Patents
Literature
Hiro is an intelligent assistant for R&D personnel, combined with Patent DNA, to facilitate innovative research.
Hiro

98 results about "Second order systems" patented technology

Second Order Systems. The order of a differential equation is the highest degree of derivative present in that equation. A system whose input-output equation is a second order differential equation is called Second Order System.

Sliding mode attitude control method for quadrotor UAV based on proportional integral observer

InactiveCN109521786AImproving Steady State Tracking AccuracyImprove robustnessAttitude controlAdaptive controlElevation angleDynamic models
The invention discloses a sliding mode attitude control method for a quadrotor UAV based on a proportional integral observer. The method comprises steps that a dynamic model of the quadrotor UAV withinterference only is established, and expressions of a rolling angle, an elevation angle and a yaw angle of the quadrotor UAV are transformed into second-order system models; the second-order system models are utilized to construct the corresponding proportional integral observer; a sliding mode attitude controller is designed according to the proportional integral observer, and the sliding mode attitude controller in combination with the rolling angle, the elevation angle and the yaw angle is utilized for flight control of the quadrotor UAV. The method is advantaged in that the proportional integral observer is combined with the sliding mode attitude controller, the partial feedback function of the proportional integral observer is utilized to estimate the shape and position input interference state of the quadrotor UAV, steady state tracking accuracy of the proportional integral state observer is improved, through the sliding mode attitude controller, relatively strong robustness andanti-interference to uncertain factors of the quadrotor UAV are achieved, and design and calculation are simple.
Owner:NANJING UNIV OF POSTS & TELECOMM

Crane anti-swinging control method based on positive and negative POSICAST input reshaping method

The invention relates to a crane anti-swinging control method based on a positive and negative POSICAST input reshaping method, which is applicable to any n time lag conditions. When the time lag of a designed reshaping device is shorter, the maximum value of a swinging angle is larger; when the time lag is longer, the maximum value of the swinging angle is smaller; meanwhile, when the jumping of an accelerated velocity is smaller, and the speed is gentler. A user can select freely according to actual conditions. The crane anti-swinging control method disclosed by the invention is applicable to a damping system and is also applicable to a non-damping second-order system. The method is an open loop control method, so that the method has the advantages that a measurement sensor for closed loop feedback is not needed. The crane anti-swinging control method utilizes phase step accelerated velocity input and aims at reshaping of phase step accelerated velocity output; compared with a pulse accelerated velocity input method, the speed is continuously changed, and a project is easy to realize. The crane anti-swinging control method is suitable for taking any phase step signal as input, and a damping second-order system is used for an anti-swinging system or a system for enabling certain output to finally return back to an original position.
Owner:SHANGHAI MARITIME UNIVERSITY

Group consistency control method for heterogeneous multi-agent system with time delay

ActiveCN110442022AAddressing Convergence EffectsTotal factory controlAdaptive controlAlgorithmTime delays
The invention discloses a group consistency control method for a heterogeneous multi-agent system with arbitrary bounded time delay, and the method comprises the following steps of constructing mathematical models of a first-order system and a second-order system, determining a topology of the multi-agent system, and describing its topological relationship by using graph theory knowledge; designing a control protocol of heterogeneous multi-agent system with time delay; analyzing the consistency problem of the system by using the properties of matrix theory and non-negative matrix to obtain a system convergence condition; determining a control protocol scaling parameter that meets the system convergence condition, and substituting the parameter into the system control protocol to implementthe group consistency control of the system. The invention provides the group consistency control method for the heterogeneous multi-agent system with arbitrary bounded time delay, and the method solves the global control problem by a distributed control method with no need of global information of the system, and only requires joint connection of topological graphs of the system at the same timewithout requiring their sub-graphs to be connected, thereby improving the robustness of the system and being suitable for group consistency control of heterogeneous multi-agent systems with arbitrarybounded delays.
Owner:COMP APPL RES INST CHINA ACAD OF ENG PHYSICS

Five-DOF (freedom of degree) bearingless synchronous reluctance motor decoupling controller and construction method thereof

