72 results about "Variable structure control" patented technology

The invention discloses a system and a method for multi-parameter cooperative control in PVC steel wire hose production, and relates to the technical field of plastic hose production, the system comprises a parameter monitoring module, a central processing module, a parameter adjusting module and a quality detection module, the parameter monitoring module is a high-precision intelligent sensor and has a self-adaptive filtering function, and key parameters are measured and transmitted to the central processing module; the central processing module uses an improved multi-objective optimization algorithm to calculate an optimal cooperation value, a simulated annealing-genetic hybrid algorithm is used for iteration, the parameter adjustment module uses intelligent PID, adaptive variable structure control and model prediction control adjustment equipment, and the quality detection module uses multi-modal fusion deep learning and high-precision physical performance detection equipment. And if not, recalculating the adjustment parameters. The production quality and efficiency of the PVC steel wire hose are improved, the cost is reduced, parameters are precisely and cooperatively controlled, the hose is stable in physical performance and few in surface defect, the raw material and equipment maintenance and energy consumption cost is reduced, and the enterprise revenue and market competitiveness are improved.

The invention provides a touch feedback control method and device for a rotary knob, electronic equipment and a medium, and belongs to the technical field of switch control. The method comprises the following steps: converting a current Ia, a current Ib and a current Ic in a three-phase static coordinate system into a current Ialpha and a current Ibeta of a two-phase static coordinate system; the current I alpha and the current I beta of the two-phase static coordinate system are converted into current Id and current Iq under a two-phase rotating coordinate system with rotor flux linkage as orientation; the convergence speed of the driving motor in the dynamic response process is controlled and optimized by adopting a sliding mode variable structure; performing real-time setting through a zebra optimization algorithm to minimize overshoot and optimize convergence time; and the magnitude of the rotation feedback damping force is controlled by adjusting the current Iq. In this way, active rotating tactile feedback and pressing tactile feedback can be provided, and the intelligent interaction degree is improved.

The invention discloses a carbon emission quota real-time regulation and control method and system based on dynamic marginal cost, and relates to the technical field of carbon emission quota real-time regulation and control, and the method comprises the following steps: collecting real-time disturbance data of a construction site, recognizing a current disturbance state, and mapping the disturbance state to a predefined state interval; calling a corresponding interval model in a pre-constructed carbon emission variable structure disturbance response model based on the mapped state interval; wherein the variable structure disturbance response model is composed of a plurality of interval models associated with different state intervals, and each interval model comprises an interval variable structure control law and an interval disturbance response function; fitting the interval model, calculating real-time disturbance marginal elasticity, and constructing a marginal carbon emission cost function according to the real-time disturbance marginal elasticity; and real-time regulation and control of the carbon emission quota are carried out through the interval model and the marginal carbon emission cost function. The problem of marginal carbon emission cost function distortion is solved.

The invention provides a hydraulic cooler heat dissipation power optimization method and system based on air flow, and relates to the technical field of hydraulic system heat dissipation, and the method comprises the steps: obtaining real-time operation parameters, and calculating the actual heat dissipation power; obtaining a target fan rotating speed of the maximum predicted heat dissipation power based on an improved particle swarm algorithm, and when a prediction error is greater than a threshold value, optimizing the model by adopting a deep reinforcement learning algorithm; and a fan rotating speed closed-loop control system is established based on sliding mode variable structure control, and the switching function gain coefficient is adaptively adjusted according to the environment temperature change rate, so that the fan rotating speed is dynamically adjusted. The cooling efficiency of the hydraulic cooler is improved, and the service life of equipment is prolonged.

