44 results about "Nonlinear control law" patented technology

The invention discloses a method for controlling a PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation. In the method, a feedforward compensation method based on a friction model is combined with an auto disturbance rejection technology and the feedforward compensation method is complementary with the auto disturbance rejection technology mutually. In the method, a Stribeck friction model is utilized to carry out modeling on system frictions, a GA (genetic algorithm) is adopted to carry out offline identification on parameters, and an estimated value generated by an identification model carries out feedforward compensation; a state observer in the auto disturbance rejection technology observes and compensates overcompensation or undercompensation of the frictions as well as nondeterminacy and external disturbance caused by modeling errors in the system; and finally a differential tracker and a nonlinear control law are used to arrange a transient process for fixed position signals, thus solving the conflict between rapidity and overstrike and ensuring stability of the system and finite time convergence. By using the combined control, the compensation capacity of the system for the frictional nonlinearity can be improved effectively, the low-speed performance of the system is improved, and the tracking accuracy and the anti-disturbance capacity of the system are enhanced.

The invention discloses a nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at a nonlinear model of a quad-rotor unmanned plane. A sliding mode controller of a speed-constant reaching law is designed to an attitude angle system of the quad-rotor unmanned plane, and rapid tracking for the attitude angle is ensured. To realize track tracking for the spatial position of the quad-rotor unmanned plane, a sliding mode surface and a virtual control quantity are constructed according to a stepping back control idea to realize nonlinear control law design and system stability design from the kernel to the external layer of a system. After an equation of the related virtual control quantity is obtained, an expected track value of the attitude angle is obtained by solving the equation via arithmetic inverse operation, and a design method of the speed-constant reaching law is used to determine a final input control law of the quad-rotor unmanned plane system. According to the method of the invention, the characteristic that sliding mode control is uncertain for the model and insensitive to external interference is utilized, robust trace tracking for the nonlinear quad-rotor unmanned plane can be controlled under interference.

A shipborne camera shooting stabilized platform control method with an active disturbance rejection control technology adopted includes the following steps that (1) a discrete time state-space model of a shipborne camera shooting stabilized platform control system is built; (2) a tracking differentiator is designed, and the rotation angle of a camera shooting stabilized platform can track the reference angle as soon as possible without overshoot; (3) an extended state observer is designed to estimate the rotation angle, the rotation angular speed, the rotation angular acceleration and the total disturbance of the camera shooting stabilized platform; (4) tracking errors of the angle, the angular speed and the angular acceleration are obtained according to the output of the tracking differentiator and the output of the extended state observer, and then a nonlinear control rule and a disturbance compensation strategy are designed according to the error information. By means of the shipborne camera shooting stabilized platform control method, the tracking accuracy and rapidity of the camera shooting stabilized platform are guaranteed, and the high disturbance rejection capacity is provided.

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 relates to a control method capable of improving the stability during power exchange of a VSC (voltage source converter) and a weak AC network. The control method comprises a nonlinear control law of outer loop control in double closed-loop control, an integral control law for eliminating a static error increase in the nonlinear control law, and outer loop control of the double closed-loop control formed through the nonlinear control law and the integral control law. According to the control method provided by the invention, the stability of a whole system formed by the voltage source converter and the weak AC network when the power is transmitted to the weak AC network by using the voltage source converter or the weak AC network outputs the power outwards by using the voltage source converter is improved, the possibility of a potential instability failure is reduced and the utilization efficiency of the voltage source converter is improved, thereby reducing the cost.

The invention discloses a differential geometry nonlinear control method of spatial mechanical arm anti-interference attitude stabilization. A differential geometry theory is used to carry out linearization conversion on a nonlinear attitude dynamics model so as to acquire a kind of linear space form. And then LQR is used to carry out controller design on a linearized attitude stabilization system so as to acquire a non-linear control law. A spatial mechanical arm attitude stabilization controller based on a differential geometry theory and an LQR control method can guarantee robustness stability of a system to various kinds of uncertainties and a non-cooperative interference, a simple linearity control theory is adopted, a control structure is simple, a calculated amount is reduced and resources on a satellite is saved so that the method is especially suitable for a spatial mechanical arm attitude stabilization task which needs real-time calculation and has a limited calculating capability.

