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30results about How to "Achieve precise tracking control" patented technology
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Three-dimensional elliptical vibration cutting device
ActiveCN102371359AImprove machinabilitySimplify the modeling processMeasurement/indication equipmentsTurning toolsLinear motionEllipse
The invention relates to a three-dimensional elliptical vibration cutting device, belonging to the field of cutting and ultra-precision cutting machining of materials which are difficult to machine. A diamond cutter is guided through flexible hinge mechanisms respectively along an X direction, a Y direction and a Z direction, and further, is driven by three piezoelectric stacks respectively alongthe X direction, the Y direction and the Z direction; the piezoelectric stacks of the X direction and the Z direction are preloaded by preloading screw bolts along respective axial direction; the piezoelectric stack of the Y direction is preloaded through a screw bolt screwing wedge; the preloading processes of the three directions are mutually independent; through regulating and matching the initial phase position and the amplitude of a driving signal for each of the three piezoelectric stacks, the projections of the cutter location point movements of the diamond cutter in an X-Y plane and aY-Z plane are elliptical motions, and the projection of the cutter location point movements of the diamond cutter in an X-Z plane is reciprocating elliptical motion or linear motion. The three-dimensional elliptical vibration cutting device has a novel and simple structure, is easy to implement, and is beneficial to obtaining the best cutting machinability of the diamond cutter.
Owner:HUAWEI TEHCHNOLOGIES CO LTD
Underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment
ActiveCN105929842ASimple calculationImprove controlAttitude controlPosition/course control in three dimensionsBacksteppingUnderwater
The invention provides an underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment, relating to the motion control technology of an underactuated underwater unmanned vehicle. The invention aims to realize the precise tracking control of an underactuated UUV plane trajectory. The method comprises the steps of (1) a UUV obtains position and attitude information according to a current task, (2) position and attitude error variables are obtained by using the mathematical model of an underactuated UUV, (3) a method of defining a virtual speed error variable to calculate a virtual control rule, (4) combined with a biologically inspired model, the dynamic adjustment of a speed error is carried out, and (5) the control signal generated by a speed adjustment controller is deduced, and the underactuated UUV plane trajectory tracking control is realized. According to the method, the dynamic adjustment of the speed of the underactuated UUV can be carried out, a singular value when a first direction angle error is equal to 90 degrees in a traditional backstepping method is avoided, and the tracking of a circular trajectory in an external constant disturbance is realized.
Owner:HARBIN ENG UNIV
Under-actuated AUV (autonomous underwater vehicle) three-dimensional trajectory tracking control method based on biological speed regulation
ActiveCN106444806AAchieve precise tracking controlImprove performanceAttitude controlMathematical modelVirtual control
The invention provides an under-actuated AUV (autonomous underwater vehicle) three-dimensional trajectory tracking control method based on biological speed regulation. The method comprises the following steps: (1) giving expected trajectory position information by an AUV according to the current task, and obtaining current position and attitude information; (2) obtaining position and attitude error variables by use of the mathematical model of an under-actuated UUV (unmanned underwater vehicle); (3) calculating a virtual control law by a method of defining a virtual speed error variable; (4) finishing dynamic regulation of the speed error through a biological inspiration model; and (5) deducing a dynamic speed regulation controller. In the method provided by the invention, the speed error of the under-actuated AUV can be dynamically regulated, the performance of the controller is improved while the singular value of the traditional back-stepping method occurring when the heading angle error is 90 degrees is avoided, and accurate tracking of a time-varying three-dimensional trajectory is realized under external constant disturbance.
Owner:HARBIN ENG UNIV
Flexible manipulator control method based on non-linear active disturbance rejection control technique
ActiveCN105563489AAchieve precise tracking controlImprove control efficiencyProgramme-controlled manipulatorDifferentiatorActive disturbance rejection control
A flexible manipulator control method based on the non-linear active disturbance rejection control technique includes the steps of building a flexible manipulator system module, initializing the system state and controller parameters, designing a high-order tracking differentiator, designing a non-linear extended state observer, determining the observer parameters through a pole assignment mode and adding non-linear feedback. The extended state observer is designed and used for estimating the system state and external disturbance. The observer gain parameter is determined through the pole assignment mode. A non-linear feedback control law is designed, the effect that the system tracking error is rapid and stable and converges to the null point is guaranteed, and finally rapid and stable control over a flexible manipulator system is realized. By means of the flexible manipulator control method based on the non-linear active disturbance rejection control technique, the problem that the internal state of the system and external disturbance can not be observed is solved, the influences of non-linear links and uncertain items existing in the system are made up, the problem of a common PID control method is relieved, and the system can rapidly and stably track expected signals.
