82 results about "Linear-quadratic regulator" patented technology

A flight control system is configured for controlling the flight of an aircraft utilizing a three control loop design to robustly increase system performance. An inner loop comprises an improved linear quadratic regulator (LQR) search method, and an outer loop comprises a classic feedback summary gain design. A third loop comprises a steady state trim search method.

A system and method are provided for controlling the temperature of engine bleed air from a turbofan gas turbine engine. The system includes a fan air valve and a fan air valve controller. The fan air valve is adapted to receive a flow of fan air from a turbofan gas turbine engine intake fan. The fan air valve is coupled to receive valve position commands and is configured, in response to the valve position commands, to move to a valve position to thereby control the engine bleed air temperature. The fan air valve controller is configured to implement a linear quadratic regulator (LQR) control. The fan air valve controller is adapted to receive a plurality of sensor signals, each sensor signal representative of one or more system parameters, and is configured, in response to the sensor signals, to supply the valve position commands to the fan air valve.

The invention discloses a building method for the universal comprehensive models of single-rotor helicopters and turboshaft engines. The method includes the building of the non-linear models of a helicopter and an engine, the static trimming of the single-rotor helicopter and the turboshaft engine, the dynamic calculation of the single-rotor helicopter and the turboshaft engine and the actual operation solution of the single-rotor helicopter and the turboshaft engine, wherein the static trimming adopts the Levenberg-Marquarat algorithm, the dynamic calculation adopts the fourth-order Ronge-Kutta method to solve the motion equation system of the helicopter and the single pass algorithm to solve the dynamic balance equation of the turboshaft engine, and the actual operation state solution adopts a modified linear quadratic regulator algorithm to carry out helicopter solution and a cascade PID (Proportion-Integration-Differentiation) plus torque feedforward plus collective pitch compensation and torsional vibration filter method to carry out engine solution and load filtration. The method can meet the test requirements of the universal models and control methods of the single-rotor helicopters and the turboshaft engines, and plays an active role in helping to shorten the development cycle and reduce the test risk and the cost.

A method for regulating the production of steam from feed water in an evaporator of a steam plant is provided. A state regulator calculates a plurality of states of a medium in the evaporator by means of an observer and, on the basis thereof, determines a feed water mass flow rate as a regulating variable. In order to obtain a stable and precise regulation of the temperature of the steam, the state regulator is a linear-quadratic regulator.

A system and method are provided for controlling the temperature of engine bleed air from a turbofan gas turbine engine. The system includes a fan air valve and a fan air valve controller. The fan air valve is adapted to receive a flow of fan air from a turbofan gas turbine engine intake fan. The fan air valve is coupled to receive valve position commands and is configured, in response to the valve position commands, to move to a valve position to thereby control the engine bleed air temperature. The fan air valve controller is configured to implement a linear quadratic regulator (LQR) control. The fan air valve controller is adapted to receive a plurality of sensor signals, each sensor signal representative of one or more system parameters, and is configured, in response to the sensor signals, to supply the valve position commands to the fan air valve.

Method for controlling output torque (Teng) of a propulsion unit in a vehicle powertrain including driven wheels drivingly connected to the propulsion unit via a mechanical transmission with a drive shaft, wherein the method including the steps of registering driver torque demand (Td) for vehicle propulsion, registering propulsion unit rotational speed (ωe), and controlling the output torque (Teng) of the propulsion unit to asymptotically follow the driver torque demand (Td) using a closed-loop linear-quadratic regulator (LQR) based controller (9) having the driver torque demand (Td) and the propulsion unit rotational speed (ωe) as input data, in order to minimize driveline oscillations.

A method for time synchronization in a communications network having multiple nodes, wherein the nodes comprise a first node and at least one second node, where the first node generates first cycle counter states according to a reference clock frequency and the second node or nodes each generate second cycle counter states according to an internal clock frequency, where a time synchronization is carried out in sequential synchronization cycles, in which synchronization messages originating from the first node are sequentially transmitted from one node to another node, and a synchronization message transmitted by a node contains information used for time synchronization in the at least one second node receiving the synchronization message such that a time synchronization is performed in a given second node based on an estimation of a first cycle counter state and a compensation factor in combination with a linear quadratic regulator.

The invention discloses a differential geometry nonlinear control method for aircraft anti-interference attitude tracking. The method comprises the following steps: performing linear transformation on a nonlinear attitude dynamic model to obtain the form of a linear space; successively performing controller design on a linearized attitude tracking system by utilizing an LQR (Linear Quadratic Regulator) to obtain a nonlinear control law. The aircraft attitude tracking controller based on a differential geometry theory and an LQR control method can comprehensively consider the control error and the fuel consumption, adopts a simpler linear control theory, has a simple and convenient control structure, reduces the calculated amount and saves satellite resources; therefore, the differential geometry nonlinear control method is particularly suitable for space attitude tracking tasks needing real-time solution and having limited computing power.

