6 results about "Stability proof" patented technology

The invention relates to an impact load-oriented electro-hydraulic servo active suspension feedback linearization sliding mode robust control method, which belongs to the technical field of vehicle active suspension and electro-hydraulic servo control, and comprises the following steps of: firstly, establishing a quarter vehicle two-degree-of-freedom active suspension model; the method comprises the following steps: step 2, constructing a nonlinear dynamic model of the electro-hydraulic servo actuator of the valve-controlled cylinder; step 3, designing a feedback linearization sliding mode composite controller and giving a stability proof; and step 4, carrying out controller parameter setting and simulation comparison. According to the feedback linearization sliding mode robust control method provided by the invention, the nonlinearity and parameter uncertainty of the actuator can be effectively compensated under the impact working conditions of a deceleration strip and the like, the piston displacement tracking error and sliding mode buffeting are remarkably reduced, sprung mass vibration is reduced, the vehicle driving smoothness and attitude stability are improved, and the method is suitable for large-scale popularization and application. The method is suitable for the field of vehicle hydraulic active suspension control.

This invention discloses a sliding mode model predictive control method and system for permanent magnet motors. Based on sliding mode control theory, the invention establishes a model predictive control cost function that satisfies the definition of a Lyapunov function. This cost function can adjust the current error by selecting a voltage vector, thereby enabling the cost function to converge within a finite time. The cost function designed in this invention not only undergoes rigorous stability proofs, but when applied to model predictive control strategies, it selects the voltage vector with the minimum cost function as the optimal voltage vector for motor control. This process eliminates the need for current prediction; it directly evaluates the control error of the voltage vector using the reference current, actual current, and voltage vector, thus simplifying the control process and avoiding the influence of motor parameters on control performance. Compared to vector control, this invention retains the advantages of model predictive control in terms of speed and flexible multi-objective control.

The invention relates to the technical field of electro-hydraulic position servo control systems of excavators, in particular to a trajectory tracking control method and device for a mechanical arm of an excavator, and the method comprises the following steps: S1, establishing a mathematical model of an electro-hydraulic position servo system of the mechanical arm; s2, identifying system parameters on line based on samples of a proportional pressure reducing valve and a multi-way valve of the excavator; s3, based on the mathematical model of the electro-hydraulic position servo system of the mechanical arm in the S1 and the identification parameters in the S2, a self-adaptive backstepping sliding mode controller based on a parameter layering strategy is designed, and tracking control is conducted on the track of the mechanical arm of the excavator through the self-adaptive backstepping sliding mode controller; and S4, a Lyapunov stability theory is used to carry out stability proving on the adaptive backstepping sliding mode controller in the S3, and an asymptotically stable system tracking error is obtained.

The application provides a robust reliable H∞ control method for offshore steel jacket platform models, first establishes a mathematical model of OSJPs, and considers the first main vibration mode. Then, a controller based on memory SDC is designed, which can realize effective control by reducing data transmission amount under the condition that the state of the continuous time system is only available at the sampling time. In addition, a back loop function method, an integral inequality based on a free matrix (FMB) and a linear matrix inequality (LMI) technology are introduced to obtain sufficient conditions about the uncertain offshore platform system, so that the stabilization of the OSJPs is solved, and the reliable SDC design with disturbance suppression level is realized. The simulation result of the application shows that the proposed method can not only effectively reduce the vibration of the OSJPs, but also maintain the stability of the system in the case of model uncertainty and actuator failure, proving the effectiveness and importance of the proposed control strategy.

The application discloses a kind of based on reinforcement learning's mechanical arm adaptive compliant force control method, belong to robot technology and automation field.The method is based on the " reinforcement learning-adaptive compliant force control " integrated framework of mechanical arm-dexterous hand-six-dimensional force / torque sensor system, aims at through intelligent control strategy, completely eliminate the existing problems such as the need for manual parameter setting, contact dynamics modeling, model parameter estimation, adaptive law needs frequent stability proof, realize upper task planning, low-level compliant force / position control self-learning, self-adaptation.Deployment is not needed artificial repeated parameter adjustment for different working conditions, so that the same control strategy can maintain high assembly success rate and low peak contact force for small gap, easy deformation, multi-material workpieces, eliminate artificial calibration and environment modeling, parameter online estimation bottleneck, realize flexible production line " zero downtime " fast switching.