The invention discloses a composite PID (Proportion Integration Differentiation) neural network control method based on a nonlinear dynamic factor. In the method, creative improved research is carried out on the basis of stabilizing a PID controller based on a dynamic nonlinear factor by adopting a Ziegler-Nichols method abroad, and the defect of learning a mathematical model of a controlled object by confirming a PID gain parameter through utilizing a root locus method according to the Ziegler-Nichols method is effectively overcome. The invention aims to recombine three gain parameters and three factors in the prior art abroad to obtain six weight factors so as to obtain a composite PID neural network control law based on the nonlinear dynamic factor, which has six neural network weight factors, constructs a neural network model according to the nonlinear control law, and trains the weight factors in the composite PID controller based on the nonlinear dynamic factor on line in real time by using a neural network method to realize intelligent control on a nonlinear system. The invention can rapidly and accurately control a nonlinear object and has high robustness.

The invention provides a high-purity nonlinear control system for an internal thermal coupling rectifying tower, which comprises an on-site intelligent instrument directly connected with the internal thermal coupling rectifying tower and a DCS system, wherein the DCS system comprises a storage device, a control station and an upper computer; the on-site intelligent instrument is connected with the storage device, the control station and the upper computer; and the upper computer comprises a high-purity nonlinear controller used for computing and outputting an internal thermal coupling rectifying tower control variant, which comprises a component deduction module, a reference track computing module and a high-purity nonlinear control law resolution module. The invention also provides a high-purity nonlinear control method for the internal thermal coupling rectifying tower. The control system and the control method, which are provided by the invention, can well process the strong nonlinear characteristics of the a high-purity thermal coupling energy-saving rectifying tower and have high-efficiency online operation speed and an excellent servo tracking control effect and an excellent interference inhibition effect.

The invention relates to a self-adaptive nonlinear control system for an internal thermally coupled distillation column. The system comprises a field intelligent instrument and a distributed control system (DCS) which are directly connected with the internal thermally coupled distillation column, wherein the DCS comprises a storage device, a control station and an upper computer; the field intelligent instrument is connected with the storage device, the control station and the upper computer; and the upper computer comprises a self-adaptive nonlinear controller which is used for calculating and outputting control variable values of the internal thermally coupled distillation column and comprises a component deduction module, a self-adaptive model parameter correction module and a self-adaptive nonlinear control law solving module. The invention also provides a self-adaptive nonlinear control method for the internal thermally coupled distillation column. The control system and the method of the invention can well overcome the strong nonlinear characteristics of the internal thermally coupled distillation column, and have high on-line operational speed, and good servo tracking control effect and interference suppression effect.

The invention discloses an ultra-pure nonlinear control system for an internal thermally coupled distillation column. The system comprises a field intelligent instrument and a DCS system which are directly connected with the internal thermally coupled distillation column, wherein the DCS system comprises a storage device, a control station, and an upper computer; the field intelligent instrument is connected with the storage device, the control station, and the upper computer; the upper computer comprises an ultra-pure nonlinear controller which is used for calculating and outputting the control variable value of the internal thermally coupled distillation column; and the ultra-pure nonlinear controller comprises a component deduction module, a reference trajectory calculation module, and an ultra-pure nonlinear control law solving module. The invention also provides an ultra-pure nonlinear control method for the internal thermally coupled distillation column. The control system and the control method can well process the strong nonlinear characteristics of the ultra-pure internal thermally coupled distillation, and have efficient online operating rate and extremely good servo tracking control effect and interference suppression effect.

The invention discloses a nonlinear control system for an internal thermally coupled distillation column. The system comprises a filed intelligent instrument and a DCS system which are directly connected with the internal thermally coupled distillation column, wherein the DCS system comprises a storage device, a control station, and an upper computer; the filed intelligent instrument is connected with the storage device, the control station, and the upper computer; the upper computer comprises a nonlinear controller which is used for calculating and outputting the control variable value of the internal thermally coupled distillation column; and the nonlinear controller comprises a component deduction module, a reference trajectory calculation module, and a nonlinear control law solving module. The invention also provides a nonlinear control method for the internal thermally coupled distillation column. The control system and the control method can well process the strong nonlinear characteristics of the internal thermally coupled energy-saving distillation, and have efficient online operating rate and extremely good servo tracking control effect and interference suppression effect.