The invention discloses a driving system fault-tolerant control strategy of a distribution type driving electronic automobile. Under a condition that one wheel is failed, fault tolerant control on anautomobile is implemented according to the fault-tolerant control strategy; upper layer control refers to that a transverse swinging angle speed and a centroid mass deviation angle of the automobile are adopted as control targets, an automobile transverse swinging moment control system is established in case of a failure fault, and on the basis of a sliding mode variable structure control strategyfor constraint on the basis of the transverse swinging angle speed and the centroid mass deviation angle, an expected transverse swinging moment is calculated; lower layer control refers to that through control of a sliding mode variable structure or LQR (Linear Quadratic Regulator Control), dynamic and stable torque coordinate optimization allocation strategies are respectively achieved, together with the expected transverse swinging moment, allocation of wheel moments is calculated, moment reallocation of wheels working normally is implemented, and stable running of the automobile can be ensured. By adopting the strategy, moment reallocation of wheels working normally can be implemented, preset wheel paths can be met to the maximum extent, sudden situations can be avoided, and safe andstable running of automobiles can be ensured.

The invention discloses an individual pitch control system and method for a wind driven generator. The system comprises a wind driven generator unit, a state observer and a disturbance accommodating controller; the state observer and the disturbance accommodating controller are additionally arranged in the system according to control input and interference input, the gain coefficients Gx and Gd are adjusted according to the specific circumstances to control the influences of errors and the interference input, and finally individual pitch control is achieved. According to the individual pitch control system and method for the wind driven generator, an individual pitch control strategy based on a linear quadratic regulator and a disturbance accommodating control technology is adopted, the problems that wind wheels of the wind driven generator are loaded are solved, the operation life of the wind driven generator is prolonged, the vibration load of the wind driven generator is effectively reduced, and the purpose of vibration reduction is well achieved; meanwhile, the disturbance accommodating control technology is introduced to inhibit or reduce the influences of the wind speed, the turbulent flow, the wind shear and tower shadow effects and the like on the wind driven generator, and the robustness of the system is improved.

The invention relates to a transverse control method for an automatic driving truck, and the method comprises the following steps: S100, receiving an input reference track, finding a track point closest to the truck, and calculating a tracking error; S200, the tracking error serving as a state variable of the linear quadratic regulator to be input into an LQR closed-loop feedback controller, and obtaining output of a linear quadratic regulator controller; inputting the reference track into a model reference self-adaptive controller to obtain model reference self-adaptive controller output; s300, combining the output of the linear quadratic regulator controller and the output of the model reference adaptive controller to obtain a steering wheel instruction, and sending the steering wheel instruction to a drive-by-wire system of the truck; and S400, cycling the steps S100-S300, so that the output of the truck is consistent with the expected output. The invention further provides a transverse control system of the automatic driving truck. Through LQR+MRAC, the robustness of the control algorithm can be greatly improved, so that the truck still has good stability under different loadsand special working conditions.

The invention provides a sectional pressure set value optimization method of a hydraulic propelling system of a heading machine. The method comprises the steps of dividing the hydraulic cylinder of the hydraulic propelling system of the heading machine into N sections, calculating the resultant force and the resultant moment provided by the hydraulic cylinder in each section by use of a linear quadratic form regulator, and obtaining the optimized resultant force provided by the hydraulic cylinder in each section by virtue of quadratic programming, thereby obtaining the hydraulic cylinder pressure set value in each section. According to the sectional pressure set value optimization method of the hydraulic propelling system of the heading machine, the hydraulic cylinder of the hydraulic propelling system of the heading machine is divided into N sections, the pressure set value of the hydraulic cylinder in each section is the same and the control on the hydraulic propelling system is simplified; the resultant force of each section is optimized by virtue of quadratic programming so as to realize excellent tracking capability of main trajectory of the heading machine; the linear quadratic form regulator is combined with a conventional controller to further improve the trajectory tracking capability.

The invention discloses a digital control method for a DC (Direct Current)-DC converter based on LQR (Linear Quadratic Regulator) optimum control. The digital control method comprises manual / automatic control mode switching design, state observer design, an LQR optimal controller with integral control and considering of tracking performance of reference input voltage, and the design of a method for resisting integral saturation. According to the digital control method disclosed by the invention, the LQR optimal controller with the integral control is designed, the output residual error of the DC-DC converter is effectively eliminated, and the tracking performance of the reference input voltage is considered, so that output voltage of the DC-DC converter can be used for better tracking the change of the reference input voltage in real time; the method for resisting the integral saturation is adopted for processing the control variable duty cycle output, and the problem that the controller is failed as the duty cycle is saturated for a long time caused by wide-range change of loads and the like in the actual engineering application is avoided; a switch is adopted for controlling the manual / automatic control mode to be switched, so that smooth switching of two operating modes is guaranteed. Shown by the actual engineering application, the digital control method disclosed by the invention has good control precision and robustness.

