1419 results about "State observer" patented technology

The invention provides an automatic energy-saving control method and device for a ring cooling fan based on load feedback, relates to the field of ring cooling fans, and solves the technical problem of delay of regulation and control in an energy-saving working state. The method comprises the steps that working condition data are input into a preset powder box model, and a feed-forward air volume instruction is obtained through calculation; and inputting the working condition data into a state observer to obtain an optimal estimated temperature value. And the deviation between the optimal estimated temperature value and a preset temperature set value is calculated, and a feedback air volume compensation instruction is obtained through calculation of a feedback controller according to the deviation. And fusing the feed-forward air volume instruction and the feedback air volume compensation instruction to obtain a final air volume control instruction, and issuing the final air volume control instruction to a fan frequency converter for execution. And continuously monitoring the numerical value and the change trend of the feedback air volume compensation instruction, taking the feedback air volume compensation instruction as a prediction error signal of the powder box model, and adaptively adjusting key thermal parameters in the powder box model. The method is used in the control process of the ring cooling fan.

The invention relates to a model predictive control charging optimization method based on a dynamic power state, which initiates a'dynamic power state collaborative optimization 'mechanism, takes a real-time power upper limit as an active optimization target instead of a fixed constraint condition, and breaks through the technical bottleneck of power limitation passive response in a traditional charging strategy. The method specifically comprises the following steps: constructing an electric-thermal-aging multi-physics field coupling model of the lithium ion battery, updating electric-thermal characteristic parameters in real time through an online parameter identification algorithm, and synchronously estimating a core temperature and an aging state in combination with a double-Kalman filtering state observer; innovatively establishing a four-dimensional objective function optimization model containing a dynamic power state, and performing multi-objective collaborative optimization on a power upper limit, a charging speed, a capacity fading rate and a current fluctuation rate; and designing a dynamic rolling optimization algorithm based on a model prediction control framework, and solving the optimal charging current meeting the dynamic power distribution requirement of the power grid in real time under the hard constraint of ensuring the maximum core temperature and terminal voltage.

The invention provides an unmanned aerial vehicle motor rotating speed control method based on active disturbance rejection. The method comprises the following steps: 1) measuring the rotating speed of a motor by adopting a high-precision rotating speed sensor based on a quantum effect; 2) designing a tracking differentiator TD to smooth an expected rotating speed, and outputting a rotating speed tracking signal and a rotating speed tracking signal change rate; 3) introducing a dynamic weight matrix to form a dynamic weight expansion state observer DWESO, and taking an output state variable estimation value and a total disturbance estimation value as the input of the NLSEF; 4) automatically searching the optimal combination of the gain parameters of the DWESO by adopting an ALA (artificial Louver Mouse Algorithm), so that the optimal state variable estimation value and the optimal total disturbance estimation value are output to the NLSEF; compared with the prior art, the method for controlling the rotating speed of the unmanned aerial vehicle has the advantages that the dynamic response speed, the anti-jamming capability and the parameter adaptability of the system are remarkably improved, and the flight performance and the robustness of the unmanned aerial vehicle are improved.

Disclosed in the present invention is an output feedback control method for a pilot-operated electro-hydraulic proportional servo valve considering disturbance suppression. According to the control method, a nonlinear active disturbance rejection controller with both disturbance suppression and unknown state estimation is designed on the basis of a constructed disturbance observer in combination with an extended state observer. To address the problem of a valve core position control system of the pilot-operated electro-hydraulic proportional servo valve, the present invention not only ensures suppression of matched interference in the system, but also compensates for mismatched interference in the system, and utilizes a state observer to estimate unmeasurable state variables, so as to construct full-state feedback control, thereby ultimately achieving high-precision tracking control of the valve core position.

