4 results about "Nonlinear robust control" patented technology

The invention discloses an intelligent floating and sinking type net cage and a control method and system based on a backstepping method, and the control method comprises the steps: collecting the sea condition and net cage attitude data in real time through multi-sensor fusion, and achieving the nonlinear robust control of the depth motion of the net cage through a sliding mode control algorithm based on the backstepping method; the system can automatically adjust the floating and sinking strategy according to the wind speed and the wave height, dive to avoid wind when typhoon comes, and float to breed when the sea condition is stable; dynamic control over buoyancy-gravity balance is achieved through air inflation and deflation of the air bag and combined adjustment of the flow of the water inlet and outlet channel, and the device has the advantages of being rapid in response, high in stability and high in adaptability.

This invention discloses a robust primary frequency regulation control method for thermal power units based on boiler thermal inertia, belonging to the field of thermal power control technology. The invention includes real-time acquisition of unit load, main steam pressure, regulating stage pressure, fuel quantity, and primary frequency regulation command; calculation of the real-time available thermal storage pressure equivalent, fusing the boiler's nonlinear thermal storage state into a unified state variable; construction of a time-varying sliding mode surface and adaptive feedforward compensation channel matching the energy storage state; generation of robust feedback control increments with time-varying gain and active damping using the thermal storage equivalent and its rate of change; superposition of the feedforward and feedback increments, followed by amplitude limiting, and output of fuel command to form a closed-loop control. This invention constructs a dynamic mapping layer with the available thermal storage pressure equivalent as the state variable, and designs a nonlinear robust control law based on this layer, enabling the controller gain to adaptively follow changes in the boiler's energy storage state.

The application belongs to the technical field of power electronics, and provides a nonlinear robust control method and device for a DC-DC converter. The method comprises the following steps: obtaining an output voltage of the DC-DC converter and feeding back the output voltage to a terminal sliding mode controller; calculating a voltage error between a reference voltage and the output voltage of the DC-DC converter by the terminal sliding mode controller; generating a first control signal according to a preset fractional-order nonlinear sliding mode surface, a linear sliding mode surface and a relationship of the voltage error, and taking the first control signal as a reference current of a linear controller to form a voltage loop; obtaining an output current of the DC-DC converter and feeding back the output current to the linear controller; generating a second control signal by the linear controller in combination with the reference current and acting on a set power switch tube of the DC-DC converter to form a current loop; and finally realizing a double-loop nonlinear robust control of the DC-DC converter based on the reference voltage, the output voltage and the output current in cooperation, so as to ensure a good transient response.

The invention discloses an unmanned aerial vehicle guaranteed cost constraint control method based on explicit reference adjustment, and belongs to the field of aircraft control. The implementation method comprises the following steps: introducing a fixed time disturbance observer in a position loop, and compensating lumped disturbance including contact force; designing an optimal guaranteed cost controller based on a linear matrix inequality as a position pre-stabilization feedback controller; an explicit reference adjustment is introduced to generate a position reference instruction proximate the target. In the attitude ring, a fixed time disturbance observer is introduced to compensate torque disturbance; designing a nonlinear robust controller based on geometric control as an attitude pre-stabilization feedback controller; and introducing explicit reference adjustment to generate an attitude reference instruction to adjust the attitude. The method can achieve the asymptotic tracking of the unmanned aerial vehicle on the original expected instruction during the whole limited contact task, guarantees that all states and input safety constraints are continuously satisfied, and has the advantages of anti-disturbance robustness, tracking performance superiority, constraint guarantee completeness and the like.