Owner:ZHEJIANG UNIV OF TECH
UUV trajectory tracking control method for preventing differential explosion
ActiveCN107024863ASimple calculationAvoid iterative derivationAdaptive controlPosition/course control in three dimensionsMathematical modelPropeller
The invention provides a UUV trajectory tracking control method for preventing the differential explosion based on the differential output characteristics of a biological instructive model. The method comprises the following steps of 1, conducting the initialization; 2, obtaining position and attitude error variables based on an under-actuated UUV mathematical model; 3, calculating a virtual control law, and replacing a virtual expectancy control law with the output value of the biological instructive model; 4, constructing a Lyapunov function, and transferring the ballast of a position error to the ballast of a speed error, avoiding the differential explosion phenomenon through the real-time derivation of replacing a virtual control variable with the output of the biological instructive model, and realizing the ballast of the speed error; and 5, designing a trajectory tracking controller. According to the technical scheme of the invention, the differential explosion phenomenon caused by the repeated derivation of the traditional back-stepping method can be avoided, and the complexity of the controller is simplified. Meanwhile, in combination with the controller of the biological instructive model, the time constraint requirements of the thrust constraints and the under-actuated UUV trajectory tracking of a propeller on position, speed and attitude can be met.
Owner:HARBIN ENG UNIV
Mechanical arm servo system full-order slide mold control method based on extended state observer
ActiveCN105045101AAchieve precise tracking controlEliminate chatterAdaptive controlDynamic modelsState observer
The invention discloses a mechanical arm servo system full-order slide mold control method based on an extended state observer. The method comprises the following steps: establishing a dynamic model of a mechanical arm servo system, and initializing a system state and control parameters; designing the extended state observer; and based on the extended state observer, designing a full-order slide mold controller. The invention provided by the invention can effectively improve the problem of slide mold buffeting of conventional slide mold control in the mechanical arm servo system, improves the robustness of the system to a certain degree and enables the mechanical arm servo system to realize accurate tracking control.
Owner:ZHEJIANG UNIV OF TECH
Air system control method of fuel cell
ActiveCN110970642AAchieve precise tracking controlGuaranteed independent controlFuel cell controlFuel cellsEngineering
The invention provides an air system control method of a fuel cell. The air system control method comprises the steps of obtaining target air pressure and a target air flow according to the operationstate of the fuel cell; sampling the actual air pressure and the actual air flow in a current galvanic pile; calculating a decoupling rotating speed and a deviation opening degree according to the actual air pressure and the target air pressure; calculating the decoupling opening degree and the deviation rotating speed according to the actual air flow and the target air flow; calculating an adjustment rotating speed according to the decoupling rotating speed, the deviation rotating speed and a feed-forward compensation rotating speed obtained through calibration; calculating an adjustment opening degree according to the decoupling opening degree, the deviation opening degree and a feed-forward compensation opening degree obtained through calibration; and adjusting the rotating speed of theair compressor of the fuel cell according to the adjusted rotating speed and adjusting the opening degree of the back pressure valve of the fuel cell according to the adjusted opening degree. The method has the advantages that accurate tracking control over the target values of the air flow and the air pressure is achieved; and the response speed of the air system for the fuel cell is increased.
Owner:BEIJING SINOHYTEC
Adaptive control method for robotic arm system based on time-varying asymmetric obstacle Lyapunov function
ActiveCN110687787AAchieve precise tracking controlSimple designAdaptive controlRobotic armMathematical model
An adaptive control method for a robotic arm servo system based on a time-varying asymmetric obstacle Lyapunov function comprises the following steps of step 1, establishing a mathematical model of the robotic arm servo system, and designing the time-varying asymmetric obstacle Lyapunov function; step 2, designing an adaptive controller by using the time-varying asymmetric obstacle Lyapunov function and combining an inversion method; and step 3, analyzing stability. By setting the parameter value of a constraint boundary function, the adaptive control method provided by the invention can effectively solve the system output constraint problem and ensure the steady-state performance and transient performance of the system. In addition, the uncertain part of a neural network approximation model and the derivative of the virtual control quantity are used to effectively simplify the design of the controller, improve the robustness of the system to a certain extent, and enable the robotic arm servo system to achieve accurate and fast tracking control.
