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41 results about "Saturation nonlinearity" patented technology
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Asynchronous motor optimizing excitation control method based on magnetic-field saturated non-linear motor model
InactiveCN1404215AImprove performanceIncrease output torqueElectronic commutation motor controlVector control systemsMaximum torqueStator voltage
The present invention belongs to the field of asynchronous motor exciting speed-regulating technology and features the exciting speed-regulating method of optimizing stator-exciting current to regulate rotor magnetic linkage. It MT coordinate system, the finite element analysis to asynchronous motor magnetic field is performed to obtain the effect of saturated motor magnetic field on motor parameters and the stator and rotor magnetic linkage via solving non-linear equation. The magnetic linkage table is optimized to obtain optimized exciting table and maximum torque vs rotation speed table. By means of PI control method to obtain optimized exciting current and reference value of torque current, comparison to practical exciting current and torque current and PI regulation and voltage decoupling, final stator voltage in MT coordinate system is obtained for the control of the inverter.
Owner:TSINGHUA UNIV
Periodic adaptive learning control method of input saturation mechanical arm system
InactiveCN104570740AImprove adaptabilitySolve control problemsAdaptive controlTime delaysLearning controller
The invention discloses a periodic adaptive learning control method of an input saturation mechanical arm system. Firstly, an input saturation nonlinear time-delay mechanical arm system model is established; then, a nonlinear time-varying mechanical arm periodic system equation with a Brunovsky standard form is constructed; a tracking controller and a compensatory learning controller are designed; stability and boundedness analysis is carried out according to a composite energy function method, and finally control parameters are selected to achieve real-time adaptive iterative learning torque control over the mechanical arm periodic system. The control method has the advantages of being better in adaptivity, capable of being well used for carrying out compensation on different degrees of saturation input, good in robustness, and capable of being popularized for achieving control over a periodic system without saturation characteristics and and popularized to a nonlinear periodic system without time-delay items; the controllers are easier and more convenient to obtain.
Owner:JIANGNAN UNIV
Multi-robot cooperative control method based on input-restricted self-excited driving
The invention relates to a multi-robot cooperative control method based on input-restricted self-excited driving. The method discards a feedback control mode in need of periodical sampling in a conventional control method. Under the prerequisite that stability and optimized characteristics are achieved, when a closed-loop system really needs control, the method uses the information of an intelligent agent itself at a previous time to obtain a control amount of a following time, thereby accomplishing self-excited sampling and control. Besides, based on the self-excited driving mechanism mentioned above, the method uses a multi-cell method to process a saturated non-linear link, and can effectively carry out L1 gain optimizing design of an input-restricted system. The algorithm can effectively process input saturated non-linear factors and satisfy the demands of multi-robot cooperative working. Compared with a conventional method based on a time driving mechanism, the method has a largely-reduced communication burden, data redundancy is reduced, system performance is improved, and the method has higher engineering feasibility.
Owner:SHANGHAI RADIO EQUIP RES INST +1
Boundary robust adaptive control method and device for marine flexible riser
InactiveCN109828466AEliminate Control Performance ImpactsImprove stabilityAdaptive controlDynamic equationEngineering
The invention discloses a boundary robust adaptive control method and device for a marine flexible riser. The method includes the steps of: determining boundary control input according to a set dynamic equation and a system boundary condition; constructing an auxiliary system for eliminating a saturation effect caused by the boundary control input; designing a boundary robust adaptive control lawaccording to the auxiliary system for compensation of the uncertainty of the disturbance of the system; controlling actual parameters of the system, and according to the control law formula, calculating a boundary control law at any moment; and according to the boundary control law, controlling a drive device to apply an action force to a marine flexible riser system. The boundary robust adaptivecontrol method and device for the marine flexible riser can actively eliminate the influence of the saturation linear input on the control performance of the marine flexible riser system and can compensate the uncertainty of the system so as to improve the stability of the system.