A method for controlling an actuator system of a motor vehicle includes utilizing a model predictive control (MPC) module with an MPC solver to determine optimal positions of a plurality of actuators subject to constraints, optimizing a cost function for a set of actuator duty cycles for controlling positions of the plurality of actuators, determining if the MPC solver has determined optimal actuator positions for the plurality of actuators, and applying a linear quadratic regulator (LQR) solution if the MPC solver fails to determine optimal actuator positions for the plurality of actuators.

The invention proposes a linear quadratic fault-tolerant control method for infinite time domain optimization of a batch process. The method firstly establishes a multi-stage state space model by collecting input and output data, further converts the state space model into an extended state space model including state variables and output tracking errors, uses a switching system model for representation, then designs a controller which can be flexibly adjusted in real time in an infinite time domain, and finally aims at different phases to design dwell time which relies on the Lyapunov function. The method has the advantages that firstly, an optimal control law which can be flexibly adjusted in real time is designed in the infinite time domain to resist the influence caused by actuator failure and external interference on a system, so that the stable running of the system under the influence is ensured, and the system has optimal control performance; secondly, a switching law is designed without the need for setting of other parameters, and a value is obtained directly; the method accurately determines the running time of each stage, so that the running time of the system is shortened, product quality is ensured, and production efficiency is improved while the stable running of the system is ensured.

A method for controlling a temperature of steam for a steam power plant is provided. A state regulator controls the temperature of the steam at an outlet of a superheater using a feedback of multiple medium states of the steam in the superheater. An aim herein is to achieve a stable and precise control of the steam temperature. This is achieved in that the state regulator is a linear regulator, the feedback matrix of which is ascertained such that the regulator has the control quality of a linear-quadratic regulator.

The invention discloses a linear quadratic regulator control method of a multi-agent system. According to the method, on the basis of decoupling, an LQR control problem of a multi-agent system is transformed into an LQR control problem of N intelligent agent sub systems, so that the diagonal structure constraint of the feedback matrix is eliminated. With consideration of the convexity of the LQR control domain, N matrix inequalities are reduced to be two matrix inequalities in the constraint and the minimum and maximum characteristic values of the Laplacian matrix are used as coefficients. TheLQR control of the agent system is independent of the number of nodes, so that the method is suitable for the large network scale. Besides, the method is also suitable for controllers with other structures, like a static output feedback controller. Moreover, the user carries out operation simply and visually and main defects of the traditional method are overcome. The design method can be appliedto solve problems of a population set, spurt, aggregation, sensor network estimation and the like.

A quasi-static bend sensor is taught that comprises a layering of a plurality of ionic polymer metal composite (IPMC) sections with intervening dielectric sections in a vertical stack configuration. The IPMC sections are electrically connected in parallel. The surface of the stack is coated with high-purity synthetic isoparaffins for polymer hydration to increase step response consistency. Finally, the vertical stack configuration is electrically connected to an electric field measurement device and a linear quadratic regulator based controller for reducing settling time.

The invention discloses an Acrobot model-based diagonal support static balance control method for a quadruped robot. A diagonal support model of the quadruped robot is simplified, so that the complexity of balance control is lowered; an Acrobot under-actuated inverted pendulum model is introduced, so that the problem that the mass center of a body deviates from the position of a rotating shaft iswell solved; and finally, for an Acrobot complex nonlinear system, stable control is carried out at a balance point through a linear quadratic regulator, and through simulation analysis and model establishment, the diagonal support model is simplified into a virtual under-actuated second-order inverted pendulum Acrobot model, so that diagonal support static balance control is further carried out.

The invention relates to an orbit keeping method of a double-satellite system, in particular to a method for adopting a linear quadratic type regulator for tracking control and achieving double-satellite system orbit keeping, and belongs to the technical field of aerospace. The implementation method comprises the steps of using a simplified two-body kinetic model to design a nominal orbit, then obtaining an actual orbit with an initial value of the nominal orbit under a precise two-body kinetic equation, calculating the deviation of the actual orbit and the nominal orbit, designing an optimalcontrol law based on the linear quadratic type regulator to obtain optimal accelerated speed, and applying continuous control to make the actual orbit converged around the nominal orbit, so that orbittracking and keeping under the double-satellite system is achieved. The method for adopting the linear quadratic type regulator for tracking control and achieving double-satellite system orbit keeping is applicable to double-satellite system orbit keeping under the condition of the presence of initial errors and model errors, and has the advantages of being high in convergence, high in keeping precision and the like.