Owner:NINGBO YAOHUA ELECTRIC TECH
Robot arm system preset performance control method based on neural network
ActiveCN110750050AAchieve precise tracking controlSimple designProgramme-controlled manipulatorAdaptive controlBarrier lyapunov functionMathematical model
The invention relates to a robot arm system preset performance control method based on a neural network. The robot arm system preset performance control method based on the neural network comprises the following steps of: S1, establishing a mathematical model of a robot arm servo system, and designing a tangential barrier Lyapunov function; S2, designing a preset performance adaptive controller bycombining the tangential barrier Lyapunov function with an inversion method; and S3, carrying out stability analysis. According to the robot arm system preset performance control method based on theneural network, by setting parameter values of a constraint boundary function, steady-state performance and transient-state performance of the system can be ensured. Moreover, the neural network is utilized to approach an uncertain part of the model and a derivative of a virtual control quantity, so that design of the controller is effectively simplified, robustness of the system is improved to acertain degree, and the robot arm servo system can implement accurate and rapid tracking control.
Owner:ZHEJIANG UNIV OF TECH
Unmanned helicopter heading compensation route transition method
ActiveCN108089593AAchieve precise tracking controlEnsure safetyPosition/course control in three dimensionsCompensation effectControl theory
The present invention relates to an unmanned helicopter heading compensation route transition method. During the deflection process of an unmanned helicopter, a transverse path adopts lateral zero speed maintaining control; a heading path adopts yaw angle rate maintaining control; a yaw angle rate instruction is generated according to heading deviation containing a heading compensation quantity; the heading compensation quantity is determined according to real-time side deviation, a yaw angle rate upper limit corresponding to a current flight speed and a heading compensation quantity threshold, so that a yaw angle speed instruction and a roll angle instruction are obtained; and therefore, when the unmanned helicopter rotates too quickly when swerving due to disturbance, a heading compensation mechanism enables a compensation effect for reducing the speed of rotation; and when the helicopter rotates too slowly when swerving due to disturbance, the heading compensation mechanism continuously gives out heading compensation instructions, and the helicopter continues to complete swerving until the heading deviation and side deviation of the helicopter meet requirements. The heading of the helicopter is corrected through the side deviation, so that the unmanned helicopter can accurately track a target route and achieve precise tracking and control of the route.
Owner:CHINA HELICOPTER RES & DEV INST
Track control method of cableless autonomous underwater vehicle (AUV)
InactiveCN103048997AAchieve precise tracking controlImprove track tracking accuracyPosition/course control in three dimensionsAdaptive controlProportion integration differentiationPropeller
The invention relates to a navigation control technology for a cableless autonomous underwater vehicle (AUV). A control method comprises the following steps of: calculating a distance deltaS between the current position of the underwater vehicle and a planned path; substituting the distance deltaS into a PID (Proportion Integration Differentiation) algorithm to obtain control quantity deltaS control of a navigation path offset; calculating navigation control quantity deltaH control of the underwater vehicle reaching a target point; and distributing the sum of the control quantity deltaS control and the navigation control quantity deltaH control serving as a total control quantity to each propeller motor according to the propeller arrangement situation of the underwater vehicle to realize track control over the underwater vehicle. According to the method, accurate track control over the cableless AUV can be realized under an ocean current situation, the distance between the practical track of the AUV and the planned path can be controlled within two meters during stable navigation, and navigation guarantee is provided for accurate completion of a track tracking task by the cableless AUV.