The invention belongs to the technical field of parallel robot controllers, and discloses a high-performance parallel robot controller based on an arm + fpga architecture, through deep heterogeneous fusion of an ARM and an FPGA, the control period is shortened to be within 10 microseconds, the trajectory tracking error is controlled to be 0.1 mm or below, and the performance bottleneck of a traditional architecture in a high-speed scene is solved; the multi-core ARM undertakes complex tasks such as global trajectory planning and dynamics solution, and realizes parallel processing by means of an NEON instruction set; the FPGA fully releases the hardware parallel characteristic of the FPGA, real-time tasks such as multi-axis motion control and sensor data fusion are synchronously completed through a distributed logic unit, and a complex decision-real-time execution assembly line cooperation mode is formed. Inertial parameters and load changes of the mechanical arm are estimated in real time through an LSTM neural network, and feedforward compensation is carried out on interference such as mechanical vibration and load abrupt change in combination with an extended state observer achieved through FPGA hardware; the innovatively designed double closed-loop control architecture supports seamless switching between a force control mode and a position control mode.

The invention discloses a multi-unmanned-ship cooperative target tracking game control method, and relates to the field of unmanned-ship cooperative tracking control, and the method comprises the steps: obtaining an estimation value of an unmanned ship after the offset of a tracking target through building a preset-time target state observer, obtaining a reference signal of the unmanned ship through a preset-time guidance law, and obtaining a target state estimation value of the unmanned ship; obtaining a speed error vector of the auxiliary system considering compensation input saturation; and then obtaining an optimal control law of the unmanned ships through the established optimal cost function, and obtaining an approximation optimal control law satisfying Nash equilibrium based on an adaptive law of the evaluation network, thereby realizing control of cooperative target tracking of the multiple unmanned ships. Through the establishment of the predetermined time guidance law, the problem of relatively long convergence time is solved, and the dependence of the convergence time on control parameters is reduced. And meanwhile, the influence of neighbor members in the formation is fully considered, a solution meeting Nash equilibrium is obtained by adopting an evaluation network, and the multi-unmanned ship Nash game problem of a nonlinear continuous time system with unknown interference is solved.

The invention relates to the technical field of trajectory tracking control of piezoelectric motion tables, and discloses a trajectory tracking control method and device for a piezoelectric console, and the method comprises the steps: constructing an initial dynamic model of a piezoelectric motion table based on an asymmetric Bouc-Wen hysteresis model, and obtaining a to-be-identified parameter set; based on the root-mean-square error between the actual output displacement of the piezoelectric motion platform at the plurality of sampling time points and the predicted output displacement of the initial dynamical model, constructing a self-adaptation function of the parameter set to be identified; identifying and acquiring a target model parameter set by using a multi-modal Bayesian gradient optimization algorithm and taking the value convergence of the self-adaption function as an optimization target to obtain a target dynamic model; based on the target dynamic model, constructing a hysteresis state observer, and obtaining feed-forward compensation voltage; constructing a self-adaptive fuzzy PID feedback controller, and obtaining a feedback control voltage; and summing the feedforward compensation voltage and the feedback control voltage to generate a driving voltage so as to drive the piezoelectric motion table to perform trajectory tracking.

The invention discloses a prepreg tape tension detection method and device based on an extended state observer and a medium, and the method comprises the steps: carrying out the kinetic analysis of an unreeling shaft of an automatic tape laying machine, and constructing a tension model; converting the tension model into a state-space equation, and constructing a tension state observer according to the state-space equation; optimizing the tension state observer through a genetic algorithm based on an error between a tension estimated value output by the tension observer and a tension target value; the current corresponding to the unwinding torque, the real-time radius of the unwinding shaft and the conveying speed of the unwinding shaft are obtained and input into the optimized tension state observer, and a tension estimation value is obtained; the tension estimation value is decoupled through a controller to obtain a control signal, and the unwinding torque is controlled through the control signal; inputting the unwinding torque into a tension model to obtain an actual tension value; and setting a Lyapunov function, and judging whether the actual tension value is accurate or not through the Lyapunov function.