Owner:GUANGZHOU UNIVERSITY
Repetitive controller system and integral anti-saturation control method
InactiveCN109062029AImprove the compensation effectSolve technical problems with poor compensation effectElectric controllersCompensation effectControl signal
Owner:JIANGHAN UNIVERSITY +1
Ground target staring anti-saturation tracking control method of microsatellite
Provided in the invention is a ground target staring anti-saturation tracking control method of a microsatellite. The method comprises the following steps: establishing a microsatellite attitude tracking dynamical model; constructing an appropriate Lyapunov functional unit and carrying out processing on an execution mechanism saturation model by using an additional matrix method; designing a feedback controller; and calculating an estimation range of an attraction domain. Therefore, problems of state time delay and execution mechanism output torque saturation during the satellite attitude tracking process can be solved; closed-loop system stability during the spacecraft staring tracking process can be ensured; and the ground target staring or space target reconnoiter task can be completed. Compared with the prior art, the influence on the attitude control system by time delay caused by system state data obtaining and processing can be eliminated and a design problem of a controller having execution mechanism saturation non-linear system can be solved; and attraction domain estimation can be completed with a low conservative property. The method can be applied to designs of other controllers having execution mechanism saturation and state time delay systems as well as attraction domain estimation.
Owner:SHANGHAI XINYUE METER FACTORY
Low-noise permanent magnet synchronous motor rotor initial position detection method
ActiveCN109981001AImprove estimation accuracyThe signal processing method is simpleElectric motor controlVector control systemsLow noiseMathematical model
The invention discloses a low-noise permanent magnet synchronous motor rotor initial position detection method, and relates to the field of motor control. The problem that the traditional initial position detection method generates relatively big vibration and loud noise when the position and the polarity of a magnetic pole is detected, so that the application thereof is limited in certain occasions with higher requirements on noise is solved. The method comprises the following steps: Step 1, identifying an estimated value theta est1 of the initial position of the magnetic pole by adopting a voltage injection method based on random high-frequency square wave aiming at a high-frequency mathematical model of a built-in permanent magnet synchronous motor; Step 2, observing the sign of the accumulated value of the high-frequency response current peak value of a gamma axis in the high-frequency mathematical model of the built-in permanent magnet synchronous motor based on the stator core saturation nonlinearity principle, and identifying the polarity information of the magnetic pole of a rotor; and Step 3, correcting and compensating the estimated value theta est1 of the initial position of the magnetic pole according to the polarity information of the magnetic pole of the rotor to obtain the estimated value theta est of the initial position of the rotor. The low-noise permanent magnet synchronous motor rotor initial position detection method is mainly used for detecting the initial position of the permanent magnet synchronous motor rotor.
Owner:HARBIN INST OF TECH
Event trigger control method of saturated nonlinear networked industrial control system
ActiveCN112099347AEffective controlEffective operationTotal factory controlAdaptive controlActuator saturationPassivity
The invention discloses an event trigger control method of a saturated nonlinear networked industrial control system. The method comprises the following steps: establishing a saturated nonlinear networked industrial control system state space model, designing a saturated nonlinear networked industrial control system state feedback controller based on event triggering, establishing a closed-loop system state space model, analyzing the stability and the passivity of a closed-loop system, and solving a feedback controller of the saturated nonlinear networked industrial control system based on event triggering. By designing the state feedback controller based on event triggering, the problem that the system cannot continuously, effectively and safely operate due to the fact that the influenceof state saturation, actuator saturation and external interference on the control performance of the industrial control system is rarely considered at the same time in an existing control method of the industrial control system is solved. The method can be used for effective control and safe operation of a complex networked nonlinear industrial control system.
Owner:HANGZHOU DIANZI UNIV
Method and device for flexible riser vibration control
ActiveCN109933102AMechanical oscillations controlAdaptive controlDead zone nonlinearityVibration control
The invention discloses a method and device for flexible riser vibration control. The method includes the following steps: the kinetic equation of saturation nonlinear input and dead zone nonlinear input is acquired, the input saturation model of a marine flexible riser system is constructed; an auxiliary system and a disturbance upper bound adaptive law are introduced according to the input saturation model, so that a control rate formula is obtained; the actual parameters of the marine flexible riser system are obtained, with the control rate formula used in combination, a boundary control rate at any time point is calculated; and a driving device is controlled according to the boundary control rate to apply an acting force to the marine flexible riser. With the method and device of theinvention adopted, the influence of mixed nonlinear input on the control performance of the marine flexible riser system can be eliminated; and the control precision and sensitivity of vibration suppression are improved, so that the stability of the system can be improved.
