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 motor position servo system self-adaptive control method based on an interference observer. The motor position servo system self-adaptive control method based on an interference observer includes the steps: establishing a mathematical model for a motor position servo system; constructing an interference observer and a self-adaptive controller based on the interference observer; and by means of a Liapunov stability theory, performing stability demonstration on the motor position servo system, and obtaining a global asymptotic stability result of the system by operatinga Barbalat lemma. The motor position servo system self-adaptive control method based on an interference observer is based on an integration series model and the interference observer of the motor position servo system, designs a non-linear control method based on the interference observer, integrates the non-linear control method with self-adaptive control, respectively estimates unmodeled interference and parameter nondeterminacy to enable the servo system to achieve the effect of global asymptotic stability when unmodeled interference is time-varying interference for the servo system, and solves the strong parameter nondeterminacy problem and the strong nondeterminacy non-linear problem of the system so as to enable the system to obtain better tracking performance.

The invention discloses a self-regulating error symbol integration robust control method for a direct-drive motor system. The method comprises the steps of establishing a mathematical model of the direct-drive motor system; designing a self-regulating error symbol integration robust controller; carrying out stability certification on the direct-drive motor system by using the Lyapunov stability theory, and acquiring a result of the global asymptotic stability of the system by using the Barbalat lemma. The self-regulating error symbol integration robust control method integrates the idea of self-adaptive control based on a traditional error symbol integration robust control method, and designs a controller gain self-regulating law so as to carry out on-line regulation on an integration robust gain value of the RISE controller. The self-regulating error symbol integration robust control method effectively solves problems of randomness, conservation, limitation and potential high-gain feedback in symbolic function gain regulation of a traditional RISE control method, and acquires better tracking performance.

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 discloses a motor servo system error symbol integral robust adaptive control method comprising the following steps of establishing a motor position servo system model; designing an error symbol integral robust adaptive controller; based on the error symbol integral robust adaptive controller, conducting stability proving of the stability of the motor servo system through utilization of the Lyapunov stability theory; and using the Barbalat lemma to obtain the global asymptotic stability result of the system. According to the invention, an error symbol integral robust adaptive anti-interference controller based on parameter self-adaptation is proposed for the parameter uncertainty and unknown non-linear factors in a motor servo system. The parameter adaptive rate can effectively estimate unknown parameters in the system, and error symbol integral robust terms are adopted to overcome other uncertain nonlinear factors in the system, thereby ensuring the control precision in the motor servo system.

The invention discloses an adaptive error symbol integration robust repetitive control method for an electromechanical servo system, which comprises the steps of establishing a mathematical model of the electromechanical servo system; constructing a system design model; and designing an adaptive error symbol integration robust repetitive controller and a performance theorem and stability certification of the adaptive error symbol integration robust repetitive controller. The control method disclosed by the invention can enable the electromechanical servo system to acquire semi-global progressive tracking performance. In addition, compared with a traditional internal mold principle based linear respective control method, the adaptive error symbol integration robust repetitive control method can also effectively reduce the sensibility of the repetitive controller for noises and avoid a high memory requirement of the controller.

The invention discloses a dispersed neural robust controlled trajectory tracking algorithm for a mechanical arm. According to an algorithm flow, the algorithm sequentially comprises constructing a high-order recurrent neural network model, an estimating a nonlinear system by an RHONN model, estimating unknown weight coefficients in the models, designing a dispersed robust neural controller and proving stability. The invention aims to design a neural controller for eliminating disturbances to improve trajectory tracking accuracy of the mechanical arm.

The invention discloses a robust adaptive repetitive control method for a hydraulic servo system based on state estimation. The method comprises the following steps: firstly building a mathematic model of the hydraulic system, and making the following assumptions: unmodeled interference of the system is smooth enough, so that the unmodeled interference exists and is bounded; wherein the expected position trajectory is third-order differentiable and bounded; secondly, constructing a robust adaptive repetitive controller, and estimating the state of each order of the robust adaptive repetitive controller by using a sliding mode observer; and finally, a Lyapunov stability theory is used for carrying out stability proving on the hydraulic servo system, and a Barbalat lemma is used for obtaining a progressive stability result of the system. According to the method, the problem that the control law bandwidth of a traditional repetitive control method is very high is effectively solved, and better tracking performance is obtained.

The invention discloses a microgyroscope adaptive sliding mode control method with error limitation. The method comprises the steps of 1) establishing a mathematical model of a microgyroscope; 2) designing an error limitation boundary; 3) performing equivalent error transform; 4) performing sliding mode surface design using an equivalent error; 5) performing control force design; 6) performing adaptive law design; and 7) proving the stability. The invention provides the microgyroscope adaptive sliding mode control method with error limitation, and the method can artificially design a requirederror index curve before the microgyroscope control, thereby ensuring high quality response of a microgyroscope system and ensuring the stability of the system.

