43 results about "Stability proof" patented technology

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.