Owner:GUANGZHOU UNIVERSITY
Self-adaptive control method for fractional order system influenced by saturated nonlinear input
ActiveCN110286595AOvercoming severe impacts from stabilityImprove stabilityAdaptive controlMathematical modelLiapunov function
The invention discloses an adaptive control method for a fractional order system influenced by saturated nonlinear input, and the method specifically comprises the following steps: building a fractional order system mathematic model for describing a class of physical objects or processes, and carrying out the designing of a fractional order sliding mode surface according to a fractional order calculus theory; determining an adaptive updating law of unknown parameters in the fractional order mathematical model; designing a self-adaptive controller of the controlled system according to a fractional order stability theory and a saturated nonlinear input characteristic; and searching an appropriate Lyapunov function to verify the finite time accessibility of a sliding mode approaching stage. According to the invention, the adaptive control of the fractional order system under the influence of input nonlinearity can be realized; when unmodeled dynamics with unknown upper bound and external interference occur in the system, it can be guaranteed that a state trajectory reaches a sliding mode surface within limited time under the action of a designed controller; through the sliding mode action, the purpose that the state trajectory of the controlled system converges to zero is achieved, the self-adaptive identification of unknown parameters is achieved, and the control purpose is achieved.
Owner:JINLING INST OF TECH
Saturated switching control method for three-phase parallel active power filter
InactiveCN103248052AAchieve unified controlAvoid tuningActive power filteringHarmonic reduction arrangementStability theoryHarmonic
The invention relates to a saturated switching control method for a three-phase parallel active power filter. The method comprises the following steps of: 1) establishing a switching system model according to each operation mode of the three-phase parallel active power filter; 2) constructing a common Lyapunov function to obtain state-feedback-based switching rules, wherein arg represents a subscript meeting an expression; 3) introducing an additional matrix G in case of saturated nonlinear constraints of the three-phase parallel active power filter, linearizing the saturated nonlinear constraints by using a convex domain method, and designing saturated switching rules capable of progressively stabilizing a saturated system by utilizing a Lyapunov function stability theory; and 4) compensating the harmonic current of a power grid by using the three-phase parallel active power filter under the action of the saturated switching rules.
Owner:STATE GRID CORP OF CHINA +2
A method for estimate a rotor position of a switched reluctance motor
ActiveCN109150030AAddressing the Impact of Position EstimationSolve the problem of the influence of position estimation accuracyElectronic commutation motor controlStarter generatorPhase shifted
The invention relates to a method for estimate that rotor position of switched reluctance motor. Based on the inductance characteristics of the saturated main magnetic circuit, A rotor position estimation strategy with saturated nonlinear inductance interval avoiding detection coil is proposed, Considering the problem of phase shift caused by analog filtering in the process of indirect acquisitionof inductance information of detection coil, a phase shift compensation algorithm is designed according to the phase shift theory to eliminate the position estimation error and further improve the position estimation accuracy. Through the above design, the detection coil technology can meet the requirements of dynamic operation under various load conditions, and can also achieve accurate positioning of the static initial position, to achieve frequent non-reverse starting of the motor. Therefore, it is helpful for its application in aerospace starter generators, electric vehicle drive motors and other applications where the reliability requirements are extremely high and the operating conditions are relatively harsh.
Owner:NANJING UNIV OF INFORMATION SCI & TECH
Relative attitude and orbit coupling control method for rendezvous and docking final approaching section
ActiveCN113619814ATaking into account the full controlTaking into account constraintsCosmonautic vehiclesSustainable transportationComputation complexityEngineering
A relative attitude and orbit coupling control method for a rendezvous and docking final approximation section aims at particularity of a space rendezvous and docking task, inherits advantages of a preset performance control method, and utilizes approximation capability of a radial basis function neural network (RBFNN) to compensate saturation nonlinearity of an execution mechanism in an actual rendezvous and docking task. The whole controller design process does not need model priori knowledge such as saturation nonlinear structural characteristics of the execution mechanism, external interference and orbiter mass rotational inertia, the calculation complexity can be greatly reduced, meanwhile, the control saturation constraint of the execution mechanism is considered while the preset steady-state and transient-state performance is considered, and the method has high engineering practicability.
