88 results about "Singular perturbation" patented technology

The invention belongs to the field of spacecraft control and relates to a fuzzy singular perturbation modeling and robust attitude control method for complex flexible spacecraft, namely a robust combined control method for fusing static output feedback control and output integration. The method comprises the following steps of: establishing an uncertain continuous fuzzy singular perturbation model and a standard discrete fuzzy singular perturbation model according to a dynamic model and a kinematic model of the spacecraft in combination with fuzzy logic and singular perturbation technology; and designing a robust controller combined by a static output feedback controller and an output integrator by a spectral norm and linear matrix inequality (LMI) method and resolving a group of LMIs which are unrelated to a perturbation parameter so as to obtain a controller parameter and solve an ill-conditioned problem caused by the perturbation parameter and the problem of difficulty in selection of an initial value in an LMI resolving static output feedback controller gain method. Through the method, flexible vibration and external interference can be overcome effectively, and control effects such as high response speed, high attitude control accuracy, high anti-jamming capability and high robust performance are achieved.

The invention discloses a design method for a boundary control law of a flexible mechanical arm-based partial differential equation model. The design method comprises five steps of: 1, establishing a double-link flexible mechanical arm dynamic model; 2, decomposing the double-link flexible mechanical arm dynamic model; 3, designing an adaptive boundary control law; 4, verifying the global stability of a closed-loop system; and 5, finishing the design. By the design method, a condition that the frequency of joint angle movement is different from that of elastic oscillation is considered first, and a partial differential dynamic model is decomposed into a fast subsystem and a slow subsystem by a singular perturbation method; a slow adaptive boundary control law is designed on the slow subsystem, so that a joint motor can move to an expected position; a fast adaptive boundary control law is designed on the fast subsystem to inhibit the elastic oscillation; and the fast and slow subsystems form a hybrid controller to control the joint angle and oscillation of a double-link flexible mechanical arm and ensure the global stability of the closed-loop system.

The invention provides a hydraulic hard and soft mechanical arm control method based on two-parameter singular perturbation, and relates to the technical field of intelligent machine and robot control. Through the principle of the two-parameter singular perturbation of the method, a reduced order is carried out on a hydraulic hard and soft mechanical arm system to enable the hydraulic hard and soft mechanical arm system to become a fast subsystem driven by representation hydraulic servo, a secondary fast subsystem driven by representation elastic vibration, and a slow subsystem driven by representation wide-range rigid movement, wherein a self-adaptive sliding mode controller is adopted in a fast subsystem control module, an optimal controller is adopted in a secondary fast subsystem control module to restrain the elastic vibration, and a second-order sliding mode controller is adopted in a slow subsystem control module to achieve joint trajectory tracking control. According to the control method based on the two-parameter singular perturbation, the reduced order is carried out on the complex hydraulic hard and soft mechanical arm system, multiple time-scale subsystem controllers are designed, and thus the control method is greatly simplified and is more practical.

The invention discloses a nonlinear multi-time-scale delay system modeling and control method and belongs to the technical field of controlling of complex systems. The method is based on the UDTTDFSPM and combined with a spectral norm and linear matrix inequality method, a robust combination controller is designed for controlled NMTSTDSs, and high-precision and stable control of the NMTSTDSs is achieved. According to a dynamic model of the NMTSTDSs, an uncertainty continuous time delay obscurity singular perturbation model of the NMTSTDSs is set up, a proper sampling period is selected, a zero-order holder method is adopted to perform discretization on the obtained continuous model, and the UDTTDFSPM of the NMTSTDSs is obtained. The robust combination controller is designed on the basis and is composed of an obscurity slow state feedback controller and an output integrator. The nonlinear multi-time-scale delay system modeling and control method has the advantage of solving the problem of steady-state errors which are caused by system external disturbance and the fast modality of the NMTSTDSs and cannot be solved by an existing modeling and control method, and the control performance of the NMTSTDSs is greatly improved. The nonlinear multi-time-scale delay system modeling and control method is used for controlling the simulation result of postures of a CE150 helicopter, and validity of the method can be shown.