The invention discloses a vehicle stability adaptive control method under low attachment road surface multi-source interference, and belongs to the field of vehicle control, and the method comprises the following steps: S1, multi-source interference perception and attachment coefficient prediction; s2, dynamic correction of tire dynamic parameters: correcting tire cornering stiffness and slippage stiffness on line; s3, multi-source interference collaborative observation and estimation: dynamically estimating an interference source by using an enhanced extended state observer; s4, phase plane stability envelope analysis and weight adjustment: dynamically allocating control priorities; and S5, on the premise of considering an interference source, performing dynamic torque distribution and actuator cooperative control: optimizing four-wheel torque by using a quadratic programming algorithm to obtain a torque distribution result. By adopting the vehicle stability adaptive control method under the low-attached road surface multi-source interference, the problems of insufficient modeling precision, weak interference suppression, target conflict and redundancy deficiency in low-attached road surface vehicle stability control are solved, and the trajectory tracking precision and the yaw stability are remarkably improved.

The invention discloses a cable underwater robot trajectory tracking control method for coping with ocean current disturbance, and belongs to the technical field of underwater robot trajectory tracking, and the method comprises the following steps: S1, constructing a kinematics and dynamics model of a cable underwater robot, and simplifying the kinematics model of the cable underwater robot; s2, combining speed information of a Doppler velocimeter sensor, designing a super-spiral expansion state observer, and compensating a cable underwater robot system; designing a self-adaptive super-spiral expansion state observer by combining a self-adaptive law; and S3, designing a self-adaptive super-spiral integral terminal sliding mode controller based on the self-adaptive super-spiral expansion state observer. The real-time dynamic performance and stability of the underwater robot in sliding mode control are improved, the buffeting problem existing in sliding mode control is solved, it is ensured that under the condition of ocean current disturbance, the ROV can still achieve accurate trajectory tracking, and the robustness is very high.

The invention discloses a grid-connected inverter control method based on second-order linear active disturbance rejection, and particularly relates to the field of grid-connected inverter control. Voltage and frequency error signals between the output side of the inverter and the power grid are obtained, a pre-synchronization control model is constructed, and voltage amplitude and frequency synchronization is achieved; a second-order linear active-disturbance-rejection controller is introduced in the frequency synchronization control process, an extended state observer is adopted to estimate the output frequency, the frequency change rate and a disturbance term, and a state error feedback control law is combined to generate a frequency regulation control quantity, so that accurate frequency control is realized; after grid connection, a dual-channel LADRC power regulation controller is constructed, and decoupling tracking control is carried out on active power and reactive power; meanwhile, on the basis of fast Fourier transform processing as a stable grid-connected state criterion, the method has the advantages of being high in control precision, high in anti-interference capability, good in current waveform quality, high in adaptability and the like, and is suitable for various grid-connected application scenes.

The invention belongs to the technical field of robot control, and particularly relates to a self-adaptive whole-body control method suitable for a quadruped robot in an uncertain dynamic environment, and the method integrates an extended state observer (ESO), a model prediction controller (MPC) and a whole-body controller (WBC) based on hierarchical optimization. And a closed-loop control architecture is constructed to improve the robustness and motion coordination ability of the quadruped robot in a complex environment. Firstly, external disturbance is estimated and compensated in real time through ESO; then, the MPC optimizes future system behaviors in a rolling manner under the condition of considering interference terms, and an expected foot end counter-acting force is output; and finally, the WBC is combined with the priorities of the multiple tasks to generate all joint control instructions in a constraint optimization form, and task collaboration and dynamic adaptation are achieved. The method has the advantages of being high in disturbance self-adaptive capacity, high in control precision, suitable for a multi-task environment and the like, and is particularly suitable for quadruped robot control tasks in complex dynamic scenes such as transportation and search and rescue.

The invention belongs to the technical field of unmanned aerial vehicles and flight control thereof, and discloses a variable-pitch multi-rotor unmanned aerial vehicle and a flight attitude control method thereof. Wherein the variable-pitch multi-rotor unmanned aerial vehicle is provided with an active-disturbance-rejection attitude control system, the active-disturbance-rejection attitude control system is provided with a rolling control loop, a pitching control loop and a yawing control loop, and each control loop comprises an extended state observer, a differential tracker and a nonlinear state error feedback. And when the control parameters are optimized, the control parameters are optimized by using an improved cumberfish optimization algorithm, and a dynamic updating strategy of the improved cumberfish optimization algorithm adopts a cumberfish position updating rule based on a variable spiral sine-cosine strategy. According to the technical scheme, the technical problem that control parameters of the unmanned aerial vehicle are difficult to adjust due to factors such as model uncertainty, external interference and nonlinear coupling characteristics caused by variable-pitch rotors in a complex dynamic environment is solved, and the flight performance of the unmanned aerial vehicle can be improved.