Owner:BEIJING INST OF CONTROL ENG
Low-complexity and adaptive saturation control method for nonlinear system
ActiveCN110007602AExpected control targetGuaranteed asymptotic stabilityAdaptive controlControl saturationLinear model
The invention discloses a low-complexity and adaptive saturation control method for a nonlinear system. The control method comprises the following steps of: firstly, converting control saturation nonlinearity into a linear model relative to an actual input signal by adopting a dead zone model; then, converting an original system with time-varying output constraint into unconstrained output constraint, and designing a new adaptive saturation control law along the filtered error manifold based on the system; and finally, by adopting the minimum learning parameter technology and the virtual errorconcept, only requiring update of two adaptive parameters on line to greatly reduce the calculation burden. Compared to the current work, the calculation amount of the adaptive scheme is small, and the asymptotic stability of the tracking error system can be ensured instead of the consistent final bounded stability. The adopted simulation shows that an improvement of about 4 times in tracking accuracy can be obtained, which demonstrates the effectiveness of the proposed control law.
Owner:JIANGSU VOCATIONAL INST OF ARCHITECTURAL TECH
Method for identifying system containing saturation nonlinearity
InactiveCN106950830AThe identification is correct and effectiveGet saturation limitAdaptive controlSystems designState variable
The invention provides a method for identifying a nonlinear system with saturation, and mainly provides a solution to the problem that conventional system identification methods cannot be directly used for identification of a nonlinear system with saturation. The invention designs the input signal from two aspects of frequency and amplitude to fully excite the system. A method of adding window and scanning to process each state variable of the system is proposed. By screening the variance and average value of each window data, the saturation limit of the system can be identified. According to the obtained saturation limit, the input and output data of the system are screened, and the system model parameters are obtained by using the relevant system identification method. The invention has the advantages of designing the input signal to fully excite the system for a saturated nonlinear system, correctly and effectively identifying the system model parameters, and simultaneously obtaining the system saturation limit value, which has better engineering practicability.
Owner:TSINGHUA UNIV
Cross coupling magnetic saturation nonlinear transmission line structure
ActiveCN105048045ASolve the technical problems of high power microwaveCoupling devicesDielectricElectrical conductor
The invention discloses a cross coupling magnetic saturation nonlinear transmission line structure comprising a coaxial rectangular external cylinder, an external cylinder cover and a coaxial internal core. The rectangular external cylinder and the external cylinder cover are fixedly connected as a whole via screws, and the rectangular external cylinder is internally provided with a sealing space. The coaxial internal core is arranged in the rectangular external cylinder, and the rectangular external cylinder is internally filled with transformer oil. The coaxial internal core comprises multiple metal block internal cores, ceramic dielectric blocks and conductor rods. The metal blocks are symmetrically and evenly distributed at the upper side and the lower side of the coaxial line. The conductor rods are successively connected between the metal blocks arranged at the upper side and the lower side of the coaxial line from input to output of the coaxial internal core. The ceramic dielectric blocks are arranged between the metal blocks arranged at the upper side or the lower side of the coaxial line. The external surface of a glass tube is sleeved by a ferrite magnetic core. The cross coupling magnetic saturation nonlinear transmission line concrete structure with high power capacity can be constructed so that generation of high-power radio frequency pulse can be realized, and a technical problem of generating high-power microwave by utilizing the nonlinear transmission line can be solved.