ActiveCN102136822ALearnedAchieving the Curse of DimensionalityElectronic commutation motor controlAC motor controlHysteresisSynchronous reluctance motor
The invention discloses a five-DOF (freedom of degree) bearingless synchronous reluctance motor decoupling controller and a construction method thereof. Three expanded current hysteresis loop PWM (pulse width modulation) inverters, a switch power amplifier and a five-DOF bearingless synchronous reluctance motor form a compound controlled object; five support vector machine second-order systems, one support vector machine first-order system and eleven integrators are utilized to construct a support vector machine alpha-order inverse system and offline training is carried out, the support vector machine alpha-order inverse system is placed in front of the compound controlled object to form a pseudo linear system, and the pseudo linear system is equivalent to five position second-order integration subsystems and one position first-order integration subsystem; and five position controllers and one rotating speed controller are respectively designed for the six integration subsystems, thus a linear closed-loop controller is formed. In the invention, a least square support vector machine is adopted to approach an alpha-order inverse model of a nonlinear system, the dynamic decoupling control among all the controlled variables is realized, and the control performance of the overall system is effectively improved.
Owner:江阴智产汇知识产权运营有限公司

Rapid three-phase voltage phase-locked loop method and dynamic response performance analyzing method thereof

The invention discloses a rapid three-phase voltage phase-locked loop method and a dynamic response performance analyzing method thereof, and belongs to the technical field of electric power and electronic control. The analyzing method comprises the following steps: establishing a simplified model of a phase-locked loop, obtaining an open-loop transfer function of a traditional three-phase voltage phase-locked loop and a high-speed three-phase voltage phase-locked loop based on the simplified model, and obtaining a root locus of the changes of a PI regulator parameter Kp based on the open-loop transfer function, a sampling frequency and a fundamental wave angular frequency; drawing two root loci in the same coordinate system, performing equivalent simplification on a high-order system to a typical second order system through the method of closed loop dominant apices, and obtaining convergence time t1 and t2 of the typical second order system in correspondence to the traditional three-phase voltage phase-closed loop and the high-speed three phase voltage phase-locked loop. The analyzing method begins with a simplified mathematics model from a rapid three-phase voltage phase-closed loop structure, conducts separate and detailed discussion on time domain and frequency domain mathematics models, and at the same time demonstrates a theory analysis based on a relevant simulation platform and a hardware experiment platform.
Owner:HUAZHONG UNIV OF SCI & TECH

Novel active-disturbance-rejection controller with embedded model

The invention discloses a novel active-disturbance-rejection controller with an embedded model. The novel active-disturbance-rejection controller comprises an extended state observer module arranged in the inner ring and a proportional differential feedback module arranged in the outer ring; model information is embedded in the extended state observer module and used for observing the total disturbance of a system outside a nominal model, and then transforming a controlled object into a series integrator standard type by compensating the part of the total disturbance and known dynamics in realtime in the inner ring; the proportional differential feedback module is based on the series integrator standard type and adjusts he output control amount through parameter setting according to a quantitative relationship between an outer ring controller differential parameter kd and a second-order system damping coefficient zeta to achieve the control of the controlled object; the system is thesystem of the controlled object. The novel active-disturbance-rejection controller with the embedded model can reduce the burden of an extended state observer, achieves the purposes of more accurate disturbance estimation and set value tracking and reduction of the influence of noise on the output control amount, and provides convenience for parameter setting and adjustment in an actual control process.
Owner:SOUTHEAST UNIV

Robust control method for unmanned aerial vehicle attitude, and robust controller for achieving method

InactiveCN109188913ASuperimposedObservation hasAdaptive controlStable stateMathematical model
The invention provides a robust control method for unmanned aerial vehicle attitude, and a robust controller for achieving the method. The method comprises the following steps of building a second-order system mathematical model of an unmanned aerial vehicle; establishing a non-singular terminal sliding mode observer, and meanwhile, providing a sliding mode controller; and establishing an interference observer, and meanwhile, providing an interference controller. The robust controller comprises the non-singular terminal sliding mode observer and the sliding mode controller which are used for observing and controlling an unmanned aerial vehicle state and a matching interference condition, and the interference observer and the interference controller which are used for observing and controlling the unmanned aerial vehicle state and a non-matching interference condition. According to the method, in the presence of two kinds of interferences, the state of a four-rotor unmanned aerial vehicle system can be observed, and the two kinds of interferences can be compensated, so that the unmanned aerial vehicle system can reach the stable state, and the expected control goal of the attitude control of the four-rotor unmanned aerial vehicle system is achieved.
Owner:NANJING UNIV OF POSTS & TELECOMM