The invention discloses a three-degree-of-freedom pectoral fin cooperative motion control and gait optimization method, which comprises the following steps of: firstly, establishing a motion gait model of a three-degree-of-freedom rigid pectoral fin, and acquiring hydrodynamic feedback and attitude information of the pectoral fin under different input parameter combinations in real time by utilizing a multi-mode sensing system so as to construct a pectoral fin-environment interaction model; secondly, training a high-level strategy network by adopting a deep reinforcement learning algorithm, and optimizing a control signal cbase (t) by taking propulsive efficiency and attitude stability as reward functions; then, constructing a multi-layer hierarchical neural control network to decode cbase (t), outputting an incremental control signal delta c (t), and introducing a central mode generator network to generate a reference trajectory # imgabs0 # of each degree of freedom; finally, dynamic compensation of external disturbance and modeling errors is achieved based on a sliding mode control method of an extended state observer, delta c (t) is adjusted online through a performance evaluation index function J (t) to correct control parameters, pectoral fin motion is kept in the optimal propulsion and stable state all the time, closed-loop optimization is achieved, and the propulsion efficiency and attitude control capacity of the robotic fish are improved.

The invention relates to the technical field of servo control, in particular to a high-precision current closed-loop control system and method for a servo driver, and the method comprises the steps: collecting three-phase current, rotor position, winding temperature and bus voltage, and constructing a state data set; constructing a parameter identification model fusing physical prior and an attention mechanism, deducing inductance and flux linkage parameters influenced by temperature, saturation and cross coupling, and correcting a motor model in real time; the correction parameters are injected into an FOC decoupling and feedforward link, and a self-adaptive PI regulator is linked to set the gain of a current loop on line; calculating a d-q axis voltage command according to the update model to respectively control excitation and torque components; an extended state observer is introduced to estimate load abrupt change and parameter disturbance, feed-forward compensation is carried out, and three-phase PWM is generated through anti-Parker and SVPWM; and an inverter nonlinear compensation model of a dead zone and switch delay is constructed, PWM is pre-distorted and output to a power device, and robust and low-ripple current closed-loop control of the servo motor is realized.

The invention relates to the technical field of flight control, in particular to a hybrid control FPV unmanned aerial vehicle flight control system and method. The method comprises the following steps: acquiring triaxial angular velocity data of the unmanned aerial vehicle in real time by using an inertial navigation system, eliminating high-frequency noise and performing zero offset calibration; constructing a corresponding linear extended state observer to adjust a gain parameter in real time based on an absolute value of an observation error, and filtering tiny noise disturbance through a dead zone function to realize high-precision estimation of the system state and total disturbance of the unmanned aerial vehicle so as to obtain an error and an error change rate; and designing a self-adaptive PID control law to dynamically adjust PID control quantities corresponding to proportion, integral and differential gains, carrying out dynamic weighted stacking according to a flight mode, generating a three-axis control quantity, carrying out flight control on the FPV unmanned aerial vehicle, and meanwhile, realizing real-time visual verification of a control effect corresponding to the flight control. According to the invention, high-precision and high-robustness attitude control can be realized.

The invention discloses an intelligent vehicle cluster safe formation control method based on an observer, an intelligent vehicle cluster comprises a leader vehicle and follower vehicles, and a third-order longitudinal dynamics mathematical model is constructed for each follower vehicle and each leader vehicle. A sampling-based distributed observer is constructed based on a communication relationship among vehicles and a third-order longitudinal dynamics mathematical model, and an extended state observer is constructed based on state information of a follower vehicle and introduction of unmodeled disturbance; an intelligent vehicle cluster safe formation control strategy is constructed based on a distributed observer and an extended state observer, and a DoS attack model is constructed. According to the technical scheme, precise estimation of the state information of the leader vehicle by the follower vehicles and real-time precise estimation of each state component and unmodeled disturbance of each follower vehicle are achieved, it is guaranteed that each vehicle in the vehicle formation runs at a safe interval and at a constant vehicle speed, and the robustness of a vehicle system in a complex environment is improved.

