage transmission ratio, and dividing a power interval; judging a power interval, and selecting a control mode and an optimal bridge internal and external shift comparison combination; and control signal generation.

The invention relates to the technical field of intelligent manufacturing, in particular to a dynamic vibration absorber design method and system for vibration control directions in related fields. According to the method, a two-degree-of-freedom nonlinear dynamic vibration absorber system is established, a passive mechanical network in a biquadratic optimal form is obtained through optimization according to a linearization model fitted by a system model, and a fractional order integral sliding mode controller based on a disturbance observer is designed according to a system model combined with the passive mechanical network. Wherein the fractional order switching disturbance observer can estimate and supplement various unknown factors existing in the system and output the optimal control force through fractional order integral sliding mode control, and finally, the semi-active inerter control rate is designed, and the suboptimal control force is obtained through the force tracking thought to conduct vibration reduction control. The control precision of the dynamic vibration absorber is effectively improved.

The invention belongs to the technical field of satellite attitude control, and relates to a large-scale satellite robust attitude stabilization method for rotation imbalance disturbance, which comprises the following steps: constructing a rotation imbalance and rigid-flexible coupling dynamic model of a large-scale satellite; a sliding mode observer is adopted to estimate periodic and pulsed unbalanced disturbance; a satellite wide-frequency-band attitude is determined through fusion of a magnetofluid angular velocity sensor and a traditional attitude sensor; an integral sliding mode controller is adopted to suppress unbalanced disturbance and realize global attitude stability of the large satellite; according to the method, high-precision estimation of periodic and pulsed unbalanced moments is realized, and the attitude determination capability under a wide frequency band condition is remarkably improved; compared with a traditional method, the precision and stability of attitude control are obviously improved, and the performance is obviously improved.

The invention discloses a 3-PSS pneumatic parallel robot virtual-real mapping control method based on digital twinning, and belongs to the technical field of industrial robot control and digital twinning. The method comprises the following steps: constructing a three-layer digital twin system which comprises a physical space, a virtual space and an application service layer; a finite time tracking differentiator is designed at a virtual end for smoothing a reference trajectory, a finite time expansion state observer is designed for estimating friction and coupling disturbance, and an integral sliding mode controller is designed for compensating disturbance and controlling output; a virtual-real error mapping controller is designed at an entity end to realize rapid and accurate tracking of an expected position; proving the stability of the system by adopting a Lyapunov method; the problem that the control precision of the 3-PSS pneumatic parallel robot is reduced due to the influence of pneumatic nonlinearity, external disturbance and model inconsistency under complex working conditions is solved, and finally it is guaranteed that the 3-PSS pneumatic parallel robot based on digital twinning can achieve high-precision and quick-response space position trajectory tracking.

The application discloses a multi-unmanned ship longitudinal formation control method based on a nonlinear extended state observer, which comprises the following steps: establishing a kinematics model, a dynamics model and a wind disturbance model, and analyzing the boundedness of the wind disturbance; designing a time corresponding distance increment rule, generating a reference signal, constructing a longitudinal scheduling mixer and a double closed-loop control framework; establishing a kinematics error system, and deducing an error dynamics equation; designing a backstepping controller with a geometric compensation term, and outputting an expected speed; establishing an extended state system, and introducing equivalent external disturbances as extended states; designing a nonlinear extended state observer, outputting disturbance estimation values as disturbance compensation signals, and deducing a nonlinear error system; designing an integral sliding mode surface with a continuous nonlinear function; establishing a speed error system, and designing an integral sliding mode controller with a saturation function and disturbance feedforward compensation. The application designs a robust control and collaborative compensation mechanism for the working condition of narrow channel and superimposed wind disturbance, so as to guarantee the safe and reliable operation of the multi-ship longitudinal formation.

The application is a kind of mechanical arm integral sliding mode control method based on cascade neural network. It includes: 1. Based on n degree of freedom mechanical arm with unknown external disturbance, the dynamic model is established; 2. The set of uncertain items of the dynamic model is regarded as a set of uncertain items, and a cascade radial basis function neural network is designed for accurate compensation; 3. Based on the estimation error generated by the RBF neural network, a time-varying disturbance observer is designed to accurately compensate it; step 4, based on the dynamic model of the mechanical arm, the cascade radial basis function neural network and the time-varying disturbance observer, the mechanical arm integral sliding mode controller based on cascade neural network is designed. The application adopts the technical scheme of combining cascade neural network, sliding mode control and observer technology, designs the trajectory tracking controller, which ensures the tracking accuracy of the mechanical arm system, improves the convergence speed of the neural network, and solves the chattering phenomenon of the mechanical arm caused by linear sliding mode control.