Owner:INST OF APPLIED ELECTRONICS CHINA ACAD OF ENG PHYSICS
Guidance method based on sight angle nonlinear anti-saturation and uncertainty compensation
ActiveCN111913491ASlow down into satiationShorten the timeCosmonautic vehiclesAttitude controlNonlinear filterGuidance system
The invention discloses a guidance method based on sight angle nonlinear anti-saturation and uncertainty compensation, belongs to the technical field of aircraft flight guidance, and is characterizedin that approximate differential signals are obtained by only measuring sight angle information of an aircraft and constructing a third-order inertia nonlinear filter to provide damping required by aircraft guidance; a corresponding nonlinear signal is obtained through nonlinear anti-saturation transformation; and finally, by constructing a guidance interference and uncertainty compensator, a compensation signal of uncertainty interference of the guidance system is obtained, so that a good foundation is laid for improving the precision and fitness of the whole guidance design. Finally, the compensation signal, the sight angle signal, the anti-saturation nonlinear transformation signal and the integral signal are integrated to form a guidance integrated signal. The novel guidance method based on interference estimation compensation has the advantages of being simple in measurement information, high in guidance precision, good in robustness and wide in adaptability.
Owner:NAVAL AVIATION UNIV
Running process modeling and adaptive control method for motor train unit
ActiveCN102981408BRealize online estimationImprove optimization control levelAdaptive controlSimulationPerformance index
The invention discloses a running process modeling and adaptive control method for a motor train unit. The running process modeling and adaptive control method comprises the following steps: according to characteristics that the running process of the motor train unit is complex, information is incomplete and nonlinearity is obvious, putting forward a T-S bilinear model identification method by a data-driven modeling method; according to constraints such as an actual running chart, a front route condition, a limited speed condition, and traction / braking force saturation nonlinearity of the motor train unit, establishing a constraint model of the motor train unit; and according to the model design, studying a model prediction control algorithm immediately to improve performance indexes for multi-objective optimization control. By the running process modeling and adaptive control method, a set of reliable basis is provided for optimizing operation of trainmen of the motor train unit, ensuring safe and punctual running of the motor train unit, improving the running comfort and lowering energy consumption; and the running process modeling and adaptive control method is applicable to on-line identification and the multi-objective optimization control on the running state of the motor train unit.
Owner:EAST CHINA JIAOTONG UNIVERSITY
Control method of wide-area time-delay damping output feedback controller considering controller saturation and based on parametric Lyapunov theory
ActiveCN108879725AIncrease dynamicsReduce conservatismPower oscillations reduction/preventionWide areaTime delays
The invention relates to design of a wide-area time-delay damping controller, in particular to a control method of a wide-area time-delay damping output feedback controller considering controller saturation and based on a parametric Lyapunov theory. According to the integrated design of the wide-area damping controller considering controller saturation and time delay while introducing the parametric Lyapunov theory, the problem that general time-delay prediction compensation controller control parameters need a quantity of off-line simulation adjustment and experience selection can be effectively solved; due to the fact that the controller can give the explicit form of the control law and meanwhile give the specific range of the parameters, the parameters can be optimized, and thus the controller reaches the optimal dynamic performance. According to the control method, the influence of saturation nonlinearity on a system is fully considered, thus the controller is not subjected to thesaturation phenomenon from beginning to end, and the analytic expression of the controller parameters can be given to ensure stability of the system.
Owner:WUHAN UNIV
Anti-saturation compensation method for underwater high-speed vehicle actuator
The invention discloses an anti-saturation compensation method for an underwater high-speed vehicle actuator, and belongs to the technical field of ship engineering, control science and control engineering. An anti-saturation compensator system for the underwater high-speed vehicle actuator comprises an underwater high-speed vehicle longitudinal movement module, a longitudinal movement feedback linearization controller module which does not consider saturation, a performance index calculation module, an anti-saturation compensation module, a saturation detection module and a compensation effect simulation storage module. A design method for the anti-saturation compensator system comprises the following steps that: firstly, according to the Newton's laws of motion and the theorem of moment of momentum, establishing a kinetic model for underwater high-speed movement body longitudinal movement; then, according to the design steps of the feedback linearization controller, designing the controller; and finally, designing the anti-saturation compensator. By use of the compensator designed by the invention, the influence of saturation nonlinearity on system performance can be weakened, and the underwater navigation stability of the underwater high-speed vehicle is improved.