The invention relates to a fuzzy robust sliding mode buffeting reduction motion control method for a double-flexibility space manipulator. The method is combined by a slowly changing sub-controller and a quickly changing sub-controller which can be independently designed based on a flexibility compensation singular perturbation model of the double-flexibility space manipulator. The slowly changingsub-controller comprises a type of exponential reaching sliding mode control laws and additionally designed fuzzy robust control items, and can realize effective reduction for inherent buffeting of the traditional sliding mode control and accurate tracking for a rigid motion trajectory of the system; and the quickly changing sub-controller is designed by adopting an optimal control theory so as to suppress flexible vibration generated by the system. The fuzzy robust sliding mode buffeting reduction motion control method provided by the invention for the double-flexibility space manipulator keeps very strong robustness for the parameter uncertainty of the system, and rigid and flexible motion control effect of the method also conform to expected control requirements.

The invention discloses a strap-down inertial navigation system which compensates the coning error and the sculling error by adopting a method of singular perturbation. The strap-down inertial navigation system is characterized in that a singular perturbation model for compensating the coning error is embedded between an inertial measurement unit and an attitude calculation unit; and a singular perturbation model for compensating the sculling error is embedded between the inertial measurement unit and the navigation calculation unit. The compensation is a perturbation process in which the movement of a carrier changes in a sampling period T and utilizes the actual output value of an inertial unit at a starting sampling point to establish a forcing singular perturbation model. According to the forcing singular perturbation model, the coning error and the sculling error are compensated, and the clock diagram of attitude update and the amount of speed update in the sampling period are obtained. Through adjustment of the amounts of the attitude update and the speed update with close-to-precision variable parameters, the requirement for increasing the algorithmic precision of the calculation units of the strap-down inertial navigation system is met.

The invention discloses a stable tracking control method for a four-rotor unmanned plane based on an instruction filtering backstepping method, and belongs to the field of unmanned aircraft automaticcontrol. The method aims at a dynamic mathematic model of a rigid four-rotor unmanned plane, and is characterized in that the method comprises the following steps: 101, building a four-rotor unmannedplane mathematic model; 102, employing a four-rotor unmanned plane attitude control system. According to the technical scheme of the invention, the method provided by the invention proposes the instruction filtering backstepping control of a new type, and solves a problem of conventional back calculation expansion. Compared with a conventional backstepping method, the method introduces a filter toavoid a complex analysis derivation process of virtual control, and a constructed tracking controller is concise and effective, thereby effectively solving the problem of back calculation expansion.Finally, the singular perturbation theorem is employed for completing the stability analysis of a closed-loop system.

The invention relates to a singular perturbation composite learning control method of an elastic aircraft based on interference observation. According to the method, a longitudinal channel model of the elastic aircraft is decomposed into a speed subsystem and a posture subsystem at first; and PID control is adopted for the speed subsystem, the posture subsystem is analyzed by using the singular perturbation theory, and rigid-flexible mode decoupling and fast and slow time scale separation are realized. A sliding mode control method is designed to control an elastic fast-changing subsystem; anda back stepping method is designed to control a posture slow change subsystem, meanwhile unknown dynamics is approached by using a composite neural network, and a nonlinear observer is designed to compensate the external disturbances. Based on the controller designed above, precise tracking of height and speed is achieved.

The invention discloses a singular-perturbation-based flexible mechanical arm time scale separation robust control method. The method comprises the steps that a flexible mechanical arm kinetic model is built; the flexible mechanical arm kinetic model is subjected to rigid-flexible modality separation processing; a robust control method is designed for a slow subsystem embodying the rigid modalityof the system; a state feedback control method is designed for a rapid subsystem embodying the elastic modality of the system; first control input is obtained; second control input is obtained; the first control input is combined with the second control input to obtain combination data; the combination data is put into the flexible mechanical arm kinetic model to obtain output data; the output data is separately compared with the expected data of a joint angle of the flexible mechanical arm and elastic vibration data to obtain comparison difference; and when the comparison difference is in a comparison threshold range, a signal indicating effective control is output. By adopting the singular-perturbation-based flexible mechanical arm time scale separation robust control method, tracking ofthe mechanical arm joint angle to an expectation command and elastic modality inhibition can be realized; and vibration is reduced.