Owner:SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Hypersonic aircraft high-safety anti-interference control method by considering attack angle limitation
ActiveCN111273681AEasy to controlEliminate overdependenceSustainable transportationAttitude controlInterference resistanceMotion dynamics
The invention discloses a hypersonic aircraft high-safety anti-interference control method by considering attack angle limitation, and relates to the field of control of hypersonic aircrafts. The method comprises the following steps: firstly, establishing an AHV longitudinal motion / kinetic model containing external interference; secondly, constructing a full-loop matching / non-matching interferenceobserver for the height subsystem in combination with a minimum parameter learning neural network (MLPNN) and an extended state observer, and designing a minimum parameter learning neural network approximator for the speed subsystem so as to reconstruct an AHV flight state and multi-source interference online; and finally, introducing an obstacle Lyapunov function, and constructing an attack angle limited feedback controller, it is ensured that attack angle response is within a safe range, and accurate tracking control over a given height / speed instruction under an output feedback framework is achieved through interference estimation and compensation. The method solves the problems that most of existing control methods depend on hypersonic full-state measurement and attack angle constraints cannot be priori guaranteed in a complex flight environment.
Owner:ZHONGBEI UNIV
Gas path optimal control system of electric assisted turbocharged diesel engine
ActiveCN111608790AImprove performanceAchieve precise tracking controlInternal combustion piston enginesEngine controllersControl objectiveDieseling
The invention discloses a gas path optimal control system of an electric assisted turbocharged diesel engine, and belongs to the technical field of diesel engine electric control. The gas path optimalcontrol system of the electric assisted turbocharged diesel engine aims at multiple executers and multiple control targets of an electric assisted turbocharged system and is provided with constraintdifficulty. An oil path sensor module, a gas path sensor module and an oil path controller module are set up, a lower-layer NMPC based gas path tracking controller is designed by facing a three-ordermodel of a gas path of the e electric assisted turbocharged diesel engine of multi-target gas path tracking control, and then an upper-layer optimal controller is designed. According to the multi-target requirements of the electric assisted turbocharged gas path control system, precise tracking control of the multi-gas-path state and optimal management of energy transmission in the system are achieved, and therefore the comprehensive performance of the electric assisted turbocharged diesel engine is improved.
Owner:JILIN UNIV
Hypersonic aircraft guaranteed-performance fault-tolerant control method considering faults of executing mechanism
ActiveCN111414011AEasy to controlEliminate the effects ofSustainable transportationTarget-seeking controlNerve networkComputation complexity
The invention discloses a hypersonic aircraft guaranteed-performance fault-tolerant control method considering faults of an executing mechanism, relates to the field of flight vehicle control, and mainly solves the problem of accurate tracking control of a given height / speed instruction under a limited fault condition of a hypersonic flight vehicle. The method comprises the following steps: constructing a novel preset performance mechanism based on a Korean tracking differentiator to realize priori adjustment of errors, and overcoming the problem of transient buffeting caused by rapid constraint of traditional preset performance control; designing a minimum parameter learning (MLP) neural network learner with low computational complexity to eliminate the influence of lumped disturbance onthe AHV model in real time; finally, integrating the MLP observer and a novel preset performance mechanism, and achieving accurate tracking control over a given height / speed instruction under the limited fault condition. According to the method, the MLP observer and a novel preset performance mechanism are integrated, and the method is of great significance in realizing accurate tracking control of a given height / speed instruction under a limited fault condition.
Owner:ZHONGBEI UNIV
Three-dimensional elliptical vibration cutting device
ActiveCN102371359BImprove machinabilitySimplify the modeling processMeasurement/indication equipmentsTurning toolsLinear motionEllipse
Owner:HUAWEI TEHCHNOLOGIES CO LTD
Nonlinear anti-interference control method and device for electronic throttle system
ActiveCN109143868AAchieve precise tracking controlReduce adverse effectsElectrical controlMachines/enginesElectronic throttleFinite time
The invention discloses a nonlinear anti-interference control method and device for an electronic throttle system. On the basis of a system control model and the continuous finite-time anti-interference control method, the control device and a design method for a tracking control problem of electronic throttle valve opening are designed. The invention designs an observation method and device for multi-source interference, uncertainty and nonlinearity caused by factors such as an intake air flow, friction, spring torque and backlash, and so accurate estimation of lumped interference and systemstate variables is realized in finite time. According to the invention, a continuous terminal sliding mode control method and an output feedback control method are combined to effectively suppress adverse effects of the multi-source, uncertainty and nonlinearity in the electronic throttle system. Therefore, the accurate tracking control of the electronic throttle valve opening is realized in the finite time when the system is disturbed, the hardware cost of the system is reduced, and the dynamic characteristics, steady state characteristics and anti-interference ability of the system are improved.