Owner:HARBIN ENG UNIV
Vibration suppression method and system for flexible marine riser
ActiveCN112799441AReduce vibrationStrong anti-interference abilityMechanical oscillations controlDrilling rodsMarine engineeringClassical mechanics
The invention relates to the technical field of vibration suppression of flexible marine risers, and particularly discloses a vibration suppression method for a flexible marine riser. The method comprises the following steps: modeling a flexible marine riser based on boundary disturbing force and spatial distribution disturbing force to obtain a marine riser model; acquiring the boundary state information of the flexible marine riser; constructing a boundary sliding mode anti-saturation controller; judging whether an actuator control value reaches an actuator saturation upper limit or not according to the output of the boundary sliding mode anti-saturation controller; if so, designing an auxiliary system according to the boundary state information of the flexible marine riser and the part exceeding the saturation upper limit; and when it is determined that the flexible marine riser is stable, acquiring the gain value range of the boundary sliding mode anti-saturation controller. The invention further discloses a vibration suppression system for the flexible marine riser. According to the vibration suppression method for the flexible marine riser, the influence of saturation nonlinearity of the actuator and external unknown disturbance on the stability of the flexible marine riser can be eliminated.
Owner:JIANGNAN UNIV
Relative orbit and attitude tracking control method for final approaching section of rendezvous and docking of spacecrafts
PendingCN113485396AOvercome the disadvantage of relying on the initial value of the tracking errorStrong engineering realizationAttitude controlRelative orbitPerformance function
The invention discloses a relative orbit and attitude tracking control method for a final approaching section of rendezvous and docking of spacecrafts. The design of a controller in an existing preset performance control scheme depends on an initial value of a system tracking error, under the condition of considering relative orbit and attitude tracking error preset performance constraints, physical structure limitations of executing mechanisms such as a thruster, a control moment gyroscope and a momentum wheel in an actual rendezvous and docking task cannot be met, the above invention just aims to solve the above problem. According to the method, a new performance function is constructed by establishing a relative orbit and attitude tracking dynamics model between a tracking spacecraft and a target spacecraft, known limitations on an initial tracking error are relaxed, a design idea of preset performance is utilized to realize fine steady-state and transient-state control considering relative orbit and attitude tracking errors, and an auxiliary saturation compensation system is designed to compensate saturation nonlinearity of an execution mechanism.
Owner:BEIJING INST OF CONTROL ENG
Cost-guaranteed robust gain scheduling controller design method for spacecraft rendezvous system
ActiveCN112346472AImprove dynamic performanceLower control costsSustainable transportationAttitude controlDynamic modelsControl engineering
The invention relates to a guaranteed cost robust gain scheduling controller design method of a spacecraft rendezvous system. According to the method, spacecraft intersection is divided into in-planemotion and out-of-plane motion to be considered, and a dynamic model with saturated nonlinearity and parameter uncertainty is established. For a spacecraft circular orbit rendezvous system with actuator saturation and parameter uncertainty, a cost-guaranteed robust gain scheduling controller is designed based on low gain feedback, a gain scheduling method and a robust control theory. Compared withthe existing gain scheduling control, the cost-guaranteed robust gain scheduling controller provided by the invention considers the mutual restriction relationship between the dynamic performance andthe control cost of the system, and balances the dynamic performance and the control cost of the system by introducing a secondary performance index function.
Owner:HANGZHOU DIANZI UNIV
A method and device for vibration control of flexible risers
ActiveCN109933102BMechanical oscillations controlAdaptive controlVibration controlDead zone nonlinearity
Owner:GUANGZHOU UNIVERSITY
A low-noise detection method for rotor initial position of permanent magnet synchronous motor
ActiveCN109981001BImprove estimation accuracyThe signal processing method is simpleElectric motor controlVector control systemsMathematical modelPermanent magnet synchronous motor
The invention discloses a low-noise permanent magnet synchronous motor rotor initial position detection method, and relates to the field of motor control. The problem that the traditional initial position detection method generates relatively big vibration and loud noise when the position and the polarity of a magnetic pole is detected, so that the application thereof is limited in certain occasions with higher requirements on noise is solved. The method comprises the following steps: Step 1, identifying an estimated value theta est1 of the initial position of the magnetic pole by adopting a voltage injection method based on random high-frequency square wave aiming at a high-frequency mathematical model of a built-in permanent magnet synchronous motor; Step 2, observing the sign of the accumulated value of the high-frequency response current peak value of a gamma axis in the high-frequency mathematical model of the built-in permanent magnet synchronous motor based on the stator core saturation nonlinearity principle, and identifying the polarity information of the magnetic pole of a rotor; and Step 3, correcting and compensating the estimated value theta est1 of the initial position of the magnetic pole according to the polarity information of the magnetic pole of the rotor to obtain the estimated value theta est of the initial position of the rotor. The low-noise permanent magnet synchronous motor rotor initial position detection method is mainly used for detecting the initial position of the permanent magnet synchronous motor rotor.