A second-order sliding mode control method for magnetically suspended switched reluctance motor

A second-order sliding mode control method for magnetically suspended switched reluctance motor is disclosed in the invention. The speed loop adopts the second-order sliding mode speed controller based on the superscrew algorithm, The reference torque is obtained by selecting the speed error to construct the sliding mode surface and combining with the mechanical equation of the maglev switched reluctance motor. The displacement loop adopts the second-order sliding mode displacement controller based on the improved superscrew algorithm, A high order error derivative of displacement is introduced to make the superhelix algorithm suitable for second order systems, The reference levitation force is obtained by improving the superscrew algorithm combined with linear compensation term. The invention adopts a second-order sliding mode speed controller based on a superscrew algorithm and a second-order sliding mode displacement controller based on an improved superscrew algorithm, The speed control precision and rotor suspension precision of SRM are improved, the problems of speed buffeting and displacement buffeting are solved, and the system has strong robustness to uncertain disturbance, which is easy to be realized in engineering.
Owner:JIANGSU UNIV

Aircraft Dutch roll equivalent matching initial value selection method

The invention discloses an aircraft Dutch roll equivalent matching initial value selection method and belongs to the technical field of aircraft operation stabilization system design. The method comprises the steps that first, amplitude and phase data of a sideslip angle within the range of 0.1-10rad / s relative to a pedal force high-order system is obtained; second, a second-order system equivalent to a high-order transmission function in the first step is acquired based on a typical second-order system; third, a damping ratio initial value of a Dutch roll is determined according to a maximumvalue of an amplitude curve and an amplitude at the position of omega=0.1; fourth, a frequency initial value omega<d> of the Dutch roll is calculated; fifth, the amplitude at the position of omega=0.1and the frequency initial value are utilized to calculate a gain K initial value; and sixth, a time delay value tau is determined. According to the method, an initial value of equivalent matching isobtained according to the amplitude and phase data of the high-order system, the initial value is approximate to an exact solution, and it can be guaranteed that the equivalent matching requirement ismet in subsequent solving. Through the method, the work of repeatedly debugging the initial value is avoided, working efficiency is improved, and calculation difficulty is lowered.
Owner:XIAN AIRCRAFT DESIGN INST OF AVIATION IND OF CHINA

Virtual automatic control experimental system and design method of virtual automatic control experimental system

InactiveCN103995474AExperiment content is flexibleEasy to operateSimulator controlAutomatic controlSimulation
The invention discloses a virtual automatic control experimental system and a design method of the virtual automatic control experimental system. The virtual automatic control experimental system comprises a time domain analysis method experiment module, a root-locus method experiment module, a frequency domain analysis method experiment module, a system correction experiment module and an open experiment module, wherein the time domain analysis method experiment module comprises a first-order system time domain analysis module, a second-order system time domain analysis module and a high-order system time domain analysis module; the root-locus method experiment module comprises a second-order system root-locus analysis module, a third-order system root-locus analysis module and a high-order system root-locus analysis module; the frequency domain analysis method experiment module comprises a typical link frequency response characteristic analysis module and a composite system frequency response analysis module; the system correction experiment module comprises a series connection lead correction module, a series connection lag correction module, a series connection lag-lead correction module and a PID correction module; the open experiment module comprises a water level control module, an elevator control module and a traffic lamp control module. By means of the virtual automatic control experimental system and the design method, a user can design and simulate an automatic control experiment, the efficiency of the automatic control experiment is improved, limitation of hardware equipment is avoided, an experimenter can conveniently have a study, and shortcomings in a traditional experiment are overcome.
Owner:NORTHWEST UNIV(CN)

