35results about How to "Simple control law" patented technology

The invention discloses a microminiature unmanned aerial vehicle longitudinal control method with random delay of a distributed network, and belongs to the field of flying control technology. The method includes firstly setting up an unmanned aerial vehicle longitudinal system model and designing a flying control system without network delay, secondly carrying out random robustness analysis and design on the flying control system on the condition of different network random delay, ensuring a gain scheduling strategy of the flying control system, and lastly carrying out closed-loop six-free-degree freedom nonlinear Monte-Carlo simulation verification. According to the control method, deterioration of quality of the flying control system due to network delay is relieved, and stability of the distributed type system can be strengthened. Through utilization of the random robust analysis and design method and the gain scheduling strategy based on linear interpolation, the obtained control has the advantages of being simple, and facilitating engineering realization. Control quality of an original system can be well maintained on the condition of changes of large network delay.

The invention discloses an under-actuated AUV actuator fault robust fault-tolerant control method. The method includes the following steps that a position error vector of motions of an AUV is defined;a new error vector is defined; a neural network method is used for approaching a composite uncertain item; an auxiliary dynamic system is designed; an under-actuated AUV actuator fault robust fault-tolerant control law is designed. According to the method, the dynamic uncertainty and disturbance uncertainty of the AUV are approximated by applying a neural network, and prior knowledge of dynamic parameters and ocean current disturbance of a motion mathematical model of the AUV is not needed, so that the method has good self-adaptive capability and robustness. According to the method, the influence of actuator faults on an AUV control system is treated by designing an auxiliary dynamic system, and the reliability of an AUV motion control system is improved. Coordinate transformation is introduced to define an output vector of the AUV, the problem of under-actuation of the AUV is solved, under-actuated AUV three-dimensional motion control is realized, and the method better conforms to reality.

A method for controlling motor set with multiple wind wheel includes collecting information of air-stream, rotary speed, voltage and load on site and transmitting them to remote computer; calculating out wind ward angle and optimum pitch of blade to obtain optimum operation mode by remote computer based on said information; sending parameter of obtained mode to local computer; commanding relevant execution mechanism to regulate pitch angle of blade and windward angle of said motor set by local computer fro making said motor set be on optimum power-generation state. The device for realizing said method is also disclosed.

The invention discloses a radiation open loop tethered satellite formation constant speed spinning deployment control method, relates to a dynamics construction and control strategy design in which the tethered satellite formation is spun and deployed at a constant speed into a radiation open loop form and belongs to the field of spacecraft formation control. In view of the radiation open loop tethered satellite formation running on a circular Kepler track in an earth center gravitational field, in consideration of multi-body system movement characteristics and gravity gradient moment effects, system spinning deployment dynamics is built via a Lagrange equation; on the basis, a closed loop control strategy is designed, the main satellite is spun and deployed at a constant speed, compensation in view of the gravity gradient moment is carried out, damping is added to the tail section of the deployment to restrain system oscillation; the dynamics and the control method are simple, effective and easy to realize; and the whole process of controlling the tethered satellite system to deploy at a constant speed is smooth, safe and high in reliability.

The invention relates to the field of aero-engine nozzles, in particular to a two-dimensional vector convergent-divergent nozzle capable of achieving pitching and yawing. The two-dimensional vector convergent-divergent nozzle comprises a barrel, two pitching adjusting sheets, two yawing adjusting sheets, four sealing sheets, first actuating cylinders, first pulling rods, second actuating cylinders and second pulling rods. The outer side face of each pitching adjusting sheet is connected with the corresponding first pulling rod and the corresponding first actuating cylinder so that the pitching adjusting sheet can rotate in the pitching direction. The outer side face of each yawing adjusting sheet is connected with the corresponding second pulling rod and the corresponding second actuating cylinder so that the yawing adjusting sheet can rotate in the yawing direction. Sealing sheets are located between the pitching adjusting sheets and the yawing adjusting sheets. The two-dimensional vector convergent-divergent nozzle capable of achieving pitching and yawing is simple in structure; deflecting, converging and diverging in the pitching and yawing directions are achieved through deformation combination of the adjusting sheets on the four sides; good aerodynamic performance is also achieved, the control law is simple, and the reliability is high.