The invention discloses an unmanned helicopter control method based on a fuzzy neural network extended state observer, and belongs to the technical field of transverse unmanned helicopter flight control, and the structure of a transverse unmanned helicopter flight controller comprises an FNNESO-RBSC controller, a control strategy and a transverse unmanned helicopter flight dynamics model; the FNNESO-RBSC controller calculates transverse, longitudinal, course and vertical channel control quantities according to system input and output information, the control quantities are distributed to all control surfaces of the transverse unmanned helicopter through a control strategy and act on a controlled object of the transverse unmanned helicopter, object state response of the transverse unmanned helicopter is changed under the action of aerodynamic force, and the control surfaces of the transverse unmanned helicopter are controlled. And the target flight state is controlled. According to the method, the fuzzy neural network is adopted to transform the extended state observer, and the adaptability of the extended state observer is improved, so that the unknown total disturbance needing to be compensated in the backstepping control law is more effectively obtained.

The invention provides a multivariable decoupling control method and system for an air inlet system of a high-altitude simulation cabin, and the method comprises the steps: firstly building a precombustion chamber cavity thermodynamic differential equation, and building a state equation in combination with a regulating valve first-order inertia model and an engine model; constructing a decoupling matrix by using a differential flatness theory, and converting a pressure and temperature coupling system into an independent control channel; monitoring a system state in real time by using an extended state observer, uniformly estimating internal and external disturbances as total disturbances, and generating a compensation signal; the model prediction controller performs rolling optimization on future time domain control quantity according to deviation between a set value and an actual value, generates an initial instruction in combination with the compensation signal, and converts the initial instruction into an independent valve control signal through a decoupling matrix; the high / low-temperature airflow mass flow is controlled through the opening degree of the adjusting valve, the engine model outputs actual parameters to form closed-loop feedback, and the controller updates the control quantity in each cycle. The multi-variable strong coupling, the dynamic disturbance and the model uncertainty are effectively overcome, the control precision and the parameter robustness are both achieved, and the complex working condition requirements are met.

The invention relates to the technical field of mobile robot control, and discloses a wheeled robot trajectory tracking anti-interference control system, which comprises a nonlinear dynamics modeling module used for establishing a nonlinear dynamics model of a wheeled robot so as to describe the motion characteristics of the robot under the influence of ground friction force, sliding force and modeling errors; the disturbance estimation module is used for estimating external disturbance and system modeling errors in real time through an extended state observer and providing disturbance compensation data for the controller; and the sliding mode control module is used for realizing rapid convergence of track deviation by constructing a sliding mode surface and enhancing the anti-interference capability of the system by dynamically adjusting the sliding mode gain. According to the invention, through nonlinear dynamic modeling, disturbance estimation, sliding mode control and model prediction control fusion and real-time trajectory optimization, high-precision trajectory tracking is realized, and the anti-interference capability and the dynamic environment adaptability are enhanced.

The invention discloses position-free control based on a set time sliding mode observer and a time-varying parameter expansion state observer, and belongs to the technical field of permanent magnet synchronous motor sensorless control. The invention provides a composite control method combining a set time sliding-mode observer and a time-varying parameter extended state observer, and aims to solve the problems that the convergence time of a traditional sliding-mode observer depends on an initial state, buffeting is serious, disturbance is sensitive and the like. The method specifically comprises the following steps: designing a sliding-mode observer with a set time convergence characteristic, and ensuring that an observation error is converged in a preset time and is irrelevant to an initial value by dynamically adjusting a sliding-mode surface index item; high-frequency buffeting is suppressed by combining an integral filtering effect; a time-varying parameter expansion state observer is further designed by utilizing the saturation characteristic of a bitangent function and the characteristics of small error, large gain, large error and small gain of a fal function, the initial differential peak value is effectively inhibited, and the total disturbance of the system is compensated in real time. And the advantages of controllable convergence time, small buffeting and high interference resistance are verified through simulation. The anti-interference capability and the dynamic response speed of the system are remarkably improved, and the method is suitable for permanent magnet synchronous motor sensorless control under medium and high speed working conditions.

