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.

The present invention relates to a UUV track tracking control optimization method under environmental interference, and aims to solve the existing problem that the accuracy of the conventional UUV track tracking control is low. The UUV track tracking control optimization method under the environmental interference is realized by the following technical scheme having a step 1 of establishing a UUV horizontal plane mathematical model; a step 2 of carrying out the PID control on the basis of the UUV horizontal plane mathematical model, and realizing the UUV track tracking control; a step 3 of improving the PID control on the basis of the UUV track tracking control, and determining a nonlinear control law and an observer. The UUV track tracking control optimization method under the environmental interference is applied to the UUV field.

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 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 suppression method for a fixed time sliding mode of ferromagnetic resonance overvoltage chaos. The method includes the following steps: : (1) establishing a mathematical model of a ferromagnetic resonance system; (2) designing an integral sliding mode surface according to a fixed time stability theory; (3) obtaining a nonlinear control law and an adaptive law of uncertainparameters by theoretical derivation; (4) determining an upper bound of a stable time range according to related lemmas of the fixed time stability theory and Lyapunov function stability analysis; and (5) verifying a control effect by numerical simulation. The disclosed suppression method of a ferromagnetic resonance overvoltage can not only make the system stabilize in a finite time without depending on an initial value, but also enables the upper bound of the stabilization time to be obtained by calculation, has the characteristics of stronger robustness and interference resistance capability, can achieve global uniform asymptotic stability of the system within a predetermined time under any initial conditions, enables the ferromagnetic resonance overvoltage of an electric power systemto be more effectively suppressed, and enables the stability of the electric power system to be improved.

The invention provides a nested saturation nonlinear design method of a four-rotor wing unmanned aerial vehicle control system and relates to a nested saturation nonlinear design method of an unmanned aerial vehicle control system. In order to solve the problem of non-ideal control effect of the conventional four-rotor wing unmanned aerial vehicle control system with actuator saturation. The nested saturation nonlinear design method comprises the following steps: firstly performing state change on the four-rotor wing unmanned aerial vehicle control system, converting the four-rotor wing unmanned aerial vehicle control system into a feedforward nonlinear control system; then respectively designing a nested saturation nonlinear control law Tau theta of a pitch channel control system and a nested saturation nonlinear control law of a cross roll channel control system. The nested saturation nonlinear design method provided by the invention is suitable for the global stabilization of the four-rotor wing unmanned aerial vehicle control system.

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 discloses an aircraft wind tunnel free-flight control method based on a nonlinear control law. The method comprises the steps of building a flight dynamics equation according to aircrafttest system data of a horizontal wind tunnel; converting the flight dynamics equation into a state space equation; dividing an aircraft control system into an inner ring rotation control loop and anouter ring mass center control loop through a time scale separation theory; for the inner ring rotation control loop, designing the control law by an INDI incremental dynamic inversion method or an NDI dynamic inversion method; for the outer ring mass center control loop, according to wind tunnel dynamic test data, adding dynamic derivative influence terms to design the control law; and controlling the rudder surfaces of an aircraft through the inner ring rotation control loop and the outer ring mass center control loop. According to the method, the system nonlinearity can be effectively counteracted; the interference can be reduced; the required control requirements are met and the control effect is optimized; and the control precision is improved.

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.

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 connectedwith 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.

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 bidirectional buck-boost converter control method based on a reduced-order active-disturbance-rejection strategy. The method comprises the steps of sampling an output voltage uC of a bidirectional buck-boost converter, enabling the output voltage uC to pass through an extended state observer in an outer-loop active-disturbance-rejection controller, comparing the output voltage uC with a reference output voltage value of a tracking differentiator, and obtaining an error; enabling the error to pass through a nonlinear control law in the outer-loop active-disturbance-rejection controller, and compensating an external disturbance signal in the extended state observer to obtain an inner-loop current reference value iL_ref; and enabling the inner-loop current reference value to be subjected to inner loop model prediction control processing to obtain a PWM duty ratio d, and then driving a switching tube to work by using the PWM duty ratio d. According to the bidirectional buck-boost converter control method based on the reduced-order active-disturbance-rejection strategy provided by the invention, when the bidirectional buck-boost converter is controlled, the complexity of an active-disturbance-rejection controller is reduced by performing reduced-order simplification on a control object at a high frequency band; and when the bidirectional buck-boost converter is controlled, an ADRC + MPC double-closed-loop structure is adopted, compared with a PI + MPC control strategy, the method has the advantages of being high in response speed and small in overshoot and fluctuation amplitude in the adjustment process, and the dynamic response performance of the bidirectional buck-boost converter is remarkably improved.

The invention discloses an ADRC gas injection quantity closed-loop control method based on high-pressure natural gas circulation gas injection quantity real-time detection, which comprises the following steps: collecting an inlet pressure signal, and taking the inlet pressure signal as gas injection quantity change information based on the same change rule of the change rate of the inlet pressure signal and the gas injection quantity of an injector; establishing an air injection quantity prediction model by using an RBF neural network and training to obtain an air injection quantity calculation model to solve a real-time air injection quantity; and based on an ADRC controller, the difference between the real-time air injection amount and the target air injection amount is obtained, an error is calculated through a TD tracking differentiator, the difference value is subjected to error-based control amount output through a nonlinear control law NLSEF, real-time total disturbance compensation output by an extended observer ESO is superposed, a next air injection pulse width instruction is given to output the target air injection amount, and the previous steps are iterated. According to the method, the problems of large overshoot, low control speed and the like of traditional PID control are solved, and real-time closed-loop control with online sensing information as feedback is realized.

The invention belongs to the field of aircraft air inlet channel inclined plate adjusting systems, and particularly relates to a method for controlling the adjusting angle of an inclined plate througha nonlinear control law. The method comprises the steps that S1, the control law of an air inlet channel inclined plate adjusting system is obtained, in the control law of the air inlet channel inclined plate adjusting system, the air inlet channel inclined plate adjusting system outputs a preset constant value small angle when pi k is larger than or equal to 10.2, and pi k is the static supercharging ratio of an engine air compressor; and S2, controlling the adjustment starting angle of the inclined plate according to the control law of the air inlet inclined plate adjustment system. According to the method for controlling the starting angle of the inclined plate through the nonlinear control law, the control precision and the response speed of the air inlet channel inclined plate adjusting system can be improved, and the problem that the starting angle of the inclined plate is too small in the outfield using process of the air inlet channel inclined plate adjusting system is solved.

The invention relates to the technical field of aviation, in particular to a method for controlling the adjustment starting angle of a swash plate through a nonlinear control law. The preset control law is set through the computer, the inclination angle of the inclined plate is adjusted based on the preset control law through the adjusting assembly, according to the method, the preset control law is processed through the computer in a non-linear mode, the adjusting assembly controls the angle of the inclined plate according to the preset control law, and the control precision and the response speed of the inclined plate in the air inlet channel can be improved; the problem that the adjustment starting angle of an inclined plate is too small due to the fact that the static supercharging ratio of an engine is too large is solved.

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 excellentinterference inhibition effect.