The invention discloses an integrated design method for guidance and control of a hypersonic aerocraft. The method comprises steps that firstly, a nonlinear dynamic model of the hypersonic aerocraft is established, based on the singular perturbation theory, the nonlinear dynamic model is divided into a slow time-varying guidance loop and a fast time-varying control loop, secondly, a nominal controller and a linear time-varying feedback controller of the two loops are designed separately, actual control input of the two loops is calculated, and lastly, control output of the two loops is calculated based on the mapping relationship. The method is advantaged in that aiming at the complex flight mission profile of the hypersonic aerocraft and a flight control problem along the trajectory, thecharacteristics of the hypersonic vehicle with strong coupling, strong nonlinearity and fast time-varying are considered, in the case of large system perturbation and external disturbance in the model, based on the trajectory linearization control method, integrated strategy design of guidance control is completed, the method is simple for realization and easy for engineering application in the hypersonic aircraft, and the method has better control performance and robust performance.

The invention discloses a robust self-adaptive sliding-mode control method for a flexible-hinge space station manipulator. The robust self-adaptive sliding-mode control method comprises the followingsteps: first, through the utilization of Lagrangian methods of the second kind and through the combination with the system momentum and momentum moment conservation relation, analyzing and establishing a system dynamics model of a flexible-hinge space station manipulator system, wherein the carrier position and attitude are both uncontrollable; next, for the actual situation that the flexibility of each joint hinge is relatively high in the actual application of the space station manipulator, exporting a singular perturbation mathematical model applicable to the control system design through the introduction of a joint flexibility compensation controller and through the combination with double time scale decomposition of singular perturbation theory; and then, through the utilization of the singular perturbation mathematical model, decomposing the flexible-hinge space station manipulator system into a fast subsystem and a slow subsystem which are independent of each other, designing the robust self-adaptive sliding-mode control for the slow subsystem, and designing a moment differential feedback controller for the fast subsystem. Consequently, the control purposes of not only eliminating the negative impact of the flexibility of a flexible hinge on the positioning precision and the stability of the space station manipulator but also effectively overcoming the buffeting defect in the conventional sliding-mode control can be fulfilled.

Disclosed is a modeling and control method for a complex circuit system with small inductances or capacitances (CCSWSIOCs) and the method belongs to the technical field of complex-circuit-system control. The method is based on an UDTFSPM (uncertain discrete time fuzzy singularly perturbed model) and combines methods of spectral norm and linear matrix inequalities to design an RFSOFC (robust fuzzy static output feedback controller) for controlled CCSWSIOCs so as to realize high-precision control of the CCSWSIOCs. According to a dynamical model of the CCSWSIOCs, an uncertain continuous-time fuzzy singularly perturbed model is established. An appropriate sampling period is selected and a zero-order holder method is employed to perform discretization on the continuous-time fuzzy singularly perturbed model so as to obtain the UDTFSPM of the CCSWSIOCs and thus the RFSOFC is designed on the basis. The advantages of the method are that problems of incapability of elimination of instability or large steady-state errors resulted from the internal minute inductances or capacitances of the CCSWSIOCs in the prior modeling and control methods are solved and control performance of the CCSWSIOCs is improved significantly. The modeling and control method for the complex circuit system with the small inductances or capacitances is applied to precision control of a Van der Pol circuit system to perform simulation verification and validity of the method is shown.

The invention discloses a PMSM (permanent magnet synchronous motor) coordination control optimization method based on mechanical connection, and the method comprises the steps: designing a single PMSMcontrol algorithm, determining a synchronous control structure of a dual-motor drive system, building a dual-PMSM dynamic mathematic model, writing the mathematic model into a singular perturbation system form, carrying out the decomposing of the subsystems, decomposing an optimal state adjustment problem and a performance index, solving a subsystem Riccati equation, combining optimal solutions of the subsystems into the optimal solution of a main system, and achieving the optimization of the dual-PMSM coordination control. The method can achieve the dual-PMSM coordination control through thereduction of the synchronization error between motors, and does not depend on the tracking error and control precision of a single motor for achieving the coordination control between motors. The method is simple in design, is easy to understand, is small in calculation burden, and is high in practicality. The method reduces the solving orders of the system through the singular perturbation theory, and reduces the calculation burden during system design.