Provided are a method and system for auxiliary emergency braking after a braking failure, and an electronic device, a computer-readable storage medium, a computer program product and a computer program. The method comprises: obtaining a braking system failure factor parameter numerical value on the basis of a braking system health state observer or a fault diagnosis module of a current vehicle; constructing a braking risk decision function on the basis of a braking system failure factor and related data of the current vehicle to calculate a current braking risk value, and obtaining a desired lateral displacement of the current vehicle on the basis of the current braking risk value and steering system data; constructing an integral heuristic barrier Lyapunov function on the basis of the desired lateral displacement of the vehicle and vehicle state information after decision making, and obtaining a desired vehicle traveling yaw angle on the basis of a calculation result of the function; and converting the desired vehicle traveling yaw angle into an input front wheel steering angle value of the current vehicle, and converting the input front wheel steering angle value of the current vehicle into steering-assist electric motor output data, so that a steering system intervenes in and controls safe braking after a braking process fails.

The invention relates to a multi-robot system global flexible preset performance control method under an unknown state and a DoS attack, and belongs to the technical field of multi-robot system control. Aiming at the problems in the prior art that the communication topology is unstable due to attack, the initial error constraint is strict, and the input saturation conflicts with the performance, the following scheme is provided: dynamically reconstructing the attacked communication topology based on a bipartite consensus layering algorithm; designing a global error constraint mechanism fusing the scale function and the tunnel type performance function; constructing a balance control input and performance boundary of the input saturation self-adaptive auxiliary system; and estimating an unknown state and compensating an observation error by adopting a state observer. The method has the technical effects that the DoS attack resistance of the system is enhanced, the global preset performance control of any initial error is realized, the contradiction between input saturation and tracking performance is dynamically coordinated, and the multi-robot collaborative operation under the unbalanced topology is supported.

The invention discloses an EHA drive control system three-closed-loop control system and a dynamic hysteresis compensation method. The technical problems that an existing electro-hydrostatic actuator is large in hydraulic hysteresis error, poor in dynamic response and insufficient in environmental adaptability are solved. The method comprises a three-stage control structure of a position control loop, a speed control loop and a current control loop, the position control loop introduces load disturbance feed-forward compensation based on a state observer, the speed control loop adopts an adaptive sliding mode control strategy, the current control loop executes a decoupling vector control algorithm, and the load disturbance feed-forward compensation is realized. And a dynamic hysteresis compensation model based on historical input and disturbance estimation is established in the controller. According to the system, the servo motor, the gear pump, the hydraulic cylinder and the sensor module are integrated into an integrated drive control structure, and the effects of improving the control precision, reducing the response time delay and correcting the hydraulic hysteresis error are achieved.

The invention discloses a ship anti-spoofing attack control method based on a self-feedback expansion state observer. The ship anti-spoofing attack control method comprises the steps that a guidance virtual ship and a dynamic virtual ship are set to construct an L2-DVS guidance strategy; constructing a spoofing attack additional signal model of the unmanned ship, and obtaining a ship position signal under the spoofing attack according to the kinematic model of the target unmanned ship; acquiring a longitudinal velocity virtual control law of the target unmanned ship and a spoofing attack compensation law of a yaw angle according to the constructed error model so as to obtain a yaw velocity virtual control law / adaptive law; and constructing a state memory type event triggering mechanism, obtaining a controller / adaptive law of a rudder angle / rotating speed of the target unmanned ship in combination with a self-feedback compensation reduced order expansion state observer, and realizing anti-spoofing attack control of the target unmanned ship according to the yaw velocity virtual control law / adaptive law and the controller / adaptive law of the rudder angle / rotating speed. The problems that the research of the application in the current network attack environment is not complete enough, the unmanned ship is disturbed all the time in the marine environment, the actuator continuously responds to the disturbance, and the excessive wear of the steering engine is greatly increased are solved.