The invention discloses a composite wing unmanned aerial vehicle transition process control method based on a fractional order sliding mode, and particularly relates to the field of composite wing unmanned aerial vehicle flight control. A Newton-Euler equation is adopted to carry out integrated modeling on a composite wing unmanned aerial vehicle transition process, and a longitudinal nonlinear mathematical model is deduced; designing a novel fractional order reaching law by combining a double-power reaching law and a fractional order calculus thought on the basis of a traditional exponential power reaching law, and constructing a pitch angle, air speed and four-rotor height fractional order sliding mode controller; and force and torque of the four-rotor system and the fixed-wing system are distributed by adopting an airspeed weight control distribution strategy, so that output of an actuator is solved. The sliding mode variable structure control is applied to the transition control of the composite wing unmanned aerial vehicle, and the proposed fractional order sliding mode control method improves the dynamic quality of the system, reduces the control steady state error, improves the robustness of the flight control system of the composite wing unmanned aerial vehicle, and realizes the stable control of the transition process.

The invention provides a hydraulic closed-loop tilling depth control system based on multi-sensor fusion in order to solve the problems that traditional tilling depth control is low in precision, poor in stability and the like. The system collects data through an inclination angle sensor, a displacement sensor, a posture sensor and the like, and after fusion processing, a hydraulic cylinder drives a parallel four-bar mechanism to adjust the tilling depth of the subsoiler. The system has three innovations: firstly, a dynamic model is constructed by using multi-source sensor cooperation and sliding mode variable structure control, the anti-interference capability is improved by combining a control strategy, and accurate tilling depth control is dynamically realized according to soil conditions; 2, a parallel four-bar mechanism is mechanically designed to be combined with hydraulic drive, terrain interference is eliminated by utilizing mechanism characteristics, and the control precision and unbalance loading resistance are enhanced; and thirdly, a bidirectional hydraulic lock and a manual-electric dual-mode oil way are adopted for hydraulic pressure, so that reliable tilling depth control and continuous operation are guaranteed. The three innovations are fused, and a high-precision, strong-stability and ultra-reliable tilling depth control solution is provided for saline-alkali soil agriculture.

The invention provides an aviation permanent magnet synchronous motor control architecture based on master-slave redundancy and model prediction, belongs to the field of aviation electric propulsion control systems, and aims to solve the problems of extreme environment parameter drift, single-fault shutdown, multi-target control conflict, fault diagnosis lag and the like of an existing system. The control architecture comprises a master-slave dual-redundancy control unit, a wide-temperature-range adaptive model prediction control unit, an electromagnetic interference adaptive suppression unit and a multi-dimensional fault tolerance unit. According to the invention, a DSP + FPGA heterogeneous redundant architecture is matched with two-out-of-three voting logic, so that fault non-perception switching is realized; an extended Kalman filter observer is embedded to update motor parameters on line, and take-off / cruise / landing three modes are preset; interference at the frequency band of 100kHz-10MHz is controlled and suppressed through adaptive notch filtering and a sliding mode variable structure; a long short-term memory network is fused to realize accurate diagnosis of early faults, and the system is adaptive to aviation scenes such as electric general aviation aircrafts and unmanned aerial vehicles.

The invention discloses a light-storage-hydrogen direct current micro-grid coordination control method based on maximum efficiency point tracking, and belongs to the field of photovoltaic hydrogen production system optimization control. The method comprises the following steps: 1, establishing a photovoltaic system power generation model, a storage battery voltage stabilization model and an AWE actual operation model; 2, based on the AWE efficiency characteristic curve, adopting a particle swarm optimization algorithm to track voltage and current values corresponding to the maximum efficiency point of the AWE at different temperatures; 3, designing a photovoltaic system control strategy, a storage battery control strategy and an AWE control strategy based on sliding mode variable structure control; and 4, designing a plurality of coordination control strategy scenes in combination with voltage and current values corresponding to the maximum efficiency point of the AWE at different temperatures, so that the light-storage-hydrogen direct current micro-grid operates under various working conditions. The high electric energy utilization rate of direct coupling and the hydrogen production continuity of indirect coupling are combined, the energy conversion efficiency of the system is improved, and the current ripple is improved.