The embodiments of the present invention disclose a folding mechanism for an aircraft, and a control method thereof, and relate to the folding mechanism design technology in aerospace aircrafts. A purpose of the present invention is to solve the problem of complicated folding mechanism. According to the folding mechanism, a fixed guide rail is fixed at the bottom portion of an aircraft body, a sliding block can slide back and forth at both ends of the fixed guide rail, one ends of a swept-back wing and a forward-swept wing at the same side of the aircraft body are fixed through a rotation shaft, the swept-back wing and the forward-swept wing at the same side of the aircraft body form a connection rod mechanism through the rotation shaft, the other end of the swept-back wing is fixed at oneend of the fixed guide rail through a vertical shaft, the swept-back wing can rotate around the vertical shaft, the other end of the forward-swept wing is fixed on the sliding block, and an actuatingcylinder is fixed on the fixed guide rail.

The invention discloses a grid-connected wind farm passivity-based control method. The method comprises the steps of 1) building a mathematic model of a current converter of a VSC-HVDC system in an a-b-c three-phase static coordinate system, and through part conversion, obtaining a mathematic model in a d-q synchronous rotation coordinate system; 2) according to a standard form of a PCHD model, building a PCHD model of the VSC-HVDC system, and verifying the passivity of the VSC-HVDC system based on the PCHD model; 3) for the PCHD model of the current converter in the VSC-HVDC system, configuring a desired interconnection and damping matrix according to an IDA-PB control principle, and designing an IDA-PB controller of the current converter in the VSC-HVDC system; and 4) when large disturbance occurs or parameters are inaccurate, generating steady state errors, eliminating the steady state errors by adopting an integrator through utilizing an integral stabilization theorem based on theIDA-PB controller, and keeping global stability of the system. An integral stabilization link is added in the exponentially stable IDA-PB controller. A Lyapunov function is built from a dissipation characteristic of a system energy function; a physical meaning is definite; and an ideal controller can be obtained.

The invention provides a novel axial-symmetry convergence and expansion spray pipe using a single actuation system. The novel axial-symmetry convergence and expansion spray pipe mainly comprises a cylinder body (1), an actuation cylinder (2), a pull rod (4), a convergence adjustment plate (5), an expansion adjustment plate (6), a support (7), an outer cover (8), an expansion sealing plate (9), a thin-wall rotational flow center body (10), a support (11) and a convergence sealing plate (12). The cylinder body (1) serves as a supporting component of the whole spray pipe. The actuation cylinder (2), the pull rod (4) and the convergence adjustment plate (5) serve as a throat area adjustment mechanism and also drive the expansion adjustment plate (6) to move, so that an outlet area changes according to a fixed rule. The thin-wall rotational flow center body (10) is used for shielding a front-end component. The novel axial-symmetry convergence and expansion spray pipe has the advantages that adjustment of the throat area and the outlet area is realized through the single actuation system, the spray pipe is good in invisibility on the premise that the adjustment range of the throat area is not affected, and the spray pipe is simple in structure and high in reliability.

The invention relates to a nonlinear controller design method of a mixed type active power filter. A current-voltage double closed loop control loop is designed for a mixed type active power filter formed by a passive part of limitation of high harmonic waves and an active part of compensation of low harmonic waves. From the view of stability of a current loop, a nonlinear control strategy based on the Lyapunov function is provided, thereby achieving decoupling control of reactive compensation current and fast tracing of harmonic wave reference current. In order to achieve the goal of improving the anti-interference performance of the system, the optimal gain of the controller is gained, so it is ensured that when parameter perturbation or step change of load requirements occur in the system, the system can still stably operate. The sliding formwork nonlinear control method is adopted on the voltage loop, so capacitor voltage is kept stable, dynamic adjustment during the load sudden change is achieved and anti-interference ability of the system is enhanced. The nonlinear controller based on the Lyapunov function is provided, so the mixed type active power filter has a wider application prospect in middle and high power occasions.

