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Data driving controller of model unknown system

A data-driven, controller technology, applied in the direction of adaptive control, comprehensive factory control, general control system, etc., to achieve the effect of improving control accuracy

Active Publication Date: 2020-06-09
DALIAN MARITIME UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] According to the above proposal, when the existing control method is applied to the first-order uncertain nonlinear motor system, it cannot deal with the nonlinear uncertainty of the system and the real-time external disturbance, it needs to assume that the control coefficient is known, and the convergence of the estimation error depends on continuous excitation conditions and other technologies problem, and provide a data-driven controller structure for model-unknown systems, which can not only estimate the time-varying uncertainties and external disturbances in nonlinear motor systems, but also estimate the control coefficients of motor systems online

Method used

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  • Data driving controller of model unknown system
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  • Data driving controller of model unknown system

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Embodiment 1

[0051] Consider the following first-order uncertain nonlinear system

[0052]

[0053] In the embodiment, uncertain item f(x, t)=5x+cos(t), control parameter B=3, the purpose of system control is to track a sinusoidal signal x r = 0.5 sin(t).

[0054] Select controller parameters: k=5; Extended state observer parameters: λ 1 =60,λ 2 =900; Observer parameters: k m =100,k c =3300.

[0055] Depend on Figure 2~4 It can be seen that the control effect of the controller with unknown control parameters designed by the present invention is better, and the actual output signal x of the controlled system can track the upper reference signal x within 1s r , and the tracking error is small and the accuracy is good. Although the uncertain item f(x,t) of the controlled system is a time-varying item, the extended state observer can accurately estimate it after 1 second, which shows that the controller designed by the present invention has strong robustness. However, the data-driv...

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Abstract

The invention provides a data driving controller of a model unknown system. The data driving controller takes a first-order nonlinear system as a controlled object, the input end of the controller isconnected with a reference signal, the output end of the controller is connected with the input end of a controlled system, and the controller comprises an extended state observer module, a parameteridentification module, a data driving module and a linear control module. A data driving total disturbance and control coefficient estimation method provided by the invention not only can estimate control parameters, but also realizes unified estimation of internal disturbance and external disturbance, overcomes the defect that the control parameters are assumed to be known in the existing method,and remarkably improves the control precision of the system.

Description

technical field [0001] The invention relates to the field of uncertain nonlinear system control, in particular to a first-order time-varying uncertain nonlinear system controller structure with unknown control parameters. Background technique [0002] Many actual control systems, such as motor systems, robot systems, aircraft systems, ship autopilot systems, etc., have the characteristics of time-varying nonlinearity, uncertain parameters, and external disturbances, which bring difficulties and challenges to system control. . Therefore, for model-unknown systems, it is of great research significance and theoretical value to propose estimation methods for model uncertainty, external disturbances, and control coefficients to achieve precise control independent of model parameters. [0003] The adaptive parameter identification method is applied to the controller design of the first-order uncertain nonlinear system, which can realize the adaptive estimation of the unknown para...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
CPCG05B13/024Y02P90/02
Inventor 刘陆杨安馨王丹彭周华李铁山
Owner DALIAN MARITIME UNIVERSITY
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