The invention relates to the technical field of power electronics, in particular to a PCS multi-mode control method and system for an energy storage system, and the method comprises the steps: periodically collecting the operation parameters of a power grid, and judging whether the operation parameters of the power grid meet preset conditions or not; if yes, executing a grid-connected operation mode; otherwise, executing an off-grid operation mode; in the grid-connected operation mode, the output power of the power grid is controlled based on a self-adaptive sliding mode variable structure control model; and in the off-grid operation mode, the power grid output voltage and the power grid output frequency are controlled, so that the power grid output is maintained at the target voltage and the target frequency. According to the method, the grid-connected operation mode and the off-grid operation mode are intelligently switched by periodically collecting the operation parameters of the power grid and comparing the operation parameters with the preset conditions in real time, and it is ensured that the energy storage system quickly responds and maintains stable power supply when the power grid is abnormal.

The invention provides a method suitable for an environmental bin heating test, and belongs to the technical field of environmental bin heating test, the method comprises the steps: determining a temperature measurement position through a graph theory topology optimization sensor arrangement algorithm, constructing a temperature field graph, configuring a Beckfu controller to collect temperature data at high frequency, and carrying out sliding window statistical test processing; a high-power main heater and a low-power auxiliary heater are installed at the top and the bottom of the environment bin respectively to form a closed-loop circulation system, temperature control partitions are divided according to the temperature deviation value, and a fuzzy sliding mode variable structure control algorithm is adopted to calculate partition heater control instructions. A control instruction is input into the thermal field dynamic balance optimization model for global collaborative optimization, an optimal power distribution scheme is output, a variable-power staged heating strategy is executed to achieve rapid temperature rise and fine temperature adjustment, and the technical problem that the test precision is reduced due to uneven temperature field distribution in the environment bin heating test process is solved.

The invention relates to the technical field of steering engine automatic control, in particular to a steering engine control method, device and equipment based on a neural network and a disturbance observer, and the method comprises the following steps: obtaining model parameters of a digital steering engine model; establishing a steering engine control model based on a sliding mode variable structure control theory and a steering engine kinetic equation; performing disturbance compensation on the equivalent friction torque of the motor output end to obtain an equivalent friction torque estimated value of the motor output end; inputting the tracking error of the steering engine deflection angle and the derivative thereof into the trained neural network to obtain a model parameter and a disturbance comprehensive correction value; and according to the equivalent friction torque estimation value of the output end of the motor, the model parameters, the disturbance comprehensive correction value and the steering engine control model, determining the controlled input of the steering engine. The technical problems that in the prior art, the coupling relation of an aircraft digital steering engine system is high in nonlinearity, external disturbance is unknown, the required system response speed is high, and a traditional PID controller and a traditional intelligent algorithm are difficult to meet the requirements are solved.

The invention provides a multifunctional shelter power supply method and system suitable for field operation. Wherein an operation condition report is generated by deploying an environment sensor, collecting external environment parameters and combining real-time power consumption data in the shelter; based on the operation state report, a differential evolution algorithm is adopted, multi-objective optimization analysis is carried out, a life cycle cost analysis technology is introduced, the resource utilization rate is maximized, and an optimal energy combination is generated; dynamically adjusting working parameters by adopting a sliding mode variable structure control algorithm based on the optimal energy combination, and generating an energy conversion distribution log through a power demand side management technology; and based on the energy conversion distribution log, continuously monitoring an operation state, carrying out normalized fault diagnosis, recording operation data, and generating an optimized power supply scheme. According to the technical scheme, the energy utilization efficiency and the system stability can be improved, and long-term reliable operation of the power supply system is ensured.