Owner:SOUTHEAST UNIV
Design method of fast finite time controller of full-state constraint mechanical arm
ActiveCN113050417AGuaranteed precise tracking controlAchieve precise tracking controlAdaptive controlBacksteppingControl engineering
The invention provides a design method of a fast finite time controller of a full-state constraint mechanical arm. The method comprises the following steps of designing an observer, specifically, establishing a kinetic equation of a mechanical arm system; establishing an initial state equation of the mechanical arm system; designing a finite time disturbance observer; establishing a state equation of the mechanical arm system; and designing a mechanical arm controller based on a backstepping method. The controller designed by using the method provided by the invention enables the mechanical arm system to be stable in fast finite time, the output of the mechanical arm system can well follow the change of a given signal, and the controller well solves the problem of fast finite time tracking control of the mechanical arm system under the condition that constraint conditions are met.
Owner:CHINA UNIV OF GEOSCIENCES (WUHAN)
Gas path optimization control system for electrically assisted turbocharged diesel engine
ActiveCN111608790BImprove performanceAchieve precise tracking controlInternal combustion piston enginesEngine controllersControl systemControl objective
Owner:JILIN UNIV
A full-order sliding mode control method for manipulator servo system based on extended state observer
ActiveCN105045101BAchieve precise tracking controlEliminate chatterAdaptive controlDynamic modelsState observer
The invention discloses a mechanical arm servo system full-order slide mold control method based on an extended state observer. The method comprises the following steps: establishing a dynamic model of a mechanical arm servo system, and initializing a system state and control parameters; designing the extended state observer; and based on the extended state observer, designing a full-order slide mold controller. The invention provided by the invention can effectively improve the problem of slide mold buffeting of conventional slide mold control in the mechanical arm servo system, improves the robustness of the system to a certain degree and enables the mechanical arm servo system to realize accurate tracking control.
Owner:ZHEJIANG UNIV OF TECH
Control Method of Flexible Manipulator Based on Nonlinear Active Disturbance Rejection Control Technology
ActiveCN105563489BAchieve precise tracking controlImprove control efficiencyProgramme-controlled manipulatorDifferentiatorActive disturbance rejection control
A flexible manipulator control method based on the non-linear active disturbance rejection control technique includes the steps of building a flexible manipulator system module, initializing the system state and controller parameters, designing a high-order tracking differentiator, designing a non-linear extended state observer, determining the observer parameters through a pole assignment mode and adding non-linear feedback. The extended state observer is designed and used for estimating the system state and external disturbance. The observer gain parameter is determined through the pole assignment mode. A non-linear feedback control law is designed, the effect that the system tracking error is rapid and stable and converges to the null point is guaranteed, and finally rapid and stable control over a flexible manipulator system is realized. By means of the flexible manipulator control method based on the non-linear active disturbance rejection control technique, the problem that the internal state of the system and external disturbance can not be observed is solved, the influences of non-linear links and uncertain items existing in the system are made up, the problem of a common PID control method is relieved, and the system can rapidly and stably track expected signals.
Owner:ZHEJIANG UNIV OF TECH
Three-dimensional Trajectory Tracking Control Method for Underactuated Auv Based on Biological Velocity Regulation
ActiveCN106444806BAchieve precise tracking controlImprove performanceAttitude controlMathematical modelVirtual control
The invention provides an under-actuated AUV (autonomous underwater vehicle) three-dimensional trajectory tracking control method based on biological speed regulation. The method comprises the following steps: (1) giving expected trajectory position information by an AUV according to the current task, and obtaining current position and attitude information; (2) obtaining position and attitude error variables by use of the mathematical model of an under-actuated UUV (unmanned underwater vehicle); (3) calculating a virtual control law by a method of defining a virtual speed error variable; (4) finishing dynamic regulation of the speed error through a biological inspiration model; and (5) deducing a dynamic speed regulation controller. In the method provided by the invention, the speed error of the under-actuated AUV can be dynamically regulated, the performance of the controller is improved while the singular value of the traditional back-stepping method occurring when the heading angle error is 90 degrees is avoided, and accurate tracking of a time-varying three-dimensional trajectory is realized under external constant disturbance.