The invention discloses a multi-unmanned-aerial-vehicle cooperative hoisting method and system, and the method comprises the steps: firstly, enabling each unmanned aerial vehicle to operate an extended state observer, regarding internal and external disturbances (such as airflow, unknown load parameters, internal coupling force and the like) as a lumped disturbance, and carrying out the real-time estimation; and then, through a communication network operation consensus algorithm between the unmanned aerial vehicles, fusing the local disturbance estimation values of the unmanned aerial vehicles into a global consistent system-level disturbance estimation. And finally, each unmanned aerial vehicle actively counteracts the influence of disturbance by using the accurate disturbance estimation value in a feedforward compensation controller, and accurately tracks the respective target trajectory in combination with feedback control. According to the method, active observation of disturbance, distributed fusion and feed-forward compensation are combined, dependence on an accurate system dynamic model is eliminated, and trajectory tracking accuracy, stability and stability of the system in a complex environment are remarkably improved.

The invention discloses an unmanned surface vehicle high anti-interference course control method considering flow velocity compensation, and belongs to the field of unmanned surface vehicle motion control. According to the method, the internal structure of the extended state observer is improved, so that the phenomenon that the navigational speed and course control is unstable due to the fact that a traditional extended state observer cannot accurately observe disturbance in an inland river is solved. In the control method, a speed improvement expansion state observer and a course improvement expansion state observer are respectively arranged according to different orders of a speed and course control system, and a controller adopts an S-plane control method, so that the unmanned surface vehicle can realize high interference resistance during course and speed control of the unmanned surface vehicle; the whole control loop does not depend on an accurate mathematical model of the unmanned ship. The method provided by the invention is suitable for high-disturbance-rejection navigational speed and course control of the unmanned surface vehicle in typical navigation states such as downstream, countercurrent and crossflow in an inland waterway.

The invention belongs to the technical field of temperature control, and discloses a temperature control method and device of a hot runner system for an inverted mold. The method comprises the following steps: defining a critical melt area in a physical sprue which directly influences the product quality in a sprue of a hot runner system as a virtual sprue; dynamically generating a melt viscosity target track of the virtual gate region according to the type of an injection molding material and an injection molding process stage; based on measurable injection molding process parameters and sprue area temperature, estimating a current melt viscosity value of a virtual sprue area in real time through a state observer; calculating to obtain an optimal power control sequence by adopting a multivariable model prediction controller; and driving a sprue area heater according to the optimal power control sequence, so that the actual change of the melt viscosity of the virtual sprue area tracks a melt viscosity target track. According to the invention, the defects such as salivation and wire drawing can be effectively eliminated, so that the sprue quality stability and the production efficiency are improved.

The invention provides a dual-motor synchronous coordination control method of an electric helicopter, which comprises the following steps: taking a first controller as a main control motor driving system, and establishing a rotor rotating speed reference by adopting a rotating speed loop control strategy; and the second controller serves as a slave control motor driving system, a torque loop control strategy is adopted, and load disturbance is estimated and compensated in real time through the extended state observer. According to the dual-redundancy motor driving system, mechanical coupling interference is effectively inhibited, the fault tolerance of the system is enhanced, a feasible technical scheme is provided for safe flight of the electric helicopter, and the dual-redundancy motor driving system has important application value.

The invention discloses an automobile EMB system clamping force accurate control method based on an extended state observer, and belongs to the technical field of electric automobile EMB systems, and the method comprises the following steps: S1, building a novel EMB system five-degree-of-freedom dynamic model containing a LuGre friction model by using an EMB system dynamic relationship; s2, simplifying the five-degree-of-freedom dynamic model of the novel EMB system, estimating the load torque of an EMB driving motor according to the extended state observer, and then estimating the clamping force of the EMB system according to the load torque and the simplified five-degree-of-freedom dynamic model of the novel EMB system; and S3, replacing the measured value to be a feedback value of clamping force closed-loop control of the EMB system according to the estimated EMB clamping force, and accurately controlling the clamping force by adopting fuzzy PID control. By the adoption of the automobile EMB system clamping force accurate control method based on the expansion state observer, the problems that a pressure sensor is high in cost and automobile braking performance is prone to being reduced are solved, and clamping force response is accurately controlled through a fuzzy PID closed loop.