The invention discloses a micro-grid distributed economic model prediction control method and a related device, and belongs to the technical field of micro-grid system control. The method comprises the following steps: firstly, establishing a wind power generation subsystem mathematical model, a photovoltaic power generation subsystem mathematical model and a storage battery energy storage subsystem mathematical model according to dynamic characteristics of a wind power generation subsystem, a photovoltaic power generation subsystem and a storage battery energy storage subsystem; based on a sliding mode control theory, a bottom layer sliding mode variable structure controller is designed for each wind and light subsystem under all working conditions; establishing an economic objective function of the micro-grid, and designing a distributed economic model prediction controller in a supervision layer according to the economic objective function; switching of the first sliding mode variable structure controller and the second sliding mode variable structure controller is controlled through the distributed economic model prediction controller, and the optimal operation power of the wind power generation subsystem, the optimal operation power of the photovoltaic power generation subsystem and the optimal operation power of the storage battery energy storage subsystem are output respectively.

A missile rolling attitude control method with integrator dynamic limiting, belonging to the field of flight control technology. The present invention includes: a guidance command calculation unit calculates the rolling command of the missile and sends it to the rolling attitude controller, and a sensitive element unit measures the rolling angular velocity of the missile and sends it to the rolling attitude controller; the rolling attitude controller calculates the upper and lower bounds of the integrator output value according to the maximum available rudder deflection; limits the integrator output according to the upper and lower bounds; calculates the variable structure controller output according to the information after the limiting process; calculates the rolling rudder command according to the variable structure controller output and the rolling angular velocity; the rolling rudder command is sent to the rudder system to control the movement of the missile. The present invention solves the problem that when the missile rolls at a large angular velocity, due to the too large integrator output value, the rolling rudder deflection is in the limited state for a long time, and the rudder deflection needs a long time to get out of the saturation area, resulting in a large amplitude oscillation of the missile rolling angular velocity and unstable attitude.

The invention relates to the technical field of overhead working equipment control, and discloses a motion control method of an overhead working truck. According to the method, horizontal and vertical position and attitude signals of a hanging frame are collected in real time through a multi-sensor module mounted on the hanging frame. And carrying out real-time fusion on the multi-sensor signals by adopting a self-adaptive data fusion algorithm to obtain comprehensive pose information of the lifting frame. And horizontal and vertical driving signals are respectively generated through fuzzy proportional-integral-differential control and a sliding mode variable structure control algorithm, so that accurate motion control is realized. A motion coupling compensator is introduced, a driving signal is dynamically corrected to suppress mutual interference between horizontal movement and vertical movement, and the positioning precision and stability are improved.

The invention discloses a temperature reduction water spray valve control system for a waste heat power generation control system. The temperature reduction water spray valve control system comprises an SMC control module, a saturation amplitude limiting module, a rate limiting module and a compensator module. According to the system, on the basis that an SMC control module outputs sliding mode variable structure control with limited feedforward compensation, a rapid self-adaptive sliding mode variable structure scheme based on differential evolution is introduced, and rapid optimization is achieved through contraction of a feasible solution space to an optimal value by using an evolution module with limited population scale and iteration times so as to meet control requirements; the advantages that the sliding mode variable structure is high in control response speed and good in robustness are exerted, depth control is simulated, an indifference optimization control strategy is provided, and the calculated amount is reduced through the longitudinal depth, so that the control real-time performance is guaranteed, and rapid control over the temperature reduction water spray valve of the waste heat power generation control system under the set precision is achieved.

A servo loop angular velocity follow-up type partition discrete variable structure control method, comprising: obtaining the angular velocity of a table body on X p axis, Y p axis and Z p axis according to the angular velocity output by a gyroscope installed on the table body and acquiring the angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system; performing partition variable structure control based on the size of the angular velocity component of an actuator according to the angular velocity component and the angle of internal relative rotation, and respectively calculating the resultant rotation angular velocity ω p of the table body on Z z axis, the resultant rotation angular velocity ω p1 of an inner frame on Y y axis, the resultant rotation angular velocity ω p2 of a middle frame on X x axis and the resultant rotation angular velocity ω p3 of an outer frame on Y yk′ axis. The present application can avoid the occurrence of singular values in the servo loop decoupling process, ensure the stabilization of the platform table body relative to the inertial space, and has the advantages of full attitude, high precision, and relatively smooth interval switching.