The invention discloses a Boost type converter control method and system based on a finite time convergence observer, and belongs to the technical field of power electronics and control thereof. The system comprises a finite time convergence observer module, a non-singular terminal sliding mode controller module and a PWM module, and the method comprises the following design steps: selecting an inductive current iL and an output voltage Vo as state variables of a system, and establishing a differential equation of a Boost converter about the inductive current iL and the output voltage Vo; designing a finite time convergence observer according to the differential equation, combining the finite time convergence observer with a traditional nonsingular terminal sliding mode control method, anddesigning a new nonsingular terminal controller; and simultaneously inputting the output control quantity of the new controller and the sawtooth wave into the PWM module to generate a PWM signal to drive and control a power device in the Boost converter. When the load resistance and the input voltage suddenly change, the output voltage can still converge to the reference voltage within limited time, and the dynamic, steady and anti-interference performance of the system is improved.

The invention discloses a dynamic matrix control (DMC) engineering method based on model simplification and prediction error correction, which relates to the DMC engineering method and solves the existing problems as follows: (I) DMC cannot be applied in certain rapid control processes; (II) the indexes of the DMC for instant error correction lag are influenced in predictive control; (III) although the real-time performance is improved by the model simplification, but the precision and the robustness of the system are reduced; and (IV) bottom control is hard to realize. The DMC engineering method based on the model simplification and the prediction error correction comprises the following concrete steps: (I) acquiring the step response curve of the system, and establishing a model of which the order is N; (II) simplifying the model, and reducing the order of the model to n; (III) simplifying the rolling optimal control of the model; (IV) establishing a prediction error model; (V) judging whether model testing passes or not; if the model testing does not pass, returning to the step (IV); and if the model testing passes, executing the comprehensive control of the model simplification and the prediction error correction; and (VI) judging whether a control effect reaches the requirement or not; if the control effect does not reach the requirement, returning to the step (II); and if the control effect reaches the requirement, enabling the control effect to be used for control. The DMC engineering method based on the model simplification and the prediction error correction is used for DMC engineering control.

The invention discloses a self-adaptive dynamic terminal sliding mode control method for an active power filter. The method comprises the following steps that: S1, a single-phase active power filter mathematical model is established, a state variable i is defined as x, and the expression of the second-order derivative of the x is obtained; S2, a tracking error and the first-order derivative thereof are defined, and a dynamic terminal sliding mode surface is defined, so that an equivalent control item is obtained, and then a switching control item is defined, and the equivalent control item and switching control item are added up, so that a dynamic terminal sliding mode controller is obtained; and S3, the approximation of the equivalent control item is realized through a double-hidden-layer recurrent neural network. With the self-adaptive dynamic terminal sliding mode control method for the active power filter of the invention adopted, zero-steady-state-error tracking can be quickly realized, and a low power grid current distortion rate can be achieved.

The invention discloses a terminal sliding mode control method for an active power filter, and the method comprises the following steps: S1, establishing a single-phase active power filter mathematical model, defining a state variable i as x, and obtaining an expression of a second derivative of x; S2, defining a tracking error and a first derivative thereof, defining a terminal sliding mode surface to obtain an equivalent control item, then defining a switching control item, and adding the equivalent control item and the switching control item to obtain a terminal sliding mode controller; S3, approximating the equivalent control item by using a double-hidden-layer recurrent neural network. According to the invention, the method can maintain the stability of an original controller, can simplify the control law, can achieve the better control precision, effectively reduces the distortion rate of power grid current, and improves the active power filter compensation effect.

The invention discloses a multi-machine infinite power system dynamic area division sliding mode controller with SVC. The implementation of the controller comprises the following steps: 1) modeling for a multi-machine infinite power system with SVC; 2) under a condition that an actuator fails, establishing a multi-machine system model containing a failure fault; 3) adopting an RBF neural network to approach an unknown function in the system model; and 4) combining a dynamic surface controller design method with an integral sliding mode, and designing the self-adaptive controller of the multi-machine power system with the SVC. In the invention, on the basis of parameter uncertainty and external disturbance of a multi-machine power system, a failure fault condition of the actuator is considered; and an adaptive fault-tolerant control method is adopted to finally form a dynamic area division sliding mode coordination controller of SVC and generator excitation, convergence of a state tracking error to zero in finite time is realized, an anti-interference capability, a convergence speed and tracking precision of the system are improved, and all signals of the whole control system are ensured to be semi-globally consistent and finally bounded.