Attitude control method of rotorcraft

The invention relates to an attitude control method of a rotorcraft, which is used for controlling a pitch angle, a roll angle and a yaw angle of the rotorcraft, establishing a kinetic model of the attitude angle of the rotorcraft, estimating unknown parameters in the kinetic model in real time by using an adaptive method, compensating the uncertainty of the kinetic model, improving the robustnessof the control system by using a robustness method, and enhancing the anti-interference capability. Each attitude angle system is a second-order system, a backstepping method is adopted for derivation, derivation is sequentially carried out from the first order, a self-adaptive robust method is adopted for solving a result of each order, and finally the control law of the attitude angle is obtained. According to the method, the attitude angle is controlled by adopting a self-adaptive robust method, control parameters do not need to be accurately set like PID control (proportional-integral-derivative control), only the control parameters need to be large enough within a certain range, and parameter adjustment is simpler and more convenient; the requirement for the accuracy of the model isnot high, unknown parameters can be accurately estimated, and the tracking accuracy of expected signals is improved.
Owner:湖北航天飞行器研究所

Robust adaptive control method for piezoelectric ceramic driving component in variable load environment

ActiveCN110045603AGuaranteed to be uniformly boundedSimple control structureAdaptive controlHysteresisElectricity
The invention discloses a robust adaptive control method for a piezoelectric ceramic driving component in a variable load environment; the method comprises the following steps as follows: establishinga piezoelectric ceramic driving system, setting a driven component to be a rigid load loaded in a vertical direction of the piezoelectric ceramic driving component, and measuring the output displacement by a laser displacement sensor, wherein the output displacement of the rigid load is consistent with the output displacement of the piezoelectric ceramic driving component; performing mathematicalmodel description on the variable-load piezoelectric ceramic driving component; and designing a robust adaptive controller. The robust adaptive control method considers uncertainties in the system and environmental disturbances, based on the mathematical model of the piezoelectric ceramic driving system in a loaded environment, a measurable-output second-order system with a hysteresis characteristic is used, a specified performance function is set to control system errors so as to achieve real-time adjustment of the robust adaptive controller output, so that high precision tracking driving accuracy of the piezoelectric ceramic driving platform to the input signal is ensured.
Owner:SOUTH CHINA UNIV OF TECH

Method and device for detecting ice thickness

The invention discloses a method and device for detecting ice thickness. The method comprises the following steps that a sensor is equivalent to an underdamped second-order system; only when it is required to detect the state information of the ice thickness, a pulse excitation signal is input to the sensor to detect and analyze an output response signal of the sensor system to the pulse input excitation signal; since the ice thickness of the surface of the sensor will change the basic parameters of the second-order system to varying degrees, a plurality of characteristics of the output response signal of the sensor system will change accordingly, and the information of the ice thickness can be obtained by detecting and analyzing the changes of these characteristics; and by applying the input pulse excitation signal to the sensor system, several different modes of operation can be selected. The method and device for detecting ice thickness can greatly prolong the working life of the sensor, realize accurate and reliable detection of the icing thickness by detecting various characteristics of the output response signal of the sensor, and have a plurality of different modes of operation available for selection such that the application of the sensor is more flexible and convenient.
Owner:HUAZHONG UNIV OF SCI & TECH

Order reducing method of higher-order mathematical model for water turbine regulating system

ActiveCN104408330AEasy to implementThe de-escalation results are accurate and reliableSpecial data processing applicationsLoad stepMathematical model
The invention relates to an order reducing method of a higher-order mathematical model for a water turbine regulating system. The order reducing method comprises the following steps: a. simplifying the highest-order term of a system denominator, and achieving primary order reduction of the system to obtain a primary lower-order equivalent system formula; b. from the angle of fluctuation superposition, transforming the primary lower-order equivalent system formula into a form that two second-order subsystems are added; c. performing an Laplace inverse transform to obtain a unit rotating speed response wave equation of the primary lower-order equivalent system of the water turbine regulating system under load step disturbance; d. performing secondary order reduction on a complete fifth-order system formula; e. performing influence factor analysis of rotating speed response regulating quality of the water turbine regulating system by using a second-order system. The order reducing method has the advantages that compared with other order reducing methods, by the method, starting from the complete fifth-order system, all parameters and influence factors of the system are contained, and the later regulating quality analysis with reliable guarantee is provided.
Owner:WUHAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products