The application discloses a T-type energy storage converter off-grid control method based on improved sliding mode self-disturbance rejection, first obtains a mathematical model in a two-phase rotating coordinate system from a main topological structure of a T-type three-level energy storage converter, and designs a current PI inner ring and a droop outer ring. Then, a mathematical model corresponding to a voltage ring is converted into a first-order self-disturbance rejection paradigm, a linear extended observer with a disturbance differential term as a new state quantity is designed, and is adaptively weighted and connected in parallel with a traditional observer, so that noise at a steady state is reduced, and anti-disturbance capability at a transient state is reserved. Then, a state error feedback control law is designed by using an adaptive improved super-spiral sliding mode control law, so that anti-disturbance capability of the self-disturbance rejection controller is further improved, and inherent chattering is weakened. Finally, the power voltage current three-ring control is output to an SVPWM to control the T-type energy storage converter. Simulation results show that, compared with a traditional method, the method has better dynamic response performance and anti-disturbance performance.

A compliant continuous variable structure control method under the condition of a servo loop frame limiting condition, comprising: obtaining the angular velocity of a table body on an X p axis, Y p axis and Z p axis according to the angular velocity output by a gyroscope mounted on the table body and obtaining the angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system; calculating the resultant rotation angular velocity ω p of the table body on the Z z axis, the resultant rotation angular velocity ω p1 of an inner frame on the Y y axis, the resultant rotation angular velocity ω p2 of a middle frame on the X x axis and the resultant rotation angular velocity ω p3 of an outer frame on the Y yk′ axis according to the angular velocity component and the angle of internal relative rotation; the present application can ensure that the platform table body is stabilized relative to the inertial space and has the advantages of full attitude and high precision.

The invention belongs to the technical field of homogenizer control, and particularly relates to an operation parameter control method of a non-intrusive material homogenizer, which comprises the following steps: acquiring a load current of a main driving motor and a revolution phase of a revolution arm in real time; acquiring an interpolation current value when a system track passes through a preset Poincare section by monitoring a revolution phase and utilizing a linear interpolation method; performing normalization processing on the interpolation current value and constructing a Poincare feature point; calculating manifold dispersion based on the Poincare feature points in the sliding window; and adaptively calculating the target revolution speed of the next period by using an exponential function according to the manifold dispersion, and performing variable structure control on the homogenizer. According to the method, the intrinsic rheological characteristics of the material can be effectively stripped from the strong periodic mechanical noise, the problem of phase lag caused by filtering in the prior art is solved, and mixed end point judgment and self-adaptive energy consumption control of the homogenizer are realized.

This invention provides a control architecture for aerospace permanent magnet synchronous motors based on master-slave redundancy and model prediction, belonging to the field of aerospace electric propulsion control systems. It aims to solve problems in existing systems such as extreme environment parameter drift, single-fault shutdown, multi-objective control conflicts, and fault diagnosis lag. The control architecture includes a master-slave dual-redundant control unit, a wide-temperature-range adaptive model prediction control unit, an electromagnetic interference adaptive suppression unit, and a multi-dimensional fault-tolerant unit. This invention employs a DSP+FPGA heterogeneous redundancy architecture combined with a 3-out-of-2 voting logic to achieve seamless fault switching; it embeds an extended Kalman filter observer to update motor parameters online, preset takeoff / cruise / landing three modes; it suppresses interference in the 100kHz~10MHz frequency band through adaptive notch filtering and sliding mode variable structure control; and it integrates a long short-term memory network to achieve accurate early fault diagnosis, adapting to aerospace scenarios such as electric general aviation aircraft and drones.