This invention discloses an AGV trajectory tracking control method based on an adaptive integral sliding mode controller, comprising: establishing a kinematic model and a dynamic model of the AGV containing complex disturbances; treating model uncertainties and external environmental disturbances as complex disturbances, and designing a disturbance observer in conjunction with the AGV's dynamic model; inputting reference linear velocity information and reference angular velocity information, designing a linear velocity dual-layer adaptive integral sliding mode controller and an angular velocity dual-layer adaptive integral sliding mode controller for control, and obtaining the AGV's actual linear velocity information, actual angular velocity information, and actual position information, thereby obtaining the AGV's actual trajectory RT1. This invention, while retaining the system's high-precision tracking and rapid error convergence, significantly suppresses control input spikes in complex scenarios, possesses stronger adaptive capabilities and engineering practicality, and is suitable for the high-precision, fast-response, and robust control requirements of AGV trajectory tracking in complex scenarios.

The invention discloses an online data driven nonlinear system sliding mode control method and system, and relates to the technical field of automatic control. The method is provided for solving the problems that according to a traditional data-driven sliding mode control algorithm, a dynamic linearization data model needs to be built in real time, controller design can be conducted only through online data, the calculation efficiency is low, and flexibility is limited. The technical key points are as follows: establishing a partially unknown nonlinear discrete system mathematical model and designing an integral sliding mode surface, collecting a data sample and designing constraint conditions capable of guaranteeing the H-infinity robust stability and non-vulnerability of the system, designing an integral sliding mode controller meeting the existence and accessibility conditions of a discrete sliding mode, and relying on a data sequence matrix, calculating the robustness of the discrete sliding mode based on the integral sliding mode controller. Integral sliding mode control law design is carried out based on a self-adaptive reaching law, so that the controller design can weaken buffeting of an exponential reaching law while meeting existence and accessibility conditions of a discrete sliding mode; and establishing and solving an optimization problem to obtain the controller. According to the invention, the combination of the data driving control and the integral sliding mode control based on the Willems basic lemma is realized, and the robustness and non-vulnerability of the algorithm are improved. The method provided by the invention has important significance for promoting the development of a data-driven control technology and promoting the practical application of integral sliding mode control in part of unknown nonlinear systems.

The present invention discloses a method for high-precision trajectory control of a manipulator with specified performance based on an improved hypertorsion expansion state observer. The method comprises the following steps: establishing a dynamic model of an n-joint manipulator; re-describing the dynamic model of the n-joint manipulator as a dynamic model of the manipulator based on total disturbance; designing an improved hypertorsion expansion state observer to estimate the total disturbance in the dynamic model of the manipulator based on total disturbance; and constructing a recursive integral sliding mode controller based on funnel error transformation according to an equivalent control law, a switching control law, and a total disturbance estimate to achieve trajectory tracking of the manipulator. The present invention can effectively improve the convergence speed of the system, effectively suppress chattering in the system, and have good anti-interference performance.

A method for safe platooning of multiple vehicles on roads based on model predictive control includes: establishing a discrete kinematic model of multiple vehicles considering vehicle spacing constraints and sideslip disturbances; designing a longitudinal model predictive controller based on the model, introducing a one-sided hinge function and time-varying weights to construct an asymmetric vehicle spacing penalty term in the cost function, and adding vehicle spacing and velocity / acceleration boundary constraints in rolling optimization to obtain longitudinal control quantities; designing a nonlinear extended state observer to estimate sideslip disturbances online; designing an integral sliding mode controller based on lateral tracking error, and combining a nonlinear fal(·) function to suppress chattering and output steering control quantities; this invention solves the problems of insufficient safety margin, decreased coordination accuracy, and lateral control chattering that easily occur in multi-vehicle platooning under strict vehicle spacing constraints and sideslip disturbances on curved roads, improves safe platooning capability under vehicle spacing constraints, enhances steering accuracy and trajectory tracking robustness on curved roads, and improves the smoothness of control commands.

A dual-loop position control method for a universal pneumatic flexible robotic arm based on digital twins belongs to the field of industrial intelligent manufacturing technology and robotic arm servo control, comprising: first establishing a virtual body structure of the universal pneumatic flexible robotic arm in digital simulation software according to the structural characteristics of the universal pneumatic flexible robotic arm entity, and only involving kinematic control in the virtual body; when the entity is affected by the disturbances of gravity bias, Coriolis force and coupling, a finite-time expanded state observer is designed to estimate the disturbance, and an integral error controller is used to compensate for the disturbance; a fast integral sliding mode controller is designed to achieve fast and accurate tracking of the desired position; the present invention solves the problem of the universal pneumatic flexible robotic arm being affected by disturbances during movement, and the position and posture of the end point obtained by the digital twin virtual body is not affected by the inaccuracy of D-H modeling and changes in environmental conditions, ultimately ensuring that the universal pneumatic flexible robotic arm based on digital twins can track the spatial position trajectory quickly, accurately and stably.