The invention relates to a multi-time-scale mathematical model establishing method of a distributed power flow controller. The method comprises: S1, a parallel-side apparatus of a distributed power flow controller is used as one converter groups including a parallel grid-side three-phase converter equivalent circuit, a parallel harmonic-side single-phase converter equivalent circuit, and a parallel-side common direct-current capacitor equivalent circuit in back-to-back connection; S2, a series-side apparatus of the distributed power flow controller is used as one applied to an alternating-current fundamental wave network equivalent circuit, an alternating-current third harmonic network equivalent circuit, and a series-side direct-current capacitor equivalent circuit simultaneously; S3, according to the principle of a voltage type PWM converter switch cycle average model, a dynamic mathematical model of the distributed power flow controller is established; and S4, a multi-time-scale analysis is carried out on the dynamic mathematical model of the distributed power flow controller by combining a singular perturbation principle and a multi-time-scale mathematical model of the distributed power flow controller is established. Therefore, the multi-time-scale characteristic of the whole power system can be analyzed well. The method is suitable for the order reduction analysis of the power system.

The invention relates to a singular perturbation-based historical data learning self-adaptive control method of an elastic aircraft. The method comprises the steps of decoupling a longitudinal channelmodel of the elastic aircraft to a speed sub-system and a height sub-system; decomposing a gesture sub-system to a slow sub-system and a fast sub-system by a singular perturbation algorithm, designing a rudder deflection angle controller of the slow sub-system by dynamic surface control, estimating system uncertainty information by a neural network, acquiring on-line data, building a forecast error, combining and tracing an error, adjusting weight updating rule of the neutral network, and designing a sliding-mode self-adaptive algorithm for mode suppression according to a fast time mark partof representing system elastic mode; designing aperture of a throttle valve of a speed sub-system by a PID strategy, achieving tracing control of height and speed, and finally, applying the control method to a hypersonic aircraft elastic body model.

The present invention decouples a longitudinal channel model of an elastic aircraft into a speed subsystem and a height subsystem; decomposes an attitude subsystem into a slow variable subsystem and afast variable subsystem through a singular perturbation algorithm, adopts dynamic surface to control and design a rudder angle controller of the slow variable subsystem, and uses a specific algorithmto screen online data quality, records high quality data and discards inferior data, and stores online in a dynamic history stack, infers invariant state dependency attribute of the system accordingto data information, to construct a new prediction error, combines the specifically selected online record data with real-time data to adjust weight update law of the neural network, and designs a sliding mode adaptive control algorithm to perform modal suppression aiming at fast-changing time-scale portion of an elastic mode of a representation system; and adopts a PID strategy to design throttleopening degree aiming at the speed subsystem, realizes tracking control of height and speed, and finally applies the control method to a hypersonic aircraft elastomer model.

Systems, methods, and computer program products for autonomous car-like ground vehicle guidance and trajectory tracking control. A multi-loop 3DOF trajectory linearization controller (300) provides guidance to a vehicle having nonlinear rigid-body dynamics (332) with nonlinear tire traction force, nonlinear drag forces and actuator dynamics. The controller (300) may be based on a closed-loop PD-eigenvalue assignment and a singular perturbation (time-scale separation) theory for exponential stability, and controls the longitudinal velocity (Vx,sen) and steering angle (delta) simultaneously to follow a feasible guidance trajectory. A line-of-sight based pure-pursuit guidance controller (502) may generate a 3DOF spatial trajectory that is provided to the 3DOF controller (300) to enable targetpursuit and path-following/trajectory-tracking. The resulting combination may provide a 3DOF motion control system (500) with integrated simultaneous steering and speed control for automobile and car-like mobile robot target pursuit and trajectory-tracking.

The invention discloses a combined sliding mode motion control method of a flexible mechanical arm. Under multiple time scales, the motion control problem of the flexible mechanical arm with disturbance and system uncertainty is researched. Because the flexible mechanical arm has a multi-time-scale characteristic, a controller designed by applying a traditional method is easy to cause an ill-conditioned numerical value problem, and based on a singular perturbation theory, the flexible mechanical arm is modeled into a singular perturbation system with singular perturbation parameters and decomposed into a fast subsystem and a slow subsystem which describe rigid body motion and flexible vibration. Under the slow time scale, with consideration of the influence of external disturbance and parameter uncertainty on the system, a self-adaptive sliding mode controller (slow controller) with a disturbance observer is designed to track the trajectory of the flexible mechanical arm. Under a fasttime scale, a robust sliding mode controller is designed to achieve flexible vibration suppression in order to eliminate the influence of vibration states and the like under an unmodeled dynamic scaleand a slow time scale on the design of the controller. Finally, the slow controller and the fast controller are combined by using a singular perturbation theory to realize a dual control target of trajectory tracking and vibration suppression. The test results show that the method is high in robustness and good in control effect.