The invention relates to a transverse control method of an automatic driving truck, which comprises the following steps of: S100, receiving an input reference track, and calculating a tracking error;s200, obtaining an estimated value of a truck state and an equivalent estimated value of disturbance through an extended state observer; s300, inputting the state variable into an LQR closed-loop feedback controller to obtain the output of a linear quadratic regulator controller; s400, acquiring a control signal of the truck, and sending the control signal to a drive-by-wire system of the truck; and S500, cycling the steps S100-S400 , so that the output of the truck is consistent with the expected output. The invention further provides a transverse control system of the automatic driving truckand a storage medium. Tracking error feedback control is carried out through the linear quadratic regulator LQR, stable tracking control is carried out on a track, meanwhile, an extended state observer ESO is adopted for estimating truck modeling errors and external interference and carrying out compensation, and the stability and robustness of transverse control over the automatic driving truckare effectively improved.

Method for controlling output torque (Teng) of a propulsion unit in a vehicle powertrain including driven wheels drivingly connected to the propulsion unit via a mechanical transmission with a drive shaft, wherein the method including the steps of registering driver torque demand (Td) for vehicle propulsion, registering propulsion unit rotational speed (ωe), and controlling the output torque (Teng) of the propulsion unit to asymptotically follow the driver torque demand (Td) using a closed-loop linear-quadratic regulator (LQR) based controller (9) having the driver torque demand (Td) and the propulsion unit rotational speed (ωe) as input data, in order to minimize driveline oscillations.

Systems and methods for operating a driveline of a hybrid vehicle are described. In one example, vehicle launch is controlled according to a linear quadratic regulator that provides feedback control according to torque converter slip error and vehicle speed error. The vehicle launch is also controlled according to feed forward control that is based on requested torque converter slip and requested vehicle speed.

A method for time synchronization in a communication network having a plurality of nodes each comprising a first node and at least one second node, wherein the first node generates first cycle counting states according to a reference cycle frequency and the second node generates second cycle counting states according to an internal cycle frequency, wherein time synchronization is performed in consecutive synchronization cycles in which, starting from the first node, synchronization messages are consecutively transferred from one node to a further node and a synchronization message transmitted by the node includes a segment of information that is used for time synchronization in the node receiving the synchronization message, wherein time synchronization is performed in the second node based on an estimate of a first cycle counting state in combination with a linear-quadratic regulator to obtain a synchronized time comprising a controlled first cycle counting state.

The invention puts forward a linear quadratic fault-tolerant control method of a batch process optimized by a genetic algorithm. The invention first establishes an extended state space model for the batch process by combining state variables and output tracking errors to better deal with possible unknown disturbances and actuator fault problems in the batch production process, and then optimizes a weighted matrix of an objective function by using the genetic algorithm, and finally designs the linear quadratic fault-tolerant controller. The invention not only guarantees a good tracking performance of the system under the condition of the unknown disturbances and the actuator faults, but also ensures that a form is simple and needs of an actual industrial process are met. .

The invention discloses a self-balance manned electric single-wheel vehicle attitude balance control method. The method includes that the attitude information about inclination angle and inclination angle speed of a single-wheel self-balance vehicle body is obtained through measurement by an accelerometer and a gyroscope arranged on the electric single-wheel vehicle, and then on the basis of a system model, an attitude balance control method based on an LQR (Linear Quadratic Regulator) is designed to obtain the optical control quantity of an attitude balance controller through calculation, and at the end, the optical control quantity of the attitude balance controller is taken as the torque current given, a motor is driven by means of a vector control method to move based on the given torque to maintain the attitude balance of the vehicle body. According to the attitude balance control method based on an LQR (Linear Quadratic Regulator), the attitude balance controller based on the LQR is good in rapidity and stability, has the advantage of energy saving, and can realize the attitude balance control of the single-wheel self-balance vehicle.

The invention discloses an unmanned aerial vehicle ship autonomous landing method based on relative precision single-point positioning, relates to the field of high-precision relative position measurement, and can realize safe autonomous landing of an unmanned aerial vehicle ship in a complex meteorological environment. The method comprises the following steps of through an RPPP algorithm, establishing an unmanned aerial vehicle kinematics model and a harmonic model during ship motion, controlling transverse and longitudinal motions of the unmanned aerial vehicle, and introducing a relative motion equation between the two; proportional guidance and a linear quadratic regulator being combined, and accurate guidance being conducted on the pulling-up section of the landing tail end of the unmanned aerial vehicle. The method can be used for accurately determining the relative positions of the deck and the unmanned aerial vehicle under the conditions of violent shaking of the deck and drifting of the landing track of the unmanned aerial vehicle in a complex sea surface environment with stormy waves, so safe and autonomous landing of the unmanned aerial vehicle is realized.