The invention provides an aerodynamic missile cluster system formation control method based on a consistency theory. Firstly, topology structure parameters, single position information, formation reference information and relative speed of adjacent single bodies of an aerodynamic missile cluster system are obtained; then, a formation control law in a guidance loop is calculated based on the consistency theory and the formation control law is used as expected acceleration of acceleration tracking in a control loop; and finally, the expected acceleration is decomposed into x-direction and Z-direction expected acceleration of a speed system, an engine throttle and a speed inclination angle are used as an aerodynamic missile execution mechanism, and PI control is used to track the x-directionand Z-direction acceleration, and missile acceleration is controlled to track the expected acceleration to control a formation of the aerodynamic missile cluster system. The formation control method has the characteristics of single fully distributed computing, low resource occupancy, high control precision and easy implementation of algorithm, and has good practicability.

The invention relates to a multi-missile formation cooperative control method under the condition of uncontrollable speed, and the method employs a leading-slave type guidance strategy, enables the information transmission of a leading missile and a slave missile to be unidirectional, enables the slave missile to receive the leading missile information, and enables the leading missile not to receive the slave missile information. A sliding mode variable structure control theory is adopted to carry out formation controller design on the leading missile and the slave missile respectively; compared with a current multi-missile formation cooperative controller design method, the missile speed does not need to be controlled, the control law based on the sliding mode variable structure theory issimple, rapidity and stability are met, and formation and maintenance of the formation can also be achieved.

The invention discloses a quadrotor dynamic surface integral sliding mode controller based on a preset tracking error. The controller is realized based on the steps of 1) constructing a quadrotor dynamic model considering external disturbance and unknown parameters; 2) based on an approximator of a fuzzy logic system, enabling the approximator to approximate to control input of a quadrotor systemmodel in an ideal state; 3) introducing switching control to compensate an error between input estimated by the fuzzy system and ideal input to obtain accurate actual control input; and 4) combining dynamic surface control with integral sliding mode control, and designing the quadrotor adaptive fuzzy dynamic surface integral sliding mode controller. According to the method, the quadrotor light path can meet the preset tracking error index, the robustness of a control system is improved under the condition that parameters are uncertain and external disturbance exists, and finally, it is guaranteed that all signals of a closed-loop system are finally consistent and bounded.

The invention provides an axisymmetric shrinking and expanding nozzle of a single-actuation system, which is mainly composed of a cylinder (1), an actuating cylinder (2), a pull rod (4), a convergence adjustment plate (5), and an expansion adjustment plate (6 ), the first bracket (7), the outer cover (8), the expansion sealing plate (9), the thin-walled swirl center body (10), the second bracket (11) and the convergence sealing plate (12). Among them, the cylinder body (1) is used as the supporting member of the entire nozzle; the actuator (2), the pull rod (4) and the convergence adjustment plate (5) are used as the throat area adjustment mechanism, and at the same time drive the expansion adjustment plate (6) to move, The outlet area can be changed according to a fixed rule; the thin-wall swirl center body (10) is used for shielding the front-end component. The invention has the advantages that the adjustment of the throat area and the outlet area is realized through a set of actuating system, and the nozzle has good stealth ability without affecting the adjustment range of the throat area, and has a simple structure and high reliability.

The present invention provides a formation control method of the aerial missile swarm system based on the consistency theory. First, the topological structure parameters of the aerial missile swarm system, the position information of the cells, the formation reference information, and the relative speed of the adjacent cells are obtained; The formation control law in the guidance loop is calculated based on the consistency theory, and the formation control law is used as the expected acceleration of acceleration tracking in the control loop; finally, the expected acceleration is decomposed into the x-direction and z-direction expected acceleration of the velocity system, and the engine throttle, speed The inclination angle is the actuator of the flying missile, and the PI control is used to track the acceleration in the x and z directions, and the formation control of the flying missile cluster system is realized by controlling the acceleration of the missile to track the expected acceleration. The formation control method has the characteristics of fully distributed computing, low resource occupancy, high control precision, and easy algorithm implementation, and has good practicability.