The invention relates to a global, robust and intelligent control method used for an elastic aircraft and based on a singular perturbation strategy. The method analyzes an aircraft elastic body dynamical model based on a singular perturbation theory, performs decoupling on rigid and flexible modes and realizes fast and low time scale separation. Specific to an elasticity fast subsystem, a slidingmode controller is designed; specific to an attitude slow subsystem, neural network control in an effective approximation region and robust control outside the effective approximation region are designed based on a switching mechanism, and global stability of a closed-loop system is realized; meanwhile, based on a system tracking error and a predication error, weight of a neural network is updated, and learning performance of the neural network is improved.

The invention belongs to the field of flexible mechanical arms and particularly relates to a singular perturbation theory based flexible mechanical arm motion control method which concretely comprisesa combined control method combining sliding mode variable structure control with optimal control and comprises the following steps of firstly, considering the influence of external disturbance on a system, and designing a sliding mode controller to realize trajectory tracking of the flexible mechanical arm; meanwhile, adopting a least square method to estimate the vibration quantity of the systemunder a slow time scale, and laying a foundation for design of a fast time scale system controller; then, under a fast time scale, based on the optimal control theory, designing a vibration controller to achieve vibration suppression on the flexible mechanical arm; and finally, combining the two of the sliding mode controller and the vibration controller by utilizing the singular perturbation theory to realize combined motion control on the flexible mechanical arm. The invention provides a novel sliding mode control and optimal control based flexible mechanical arm combination control method.By utilizing the method, dual control targets of position tracking and vibration suppression of the flexible mechanical arm can be realized.

The invention relates to a compound posture and orbit control method for an underwater vehicle. The compound posture and orbit control method for the underwater vehicle is used for solving the limitation that the posture and orbit control of the underwater vehicle only depends on the hydrodynamic force. According to a temporal-scale difference between a hydrodynamic force control and a vectorial force control, a system is divided into a slow link and a fast link based on the singular perturbation method and the sliding mode variable structure control technology, a linear feedback control law of the compound posture and orbit control matched with a synovium theory is designed, the accelerated speed and the the pitch angle rate of the vehicle are taken as response parameters, so that the posture and orbit adjustment time can be effectively reduced, and the stability and the maneuverability of a whole system are improved. The compound posture and orbit control method for the underwater vehicle has the advantages that the dynamic response performance of the vehicle is improved and the stability of the vehicle is increased.

The invention relates to an anti-interference control method for a singular perturbation system and aims at solving the problem that a fast state variable and a slow state variable in the singular perturbation system have fast variable interference and slow variable interference respectively. The method comprises the following steps: firstly, analyzing interference of the system under complex environmental conditions, and building a system model containing external interference; secondly, according to a singular perturbation theory, converting the system model into a singular perturbation system model, and performing singular perturbation decomposition on the system, thus obtaining a fast subsystem and a slow subsystem; then respectively designing an interference observer for each subsystem, so that precise estimation on the external interference is realized; and finally, designing a state feedback controller for realizing accurate compensation on the external interface and fast control on each subsystem. The anti-interference control method provided by the invention has the characteristics of strong anti-interference capability, high control precision and high convergence speed and can be used for high-precision fast control on aerospace singular perturbation systems of satellites, unmanned aerial vehicles, guided missile and the like.

The invention relates to a singular perturbation suboptimal guidance law with terminal ballistic inclined angle and attack angle constraints, comprising the following steps of determining the time scale of a system state variable; establishing a singular perturbation system; solving a zero-order slow system; solving a first-order rapid system; calculating first-order time-to-go tgo; and calculating the optimal control instruction acceleration meeting the requirements for target-missing quality, a terminal ballistic inclined angle and an attack angle to update an instruction. The singular perturbation suboptimal guidance law has the advantages that an analytical guidance law can meet the requirements for the target-missing quality, terminal ballistic inclined angle and attack angle constraints and also meet the requirement for energy control optimum in a flight process as comparison with the traditional terminal guidance law; the guidance law is used for solving based on a singular perturbation theory, and the obtained optimal control guidance law is simpler in form and brighter in physical significance; and the guidance law provides a novel solving thought for solving a complex high-order optimal control guidance law, can be used for solving more constraints and is wide in applicability.