The invention provides a singular perturbation decomposition and dual-mode compound control method for a multi-connecting-rod flexible mechanical arm, and relates to the technical field of robots. The method comprises the following steps: establishing a dynamic model of the flexible mechanical arm; singular perturbation decomposition is adopted, and the flexible mechanical arm dynamic model is decomposed into a fast-varying subsystem and a slow-varying subsystem; designing a self-adaptive sliding mode variable structure controller for the quick change subsystem; carrying out stability analysis on the adaptive sliding mode variable structure controller; designing a fuzzy controller for the slow-varying subsystem; performing stability analysis on the fuzzy controller; and simulation verification is conducted on the flexible mechanical arm, comparison verification is conducted on multiple control algorithms of the flexible mechanical arm from the three angles of the joint position, the joint output torque and the tail end position error, and the stability of the flexible mechanical arm is verified. According to the method, the dynamic model of the flexible mechanical arm can be decomposed into the fast-varying subsystem and the slow-varying subsystem, and the control precision and stability of the multi-degree-of-freedom flexible mechanical arm are effectively improved.

The invention relates to a missile large static instability control method based on a swing nozzle. The swing nozzle is adopted to control a pitching channel and a yaw channel, and an air rudder is adopted to control a rolling channel; the control method of the rolling channel comprises the steps that a rolling channel control instruction is obtained through a variable structure control method, and the rolling channel control instruction is output to the rudder system after being subjected to amplitude limiting; according to the thrust obtained through online identification, the missile flight process is divided into three stages including a thrust establishing stage, a thrust stabilizing stage and a thrust ending stage; in three stages of a missile flight process, a composite structure method is adopted, a pitching channel control instruction and a yaw channel control instruction are calculated, and the pitching channel control instruction and the yaw channel control instruction are output to a rudder system after being subjected to filtering and amplitude limiting; the control parameters of the thrust establishing section and the thrust stabilizing section are the same; and after entering the thrust ending section, correcting control parameters of the thrust establishing section and the thrust stabilizing section, and eliminating control errors caused by thrust uncertainty of the thrust ending section.

The present application relates to a massage chair motor speed regulation method, device and medium, belong to motor control technology field, including the following steps: obtaining the acceleration data of massage chair motor;Construct three-axis acceleration synthesis model and the acceleration data is as three-axis acceleration synthesis model input, output comprehensive acceleration;Based on the comprehensive acceleration obtains the motor speed of massage chair motor;Calculate the speed deviation of the motor speed and the reference speed, based on the deviation obtains the sliding mode surface;Based on the sliding mode surface adopts PID algorithm to obtain the PWM duty ratio of massage chair motor.The present application combines sliding mode variable structure control and adaptive PID algorithm, can real-time adjust control parameter according to the speed deviation, ensure that the motor speed is stable under various load conditions.

This invention discloses a transient control method for compound-wing unmanned aerial vehicles (UAVs) based on fractional-order sliding mode control, specifically relating to the field of compound-wing UAV flight control. It employs the Newton-Euler equations to perform integrated modeling of the transient process of the compound-wing UAV, deriving a longitudinal nonlinear mathematical model. Based on the traditional exponential power reaching law, a novel fractional-order reaching law is designed by combining a double power reaching law and the concept of fractional-order calculus. A fractional-order sliding mode controller is constructed for pitch angle, airspeed, and quadrotor altitude. An airspeed weighted control allocation strategy is used to distribute the forces and torques between the quadrotor system and the fixed-wing system, thereby solving for the actuator output. This invention applies sliding mode variable structure control to the transient control of compound-wing UAVs. The proposed fractional-order sliding mode control method improves the dynamic quality of the system, reduces steady-state control errors, enhances the robustness of the compound-wing UAV flight control system, and achieves smooth control of the transient process.

