43 results about "Stability proof" patented technology

The invention discloses a method for controlling output feedback of a motor position servo system. The method comprises the following steps that a mathematic model of the motor position servo system is established; an extended state observer is designed, and the state of the system and interference in the mathematic model are observed; a second-order low-pass filter is designed so that an error system of the motor position servo system can be established, and an output feedback controller is designed according to the error system; stability certification is conducted on the motor position servo system according to the Lyapunov stability theory, and a result of the global asymptotic stability of the system is obtained according to the Barbalat lemma. According to the method for controlling output feedback of the motor position servo system, considering uncertainty such as external interference, the extended state observer conducts estimation, compensation is conducted during design of a controller, and therefore the robustness of the actual motor position servo system to external interference is improved; in this way, the problems of a high-frequency dynamic condition, measurement noise and the like caused by high-gain feedback are greatly relieved, so that the shadowing property of the system is improved, and the motor position servo system can be applied to practical engineering more conveniently.

The invention discloses a near-space aircraft control system, which belongs to the technical field of aviation aerospace propulsion control. The near-space aircraft control system aims at the attitudestable tracking control problem of a near-space aircraft, and considers the problems of unknown interference and parameter uncertainty. According to the near-space aircraft control system, firstly, an estimated value of an interference observer for interfering the outside world, then the parameter uncertainty of the aircraft is analyzed, and a self-adaptive estimated value of the aircraft parameters is obtained; secondly, an integral sliding mode surface is selected thus a self-adaptive integral sliding mode controller is designed for tracking control of an inner ring attitude angle of the near-space aircraft; and finally, the stability of the controller is proofed by utilizing a Lyapunov stability theory. The near-space aircraft control system can ensure the global stability of a closed-loop system, and enable the system to have good tracking performance and robust performance.

The invention relates to a self-adaptive dynamic surface control method considering a nonlinear active suspension actuator. The self-adaptive dynamic surface control method comprises the following steps: firstly, establishing a two-degree-of-freedom nonlinear active suspension model through a step 1; reasoning a formula required by the self-adaptive dynamic surface controller through the step 2, and carrying out stability certification; and performing controller parameter adjustment and simulation result comparison through the step 3. According to the invention, the nonlinear active suspensionmodel is established; self-adaptive dynamic surface control is adopted, the problem that nonlinear factors in a suspension system and differential explosion caused by multiple derivation in a high-order system cannot be well solved through linear control can be solved, the controller is more beneficial to practical application, a better control effect is achieved, and the method can be applied tothe field of suspension control.

The invention relates to an adaptive dynamic surface control method considering a nonlinear active suspension actuator. Firstly, a two-degree-of-freedom nonlinear active suspension model is established through step 1; and the formula required for an adaptive dynamic surface controller is deduced through step 2. , and prove the stability; through step three, adjust the controller parameters and compare the simulation results. The present invention first establishes a nonlinear active suspension model, and adopts adaptive dynamic surface control, which can solve the problem that linear control cannot solve the nonlinear factors in the suspension system well and the differential explosion caused by multiple derivatives in the high-order system The problem makes the controller more conducive to practical application, achieves better control effect, and can be applied to the field of suspension control.

The invention discloses an adaptive robust control method of an electro-hydraulic servo system based on low-frequency learning. The steps of the method are as follows: First, establish a mathematical model of the hydraulic system, and make the following assumptions: the total disturbance of the system is smooth enough to exist and bounded; the expected position trajectory is third-order derivable and bounded; the uncertainty of the parameters changes The range is bounded; the absolute value and integral of the subtraction function about time are less than the predetermined value; secondly, construct an adaptive robust low-frequency learning controller, based on the traditional backstepping control method, and integrate the idea of ​​adaptive control and expectation compensation, in the controller A correction item is added to the parameter self-adjustment law; finally, the stability is proved by using Lyapunov stability theory, and the global asymptotic stability of the system is obtained by using Barbalat's lemma. The invention effectively avoids the high-frequency tremor caused by high gain and the influence of measurement noise on the high tracking performance of the system, and obtains better tracking performance.

The invention discloses a position tracking control method of an electro-hydraulic servo system considering input time-delay constraints. The method includes: establishing a mathematical model of the electro-hydraulic servo system; designing a controller considering input time-delay constraints; The stability is proved theoretically, and the result that the system has bounded and stable position tracking performance and all signals of the system are bounded is obtained. The present invention obtains an open-loop error system without input time-delay by referencing an input time-delay compensation signal in the controller, and combines the Lyapunov-Krasovsky functional method to eliminate the influence of time-delay; the present invention The invention effectively solves the problem that the input time lag constraint affects the performance of the system in the actual electro-hydraulic servo system, and can obtain better high-precision position tracking performance.

The present invention provides a multi-motor total amount cooperative finite time anti-saturation control method, including the following steps: S1, deduce the state equation of the motor according to the theory of consistent total amount and the equation in the rotating coordinate system of the permanent magnet synchronous motor; S2, According to the parameters of the motor state equation in S1, an auxiliary anti-saturation system with finite time convergence is designed; S3, according to the theory that the motor state equation in S1 is consistent with the total amount, the error dynamics equation is constructed, and S4, according to the finite time convergence in S2 Auxiliary anti-saturation system and error dynamics equation in S3, based on non-singular terminal sliding mode design total synergistic finite-time controller, and simplified power integral parameters; S5, based on power integral technology and finite-time Lyapunov stability The theorem completes the stability proof of the aggregate cooperative finite-time controller and obtains the finite-time upper bound. The invention weakens the influence of input saturation on the overall traction performance, and provides convenience for practical engineering utilization.

The invention discloses a method for self-adjustment error symbol integral robust control of an electro-hydraulic torque servo system. With an electro-hydraulic load simulator as a research object, the method comprises the steps of establishing a non-linear mathematical model of the electro-hydraulic torque servo system; designing a self-adjustment error symbol integral robust controller; applying the Lyapunov stability theory to perform stability proof on the system, and applying a Barbalat lemma to obtain global asymptotically-stable results of the system. According to the method, the controller design is simplified, the problems of symbol function gain adjustment conservation and potential high-gain feedback in a conventional RISE control method are effectively solved, and a control voltage of the controller is continuous and facilitates engineering practical application.