17 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.

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 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 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 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.

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.