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 discloses a safety control method for a switching networked control system based on a sliding mode, and relates to switching networked control system model establishment under nonlinearand false data injection (FDI) attacks and safety control method design based on the sliding mode. The invention discloses the safety control method based on the sliding mode in order to solve the problems of nonlinearity and the FDI attacks in the switching networked control system. According to the technical scheme, the safety control method comprises the steps of system switching, nonlinear andFDI attack modeling, control system node reduction processing, sliding mode function design, sliding mode dynamic analysis, sliding mode parameter solving, sliding mode controller design and closed-loop system stability proving. According to the method, the problems of the nonlinearity and the FDI attacks in the switching network control system can be effectively solved, the safety of the systemis improved, and the stable operation of the system is ensured.

The invention discloses a parameter perturbation inhibited instruction tracking control method of a high-supersonic-speed aircraft. The method comprises the steps that nondeterminacy modeling is carried out on the high-supersonic-speed aircraft to obtain a parameter nondeterminacy model; on the basis of a principle influential element analysis method, the established parameter nondeterminacy modelis simplified; a parameter nondeterminacy inhibited robust adaptive instruction tracking controller is designed; and the stability of the designed controlled is proved. Under the condition that greatparameter perturbation occurs in the high-supersonic-speed aircraft, the rapid instruction tracking capability and the stability of the aircraft can be also ensured, the problem that the instructiontracking performance of the high-supersonic-speed aircraft cannot be ensured in the preset control technology is solved, the operand of the controller is reduced, and the control method is convenientto realize.

The invention discloses a vehicle active suspension coordination anti-saturation control method based on command filtering, and belongs to the field of automobile control. The method comprises the following steps of: 1, establishing a two-degree-of-freedom nonlinear active suspension model; 2, reasoning and coordinating a formula required by the anti-saturation controller according to the suspension mathematical model established in the step 1, and performing stability proving; and 3, performing controller parameter adjustment and simulation result comparison. According to the invention, the conflict between the vertical acceleration of the vehicle body and the dynamic travel of the suspension can be solved, and the riding comfort and the operation stability are effectively improved; in addition, the problem of saturation of main power can be solved, and the influence of output saturation of an actuator on a suspension system is effectively solved, so that the overall performance of the suspension is remarkably improved; and the derivative of virtual control is obtained by adopting a command filtering mode, so that the controller is more beneficial to practical application, a better control effect is obtained, and the controller can be applied to the field of suspension control.

The invention discloses a friction-compensation-based adaptive neural network control method and device. The method comprises: establishing a motor position servo system model; designing an adaptive neural network controller based on friction compensation; according to the designed friction-compensation-based adaptive neural network controller, stability identification is carried out on the motorservo system based on a Lyapunov stability theory; and with the Barbalat lemma, a global asymptotic stability result of the system is obtained. According to the invention, modeling of the friction characteristics in the motor servo system is carried out by using a continuous friction model and the friction characteristics and other nonlinear disturbances in the motor servo system are compensated well by combining the self-learning ability of the neural network and the estimation ability of the parameter estimator, so that the system's stable tracking accuracy is improved substantially.

The invention discloses a motor servo system self-adaptive robustness control method including an input interval and belongs to the field of motor servo control. The method comprises the following steps of: establishing a mathematic model and an interval reverse model of an interval-included motor position servo system; establishing a self-adaptive robustness controller based on the interval reverse model; and utilizing a Lyapunov stability theory to carry out stability demonstration on the interval-included motor position servo system. The controller designed in the invention fully considers and compensates friction and external interference non-linearity, and the designed interval reverse model effectively removes the influences of interval non-linearity on the system. The designed controller comprises a self-adaptive item, the model error caused by parameter changes can be effectively processed, and the control performance is improved.

The invention discloses a self-adjusting control method for a motor servo system considering input limitation. The self-adjusting control method comprises the following steps that a motor position servo system model is established, and comparison between an existing servo system and an improved servo system is performed; an error symbol integral robust controller based on gain self-adjustment is designed; according to the error symbol integral robust controller, the stability verification of the motor servo system is performed by the lyapunov stability theory, and a global progressive and stable result of the system is obtained by means of the Barbalat theory. The method disclosed by the invention is used for carrying out research on the nonlinear characteristic of input limitation existing in the motor servo system, the motor servo system is controlled by designing a novel control algorithm, and the influence of input limitation on the control precision of the motor servo system is weakened.

The invention relates to the technical field of nonlinear control of electric power systems, and provides a static var compensator control method based on robust self-adaptive evaluation design. The method comprises the following steps of firstly, establishing a mathematical model of a single-machine infinite power system with a static var compensator; then designing a robust self-adaptive reverse-step control scheme based on neural network self-adaptive evaluation: starting a step-back control process from a first-order subsystem which is farthest from the actual control input, then performing a reverse-step control process from a second-order subsystem, and then deigning a control unit and an evaluation unit in the self-adaptive evaluation sequentially; and finally, performing stabilityproving of the electric power system on the basis of the lyapunov method, so that the design of the control scheme is further carried out while the consistent final bounded performance of the electricpower system is ensured. According to the method, the safe and stable control of the electric power system containing the static var compensator can be realized, and high robustness is achieved.