A combined control surface of a tailless airplane comprises a parallelogram-shaped embedded control surface and a parallelogram-shaped elevon. Each of the two straight edges of each of the parallelograms forming the embedded control surface and the elevon is parallel to the central axis of the body of the airplane; and each of the two inclined edges of each of the parallelograms forming the embedded control surface and the elevon is parallel to the trailing edge of a positioning wing. The embedded control surface and the elevon in the combined control surface are positioned in a same span-wise position of the wing, and the position of the embedded control surface is close to the leading edge of the wing. The trailing edge of the elevon overlaps with the trailing edge of the wing. The largest deflect angle of the embedded control surface is 90DEG, and the deflect angle of the elevon is + / -30DEG. The combine control surface can increase the lift force, and makes up the lift loss caused by the opening of the embedded control surface; and the combined control surface increases the vertical static stability of the tailless layout, so the coupling rolling torque is reduced or eliminated, the separation flow area is increased, a large resistance increment is obtained, the vertical trimming burden is mitigated, and the course control efficiency is improved.

The invention relates to a method for suppressing circulating current of a modular multilevel converter, comprising the following steps: S1, obtaining a PCHD model of MMC circulating current based on a single-phase equivalent circuit of MMC and based on a positive definite quadratic energy function; S2, Construct the MMC circulating current suppression passive controller based on the PCHD model; S3, input the double frequency actual value and reference value of the circulating current into the MMC circulating current suppressing passive controller to output the circulating current voltage compensation amount; S4, carry out the calculation of the circulating current voltage compensation amount Carrier phase-shift modulation controls the working state of the IGBTs in the sub-modules of the bridge arms of each phase of the MMC through modulation waves. Compared with the prior art, the present invention is based on the PCHD model and passive control theory, from the perspective of energy, through energy function shaping and control correction system performance, effectively ensuring the asymptotic stability of the MMC circulation system, and the control law form is simple and robust Strong resistance, obvious circulation suppression effect, easy to solve practical engineering problems.

The invention discloses a hybrid conduction mode-based novel single-phase PFC. The hybrid conduction mode-based novel single-phase PFC comprises a main circuit, a current sampling circuit, a voltage sampling circuit and a signal conditioning circuit, wherein the current sampling circuit, the voltage sampling circuit and the signal conditioning circuit are connected with the main circuit, the signal conditioning circuit is connected with the main circuit, the current sampling circuit and the voltage sampling circuit and employs single-period control of a hybrid conduction mode, and two controlmodes of a continuous conduction mode and a disconnection conduction mode are used. The invention also provides a control method of the hybrid conduction mode-based novel single-phase PFC. The hybridconduction mode is employed, the size of boost inductance is greatly reduced, and the power density is improved; a single-period control strategy is used for controlling, the hybrid conduction mode-based novel single-phase PFC has the advantages of a favorable control effect ,more rapid response speed, rapid and accurate load adjustment, high interference-resistant capability, simple control ruleand the like and is easy to implement, and network-side current sine, unit power factor and DC-side voltage constant are achieved.

The invention discloses an active control method for an output feedback dynamic surface based on flutter of a micro-milling processing system. The active control method comprises the following steps: acquiring a dynamic model of tool vibration of the micro-milling processing system; on the basis of the dynamic model, loading a double-shaft giant magnetostrictive driver, and actively inhibiting the vibration of the cutter; constructing an ASI estimation inverse model to eliminate the hysteresis characteristic of the biaxial giant magnetostrictive actuator; and an output feedback self-adaptive controller for actively inhibiting flutter is obtained based on the design of a high-gain observer and a dynamic surface controller, so that active control on flutter of the micro-milling processing system is realized. According to the invention, the giant magnetostrictive actuator is adopted to actively control the regenerative flutter of the micro-milling system, so that the precision of micro-milling is improved, and the influence of the micro-milling on the micro-milling system is reduced; and the hysteresis characteristic of the giant magnetostrictive actuator is eliminated by constructing an ASI estimation inverse model, so that the control precision of the giant magnetostrictive actuator is greatly improved.

The invention relates to hypersonic vehicle control and aims to propose a coordinated control method for a variable inlet hypersonic vehicle fuzzy system with external disturbances. The steps in the method are as follows: The first part is a transformation design of a strict feedback form of a variable inlet hyperplane; the second part is a design of a speed controller and a nonlinear disturbanceobserver; the third part is a design of a height controller and a nonlinear disturbance observer. The nonlinear disturbance observer is used to compensate the designed subsystem controller, observe the interference in a real-time manner, and enhances the robustness of the designed subsystem controller. The method in the invention is mainly applied to situations of hypersonic vehicle control.