Owner:HARBIN ENG UNIV
Control method of multivariable input eha system based on model predictive control
InactiveCN107092189BImprove work efficiencyIncrease working frequencyAdaptive controlState variableInput control
Owner:BEIJING JIAOTONG UNIV
A fast finite-time controller design method for fully state-constrained manipulators
ActiveCN113050417BGuaranteed precise tracking controlAchieve precise tracking controlAdaptive controlBacksteppingDynamic equation
The invention provides a method for designing a fast finite-time controller of a full-state constrained manipulator, comprising the following steps: designing an observer, specifically: establishing the dynamic equation of the manipulator system; establishing the initial state equation of the manipulator system; designing a finite-time Disturbance observer; establish the state equation of the manipulator system; design the manipulator controller based on the backstepping method. The controller designed by using the method provided by the invention can make the manipulator system stable in a fast and limited time, and the output of the manipulator system can well follow the change of the given signal. Fast finite-time tracking control problems under the condition.
Owner:CHINA UNIV OF GEOSCIENCES (WUHAN)
A nonlinear anti-interference control method and device for an electronic throttle system
ActiveCN109143868BAchieve precise tracking controlReduce adverse effectsElectrical controlMachines/enginesInterference resistanceElectronic throttle
The invention discloses a nonlinear anti-interference control method and device for an electronic throttle system. Based on a system control model and a continuous finite time anti-interference control method, a control method is designed for the tracking control problem of the electronic throttle valve opening. Devices and design methods. For multi-source interference, uncertainty and nonlinearity caused by intake air flow, friction, spring torque, backlash and other factors, the present invention designs an observation method and device, which realizes lumped interference and Accurate estimation of system state variables. The invention combines the continuous terminal sliding mode control method and the output feedback control method, effectively suppressing the adverse effects of multi-source interference, uncertainty and nonlinearity in the electronic throttle system, so that when the system is disturbed, Accurate tracking control of the opening of the electronic throttle valve is realized in a limited time, while the hardware cost of the system is reduced, and the dynamic characteristics, steady-state characteristics and anti-interference ability of the system are improved.
Owner:SOUTHEAST UNIV
A method for unmanned helicopter heading compensation route transition
ActiveCN108089593BAchieve precise tracking controlEnsure safetyPosition/course control in three dimensionsControl theoryAirplane
The invention relates to a method for course transition of an unmanned helicopter course compensation. During the deflection process of the unmanned helicopter, the lateral channel adopts the lateral zero speed control, the course channel adopts the yaw angle rate control, and includes the course compensation amount The heading deviation generates a yaw rate command, and the course compensation amount is determined according to the real-time side deviation, the upper limit of the yaw rate rate corresponding to the current flight speed, and the heading compensation threshold, and then the yaw rate command and the roll angle command are obtained, so that when the helicopter is due to If the disturbance causes the turn to turn too fast, the course compensation mechanism will give a compensation effect of slowing down the turn. When the helicopter turns too slowly due to the disturbance, the course compensation mechanism will continue to give course compensation instructions, and the helicopter will continue to complete the turn until the aircraft The heading deviation and its side deviation meet the requirements. The heading is corrected by side deviation, so that the unmanned helicopter can accurately track the target route and realize the precise tracking control of the route.
Owner:CHINA HELICOPTER RES & DEV INST
High-precision nonlinear path-following control method for underactuated marine vehicles
ActiveCN106773713BAchieve precise tracking controlApplicable Engineering PracticeTarget-seeking controlPosition/course control in three dimensionsDifferentiatorDynamic models
The invention provides a high-accuracy nonlinear path tracking control method for an under-actuated marine vehicle. According to the method, the change rate of the sideslip angle of the vehicle is regarded as an uncertain item, the parameter uncertainty in a dynamic model, unmodeled dynamics and external environmental disturbances are regarded as lumped uncertainty, and an observer is adopted to conduct real-time observation on kinematic uncertainty and dynamic uncertainty; a traditional aspect-angle guiding method is adopted to calculate an expected aspect angle; a nonlinear path tracking controller based on the observer is designed, and the kinematic and dynamic uncertainty are compensated; a tracking differentiator is adopted to simplify the controller to make the controller more suitable for engineering application. According to the method, the influences of the parameter uncertainty in the dynamic model, the unmodeled dynamics and the external environmental disturbances on path tracking are eliminated, and the accurate tracking control over an expected path of the vehicle is achieved.