The invention provides a position tracking control method of a multi-degree-of-freedom upper limb rehabilitation robot. The method comprises the following steps that S1, a kinetic equation of a multi-disturbance n-degree-of-freedom upper limb rehabilitation mechanical arm is established through a Lagrangian method, a tracking error signal equation is set according to the kinetic equation, a control rate is designed, the control rate is substituted into the kinetic equation, and a feedback control rate is obtained; S2, a sliding mode function is designed, stability proving is performed, and a control rate of the moment is obtained; S3, sliding mode control design is performed on the basis of the HJI theory; S4, a fuzzy sliding mode control strategy is designed; S5, a self-adaptive controller is designed; and S6, system stability analysis is performed. According to the method, the HJI theory is utilized, after a traditional sliding mode function is converted into the HJI inequality, fuzzy rules and adaptive adjustment approach are adopted for system disturbance terms, and the stable, rapid and high-precision position tracking effect of the upper limb rehabilitation mechanical arm is directly and accurately obtained.

The invention discloses a neural network output feedback adaptive robust control method based on a transmitting platform, and the method comprises the following steps: firstly building a mathematic model of the transmitting platform, secondly designing a neural network state observer, and a neural network output feedback adaptive robust controller based on the neural network state observer; and finally, performing stability proving on the neural network state observer and the neural network output feedback adaptive robust controller by applying a Lyapunov stability theory. According to the invention, the problem that the real value of the state quantity in the launching platform motor servo system is difficult to obtain is solved.

The invention provides a high-performance cooperative control method for a multi-motor system based on a sliding mode variable structure. The high-performance cooperative control method comprises thesteps of S1, designing a multi-motor system cooperative control structure framework diagram; S2, establishing a mathematical model taking multiple permanent magnet synchronous motors as actuators anda state equation of the mathematical model; S3, designing a rotating speed loop controller and a torque controller of the multi-motor system; and S4, proving the stability of the rotating speed loop controller and the torque controller designed in the step S3. According to the invention, the problems of torque balance and rotating speed synchronous control of each motor of the rolling mill transmission system can be solved, so that the system can realize that uncoiling and coiling tension is in a dynamic balance control state in real time.

The invention discloses an electro-hydraulic servo system position tracking control method considering input delay constraints. The method comprises steps: a mathematical model for the electro-hydraulic servo system is built; a controller considering input delay constraints is designed; and a Lyapunov stability theory is applied to stability proving, the bounded and stable position tracking performance of the system is obtained, and a result of all signals of the system to be bounded is obtained. Through introducing an input delay compensation signal in the controller, an open-loop error system without input delay is thus acquired, and in combination of a Lyapunov-krasovskii functional method, influenced brought by delay are eliminated. The problem that input delay constraints in the actual electro-hydraulic servo system influence the system performance can be effectively solved, and better high-precision position tracking performance can be acquired.

The invention provides a multi-motor total quantity cooperative finite time anti-saturation control method. The method comprises the following steps: S1, deducing a state equation of a motor accordingto a total quantity consistency theory and an equation under a permanent magnet synchronous motor rotating coordinate system; S2, designing an auxiliary anti-saturation system with finite time convergence according to the parameters of the motor state equation in step S1; S3, constructing an error kinetic equation according to the theory that the motor state equation in the step S1 is consistentwith the total quantity; S4, designing a total quantity collaborative finite time controller based on a nonsingular terminal sliding mode according to the finite time convergent auxiliary anti-saturation system in step S2 and the error kinetic equation in step S3, and simplifying an addition power integral parameter; and S5, according to the power integral technology and the finite time Lyapunov stability theorem, completing stability certification of the total quantity collaborative finite time controller, and solving a finite time upper bound. The influence of input saturation on the overalltraction performance is weakened, and convenience is provided for actual engineering utilization.

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 provides a projectile roll angle control method based on a reaction flywheel. The projectile roll angle control method comprises the following steps that step one, a dynamical model witha roll angle as the controlled quantity and the rotation speed of the reaction flywheel as the control quantity is established; step two, an expansion state observer based on the systemic dynamical model established in the step one is established to observe the roll angle, roll angle velocity and disturbance torque; step three, a PD controller based on the roll angle, the roll angle velocity andthe disturbance torque observed in the step two is designed, and is subjected to compensation for the disturbance torque; and step four, the extended state observer established in the step two and thecontroller established in the step three are subjected to certification for stability. According to the projectile roll angle control method, the dynamical model of a projectile roll channel is analyzed, then the corresponding expansion state observer is further designed to observe total disturbance in a flight process of a projectile, thus the compensation for the disturbance is further achieved, and stable control of the projectile roll channel is achieved through design of the controller.

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 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 an indirect adaptive robust control method for an electro-hydrostatic actuator. The method comprises the following steps: firstly, establishing a mathematical model of an electro-hydrostatic actuator system; and designing a mathematical model of an electro-hydrostatic actuator system, designing an indirect adaptive robust controller according to the mathematical model of the electro-hydrostatic actuator system, and finally carrying out stability proving on the indirect adaptive robust controller of the electro-hydrostatic actuator system by using a Lyapunov stability theory to obtain a bounded stability result of the system. On-line estimation can be quickly realized under the condition that a certain parameter or some parameters of a system model are unknown.