The invention discloses a braking force adjusting method based on an electromagnetic valve, which belongs to the field of automobile braking, and comprises the following steps of: S1, comprehensively considering electromagnetic characteristics, hydraulic characteristics and mechanical motion characteristics of the electromagnetic valve, and establishing a multi-physical field coupled dynamic model containing electromagnetic force, valve core motion and hydraulic force, the dynamic relation between the position of the valve element of the electromagnetic valve and the braking force is described; s2, optimal structure parameters of the electromagnetic valve are obtained through a finite element simulation method; s3, based on the optimal structure parameters of the electromagnetic valve and the dynamic model of multi-physics field coupling, a fractional order sliding mode variable structure control algorithm is adopted, and PWM signals are generated; and S4, controlling the current of the electromagnetic coil through the PWM signal. By the adoption of the braking force adjusting method based on the electromagnetic valve, high-precision, quick-response and high-robustness adjustment of the braking force is achieved.

The invention provides a variable structure control method, device and system for an auxiliary power supply inverter of a variable-voltage variable-frequency locomotive. The control device comprises a frequency and voltage amplitude reference value generation module, a coordinate transformation module, a voltage loop controller, a source load instability detection module, a forward channel second gain module, a current feedforward gain module, a controller normalization gain module and a pulse width modulation module. According to the method, the problem of'source-load 'instability can be actively detected, and a multi-mode control solution which is variable in control structure and meets the'source-load' stable operation requirement is provided for multi-mode operation and complex and changeable load conditions of the railway rolling stock. According to the solution, seamless switching among multiple control modes is realized, and small signal stability analysis is combined, so that the stability and the reliability of the system in various operation states are remarkably improved.

The present application relates to a kind of based on image fusion model robustness enhancement method of sliding mode variable structure control, it is related to image fusion technical field, to solve the technical problem of poor robustness of prior art in fusion method, low universal ability, fusion result is easy to distort.The method includes the following steps: obtaining original infrared image and original visible light image from the same scene and having completed image registration;Decomposition;High-frequency subgraph fusion;Low-frequency subgraph fusion;Inverse transformation.The present application based on image fusion model robustness enhancement method of sliding mode variable structure control, uses sliding mode variable structure control as the regulation and control means of fusion rule, because of its insensitivity to system parameter variation and external interference and is introduced into image fusion field, its core advantage includes: strong inhibition ability to system uncertainty and external disturbance, can realize finite time convergence, different control objectives can be realized by sliding mode surface design.

The application discloses a kind of three-rotor layout micro unmanned aerial vehicle high dynamic attack guidance and control method, comprising the following steps: establishing the linear time-invariant system dynamics model of micro unmanned aerial vehicle, setting initial path;Linear time-invariant system dynamics model is updated based on the initial path, and path is obtained;Micro unmanned aerial vehicle parameter uncertainty function and the sliding mode variable structure controller based on learning law are constructed;Nonlinear robust adaptive control is realized based on path, unmanned aerial vehicle parameter uncertainty function and the sliding mode variable structure controller based on learning law.The application can complete high dynamic path planning under the condition of obstacle, target motion parameter and micro unmanned aerial vehicle itself maneuverability constraint, ensure guidance accuracy, ensure that unmanned aerial vehicle realizes stable flight under the interference of external environment and internal system uncertainty factor.

The present invention provides a power control method and apparatus for an underwater thruster motor, comprising: acquiring underwater environmental pressure values ​​and underwater thruster motor stator temperature values ​​to generate a comprehensive compensation coefficient; identifying the influence of hydrodynamic disturbances on motor flux linkage based on the rotational speed signal fed back by the underwater thruster motor rotor position sensor, and dynamically correcting flux linkage commands using a sliding mode variable structure control algorithm to suppress flux linkage distortion; adaptively allocating the current components of the motor stator direct axis and quadrature axis according to the thrust requirements of the vehicle, combined with the comprehensive compensation coefficient and the corrected flux linkage commands, and generating a basic drive signal; performing high-frequency shaping on the basic drive signal to output an adapted voltage pulse sequence, and controlling the motor electromagnetic torque to track the target value corresponding to the thrust requirements in real time. This invention improves the operational stability and control accuracy of the underwater thruster motor.