7 results about "Nonlinear adaptive control" patented technology

The invention discloses a nonlinear adaptive control system design method and device based on a pseudo-inverse matrix, and relates to the field of adaptive control, and the method comprises the steps: S1, constructing a controlled object state-space equation comprising matching uncertainty and non-matching uncertainty; non-matching uncertainty is converted into matching uncertainty through pseudo-inverse transformation; s2, introducing the state vector into a regression vector to obtain an expansion regression vector, and obtaining an uncertainty function based on the expansion regression vector; s3, constructing a state observer, and obtaining a state observation value of the controlled object; s4, taking the difference between the state observation value and the state actual value as the excitation of the adaptive law, and updating the parameters of the uncertain function; s5, constructing a self-adaptive control law by taking the estimated value of the uncertain function as input; and S6, filtering an output signal of the adaptive control law through L1 to obtain a final control law. Through the expansion regression vector comprising the state vector, accurate compensation of the uncertain function is realized, and the self-adaptive efficiency is improved.

A nonlinear adaptive control method and system for mechanical arm motion control. The method comprises the steps of inputting the output of an incremental nonlinear inverse dynamics controller into a

A nonlinear adaptive motion control method for robotic arm manipulation includes steps including inputting an output of the incremental nonlinear dynamic inversion controller to a servo motor drive configurable to drive the robotic arm; the system being provided to carry out the method. The method overcomes the problems of conventional robotic arm motion control technologies in identifying the movement load model and tuning the controller time-variant parameters, without relying on the robotic arm motion load model and external disturbance model which are conventionally required in tuning controller parameters. Since the difficulties and problems cannot be effectively solved by far, the disclosure offers a simple, effective, efficient control method and system for robotic arm movement.

This invention discloses an adaptive control method and platform for solenoid valves based on state feedback, relating to the field of fluid control technology. The method includes: real-time acquisition of the actual value of the controlled variable, calculation of the error e and the error change rate ec; determination of its characteristic region in the state plane (e.g., long-distance rapid approach region, short-distance precise approximation region, overshoot warning region, runaway recovery region) based on e and ec; and invocation of the corresponding preset control strategy (e.g., Bang-Bang control, variable parameter PID, damped PID, strong intervention control) according to the region to generate a control signal to drive the solenoid valve. The platform includes corresponding functional modules. This invention combines classical control theory with the dynamic characteristics of solenoid valves through a "state partitioning → strategy switching" mechanism, achieving nonlinear adaptive control with fast response, small overshoot, and strong anti-disturbance capability, solving the problem that traditional methods struggle to balance speed, stability, and robustness.

The invention discloses a low-voltage nonlinear self-adaptive control structure and method for a high-power digital power supply. The low-voltage nonlinear self-adaptive control structure comprises inner-loop control and outer-loop control, an outer ring is used for making a difference between a set voltage Vset and an output voltage Vback subjected to adaptive oversampling, and an inner ring reference value Iref is output after the difference passes through a PI module; the inner ring reference value Iref is compared with the current sampling value and then passes through a loop compensator of an inner ring and a system topology to output a PWM waveform, and the PWM waveform outputs a proper PWM wave to drive a switching tube under the regulation and control of a nonlinear controller, so as to achieve the purpose of outputting desired voltage or current. The self-adaptive oversampling technology ensures precision and reduces interference caused by fluctuation in high-frequency multiplication sampling in a low-voltage section, and normal sampling is recovered in a steady-state stage, so that memory is saved; and low-voltage steady-state operation is realized on the basis of a classic control structure.

The application belongs to the field of control and energy, and specifically discloses a wind turbine shaft torsional vibration suppression method based on robust nonlinear adaptive control, which comprises the following steps: firstly, modeling the shaft model and the electrical model of the double-fed wind turbine, analyzing the shaft torsional vibration initiation mechanism, and defining the wind turbine shaft torsion angle deviation; then, converting the double-fed wind turbine model into a second-order nonlinear system form, designing a shaft torsional vibration suppressor for the converted model, ensuring the asymptotic tracking performance of the converted system, and effectively suppressing the shaft torsional vibration problem of the wind turbine when it encounters a large disturbance. In the designed shaft torsional vibration suppressor, the uncertain dynamics in the wind power grid-connected system are approximated by an online neural network, and the external disturbance and the reconstruction error of the neural network are compensated by an error sign integral robust term. The application can overcome the uncertainty in the existing model, enhance the robustness of the control system, and has anti-interference ability.