Owner:HARBIN INST OF TECH
Intelligent anti-interference control method for saturated nonlinear system
PendingCN114077191AAccurate tracking"Differential Explosion" Impact AvoidanceAdaptive controlBacksteppingNon linear dynamic
The invention discloses an intelligent anti-interference control method for a saturated nonlinear system, and belongs to the technical field of robots. The method includes: taking an uncertain nonlinear system as a research object, and taking an instruction of which the output can accurately track expectation under the common influence of coupling uncertain factors such as saturated nonlinearity, nonlinear dynamic, external interference and the like as a control target, performing estimation and feed-forward compensation on non-matching and matching unknown nonlinear dynamic states through a radial basis function neural network; performing estimation and feed-forward compensation on non-matching external interference and matching external interference through an extended state observer; aiming at the influence of'differential explosion 'existing in the controller, performing optimization through a control strategy based on instruction filtering backstepping; and aiming at the influence of saturation and filtering errors, performing real-time compensation through an auxiliary system based on the saturation and filtering errors. According to the method, it can be guaranteed that system output can accurately track expected instructions, the influence of differential explosion is avoided, and application in complex working conditions is better facilitated.
Owner:NANJING UNIV OF TECH +1
Fuzzy adaptive output feedback specified performance control method and system for intelligent ship autopilot system
ActiveCN112782981ASolve the problem of output feedback designation performance controlSolving Motion Control ProblemsSustainable transportationAdaptive controlNonlinear modelState observer
The invention provides a fuzzy adaptive output feedback specified performance control method and system for an intelligent ship autopilot system, and belongs to the technical field of ship motion intelligent control. For the intelligent ship autopilot system, a saturated nonlinear model is adopted, limited input signals are processed, and an error conversion technology and a fuzzy state observer are applied; the problem of output feedback specified performance control of an intelligent ship autopilot system is solved, the known requirement of a controller for autopilot system course angle change rate state information is effectively reduced, and the course tracking speed and precision are improved.
Owner:DALIAN MARITIME UNIVERSITY
Fault transient current analysis method considering nonlinear characteristics of inverter power supply control system
ActiveCN113315122AAchieve precise resolutionAvoid complex operationsContigency dealing ac circuit arrangementsSingle network parallel feeding arrangementsLoop controlPower control system
The invention discloses a fault transient current analysis method considering the nonlinear characteristics of an inverter power supply control system, and the method comprises the steps: firstly, carrying out the calculation according to the phase-locked loop control response of a new energy power supply control system, and obtaining a transient current under the dynamic response of a phase-locked loop during a fault transient period; according to the working state of the dq axis controller of the current loop during the fault transient period, performing segmentation processing on the fault transient process; and according to the divided response of the dq-axis controller of the current loop in each fault transient stage, realizing fault full transient current analysis under the non-linear characteristic of the inverter power supply control system based on segmented equivalence. According to the method, a phase-locked loop coordinate transformation nonlinear link and a controller saturation nonlinear link objectively existing in an inverter power supply control system are fully considered, and a large amount of complex operation is avoided.
Owner:NORTH CHINA ELECTRIC POWER UNIV (BAODING) +2
A guidance method based on line-of-sight angle nonlinear anti-saturation and uncertainty compensation
Owner:NAVAL AVIATION UNIV
A Class of Adaptive Control Method for Fractional Order Systems Affected by Saturated Nonlinear Inputs
ActiveCN110286595BOvercoming severe impacts from stabilityImprove stabilityAdaptive controlMathematical modelStable theory
Owner:JINLING INST OF TECH
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