The invention discloses a plant protection quad-rotor unmanned aerial vehicle height control method based on pesticide liquid measurement. The feedforward controller inputs acceleration and attitude information and then outputs a feedforward compensation accelerator, and the feedforward compensation accelerator and the improved active-disturbance-rejection control accelerator are superposed to form a master control accelerator; the residual amount of the liquid medicine is obtained by measuring the outflow amount of the liquid medicine, the linear expansion state observer monitors and receives the residual amount of the liquid medicine, a height observation value, a speed observation value and a disturbance observation value are obtained through treatment of an accelerator and a master control accelerator, and the speed and the height deviation are obtained after the height observation value, the speed observation value and the height and speed reference control amount output by the linear differentiator are subtracted. The disturbance observation value and the nonlinear control law output are superposed to form improved active-disturbance-rejection control accelerator feedback. According to the plant protection four-rotor aircraft height control system, the expansion state observer technology based on liquid medicine information and feed-forward control are adopted, the anti-interference and quick response capacity of the height control system is remarkably improved, and the influence of multi-source interference on the height control performance of the plant protection four-rotor aircraft is effectively restrained.

The invention discloses a four-rotor flying robot maneuvering formation control method for wireless speed measurement, and the method comprises the steps: building a kinetic model of each four-rotor flying robot by employing a Newton-Euler equation for a multi-four-rotor flying robot system capable of maneuvering in a three-dimensional space; based on an auxiliary filtering signal generator, introducing second-order signals of a plurality of auxiliary variables to eliminate the requirement for linear speed measurement in formation control of the multi-four-rotor flying robot; and finally, based on a geometric control method, designing a nonlinear control law comprising an inner and outer ring cascade structure on the Euclidean group SE (3), the inner ring controlling attitude dynamics andthe outer ring coordinating translation dynamics of each four-rotor flying robot to realize a high maneuvering formation control target. Compared with the prior art, the control law (net thrust and body torque) involved in the method does not depend on the linear velocity vector, that is, the four-rotor flying robot maneuvering formation control method provided by the invention realizes wireless velocity, and does not need linear velocity measurement.

The invention discloses a passive force loading self-adaptive drive control method and system. The method comprises the steps that acquiring input, namely the speed, and output, namely loading force information of the system; processing a force follow-up loading controller by an evaluation index model according to the speed and the loading force information to obtain a nonlinear control law of theforce follow-up loading controller; introducing a reference model, and obtaining a virtual reference instruction according to the loading force information and the speed; acquiring a virtual error ofa force deviation signal according to the virtual reference instruction; obtaining a new evaluation index model of the force follow-up loading controller according to the virtual error; and correcting the nonlinear control law by utilizing the new evaluation index model to obtain a corrected nonlinear control law. The passive force loading adaptive drive control method and system provided by theinvention have the characteristics of high performance, high loading precision and high reliability.

The invention provides a vehicle nonlinear dynamics control strategy fused with data analysis. The vehicle nonlinear dynamics control strategy is suitable for design of the vehicle nonlinear dynamicscontrol strategy. The method comprises the steps of determining a nonlinear dynamics research object, determining independent variable parameters and a value range, generating a data set, operating anonlinear solving algorithm, establishing evaluation indexes of a solution, performing data analysis, and finally determining a nonlinear control strategy according to an analysis result. According tothe data analysis method, a large number of parameter variables including vehicle parameters (including tire parameters), road surface parameters and various control parameters can be considered at the same time; due to the fact that the solving data are collected by the nonlinear algorithm in the control strategy design stage, the problem of solving time does not need to be considered, and multi-parameter control and coupling control of various variables in a complex environment can be achieved under the research method. Meanwhile, the control strategy obtained through research is more suitable for vehicles with different parameters and has high universality when applied to vehicle control.

The invention relates to an ultra-pure self-adaptive nonlinear control system for an internal thermally coupled distillation column. The system comprises a field intelligent instrument and a distributed control system (DCS) which are directly connected with the internal thermally coupled distillation column, wherein the DCS comprises a storage device, a control station and an upper computer; the field intelligent instrument is connected with the storage device, the control station and the upper computer; and the upper computer comprises an ultra-pure self-adaptive nonlinear controller which is used for calculating and outputting control variable values of the internal thermally coupled distillation column and comprises a component deduction module, a self-adaptive parameter correction module and an ultra-pure self-adaptive nonlinear control law solving module. The invention also provides an ultra-pure self-adaptive nonlinear control method for the internal thermally coupled distillation column. The control system and the method of the invention can well overcome the strong nonlinear characteristics of the ultra-pure internal thermally coupled distillation column, and have high on-line operational speed, and good servo tracking control effect and interference suppression effect.