Owner:BEIHANG UNIV
A uuv trajectory tracking control method to avoid differential explosion
ActiveCN107024863BSimple calculationAvoid iterative derivationAdaptive controlPosition/course control in three dimensionsMathematical modelSimulation
The invention provides a UUV trajectory tracking control method for preventing the differential explosion based on the differential output characteristics of a biological instructive model. The method comprises the following steps of 1, conducting the initialization; 2, obtaining position and attitude error variables based on an under-actuated UUV mathematical model; 3, calculating a virtual control law, and replacing a virtual expectancy control law with the output value of the biological instructive model; 4, constructing a Lyapunov function, and transferring the ballast of a position error to the ballast of a speed error, avoiding the differential explosion phenomenon through the real-time derivation of replacing a virtual control variable with the output of the biological instructive model, and realizing the ballast of the speed error; and 5, designing a trajectory tracking controller. According to the technical scheme of the invention, the differential explosion phenomenon caused by the repeated derivation of the traditional back-stepping method can be avoided, and the complexity of the controller is simplified. Meanwhile, in combination with the controller of the biological instructive model, the time constraint requirements of the thrust constraints and the under-actuated UUV trajectory tracking of a propeller on position, speed and attitude can be met.
Owner:HARBIN ENG UNIV
A sliding mode control method for hysteretic nonlinear servo motor system
ActiveCN108762088BReduce complexityImprove robustnessAdaptive controlAngular accelerationMotor system
The invention discloses a hysteresis nonlinear servo motor system sliding mode control method, relates to the technical field of electromechanical control, designs a sliding mode state observer to observe the unknown state of the system, and solves the state variables of the hysteresis servo motor system such as servo motor angular velocity and angular acceleration , load angular velocity, load angular acceleration, hysteresis, etc. are difficult to measure directly, thus affecting the controller design; regard the remaining unknown parts of the system as disturbances, and use only one layer of Chebyshev neural network to estimate the unknown disturbances of the system, avoiding At the same time, the disturbance observer and state observer are designed to reduce the control difficulty and solve the estimation problem of the unknown disturbance of the hysteresis servo motor system; the sliding mode controller is designed to realize the accuracy of the hysteresis servo motor system by adjusting the tracking error and the sliding mode surface Tracking control, high precision, strong robustness, reduces the difficulty of the algorithm, unifies the model, and is more general.
Owner:SHANDONG UNIV OF SCI & TECH
An underactuated uuv planar trajectory tracking control method based on dynamic speed adjustment
ActiveCN105929842BSimple calculationImprove controlAttitude controlPosition/course control in three dimensionsBacksteppingUnderwater
The invention provides an underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment, relating to the motion control technology of an underactuated underwater unmanned vehicle. The invention aims to realize the precise tracking control of an underactuated UUV plane trajectory. The method comprises the steps of (1) a UUV obtains position and attitude information according to a current task, (2) position and attitude error variables are obtained by using the mathematical model of an underactuated UUV, (3) a method of defining a virtual speed error variable to calculate a virtual control rule, (4) combined with a biologically inspired model, the dynamic adjustment of a speed error is carried out, and (5) the control signal generated by a speed adjustment controller is deduced, and the underactuated UUV plane trajectory tracking control is realized. According to the method, the dynamic adjustment of the speed of the underactuated UUV can be carried out, a singular value when a first direction angle error is equal to 90 degrees in a traditional backstepping method is avoided, and the tracking of a circular trajectory in an external constant disturbance is realized.
Owner:HARBIN ENG UNIV
A kind of air system control method of fuel cell
ActiveCN110970642BAchieve precise tracking controlGuaranteed independent controlFuel cell controlFuel cellsAir compressor
Owner:BEIJING SINOHYTEC
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