790 results about "Disturbance observer" patented technology

The invention discloses a fault-tolerant sliding-mode control method for a near-space vehicle. According to the fault-tolerant sliding-mode control method for the near-space vehicle, for the situation that the order of the magnitude of external disturbance in a quick loop and slow loop system is greatly larger than the order of the magnitude of uncertain times of the system, the nonlinear disturbance observer technology is used for processing hybrid disturbance, and unknown hybrid disturbance is estimated by a disturbance observer through known system information; in order to solve the problem that saturation of the control surface of the near-space vehicle is limited, the upper bound of the deflection angle output of a steering engine is applied to design of a control law, it is guaranteed that the input is within a certain range, auxiliary variables are designed, the deflection angle output of the steering engine is automatically adjusted through the self-adaption law, and therefore the situation that when the upper bound of the deflection angle is too large, the output is too large is avoided; a compensator is established through a radial basis function neural network and is used for fault-tolerant compensation when the steering engine breaks down, and therefore the problem that the steering engine of the near-space vehicle breaks down is solved. By the adoption of the fault-tolerant sliding-mode control method for the near-space vehicle, under the conditions of system uncertainties, unknown external disturbance, limited input saturation and a fault of the steering engine, the near-space vehicle has good control performance.

Provided is a sliding-mode control method with anti-interference fault-tolerance performance. A sliding-mode controller with anti-interference fault-tolerance performance is designed and is specific to a system containing faults and interferences. Firstly, faults and multi-source interferences in the system are considered, so that a dynamical model of the system is established. Secondly, a fault diagnosis observer and a disturbance observer are designed to estimate the faults and interferences capable of being modeled. Thirdly, the gain matrix of the disturbance observer and the fault diagnosis observer is solved. Then, the sliding-mode controller is designed to offset faults and interferences respectively by using the estimated value of faults and interferences. Finally, stability of the controller is analyzed and the sliding-mode yield value is determined on the premise that the system input is saturated. According to the sliding-mode control method with anti-interference fault-tolerance performance, the anti-interference and fault-tolerance performance of the system are guaranteed, the buffeting of the sliding-mode control is improved, and the sliding-mode control method can be applied to the attitude control system of the fields of aviation, aerospace and deep space exploration.

The invention discloses an unmanned surface vessel formation control method based on a leader follow-up structure. The method is used for multiple fully-driven unmanned surface vessel systems, and a formation control method based on a leader-follower is provided to prevent any follower from colliding and being kept in connection with a leader thereof. The method comprises following steps of establishing a dynamic model of an unmanned surface vessel; setting a position output tracking error constraint condition of a follower; designing a tracking error conversion function; applying the dynamic surface control technology and designing a virtual controller; designing a disturbance observer for compensating external unknown interference like wind wave flows; and constructively designing a tracking formation controller. According to the invention, it is ensured that any follower is always kept away from the leader thereof for a certain safe distance, and is in a communication connection range of the leader thereof; and by use of the dynamic surface control technology, accelerated speed of the leader is prevented from being used and practicability of a design scheme is improved.

The invention relates to a flexible satellite locus linearization attitude control method based on a disturbance observer. The invention aims at solving problems that a single locus linearization control method is poor in capability of inhibiting interference, is poorer in robustness, and does not consider external interference and the impact from flexible accessories. The method comprises the steps: employing Euler angles for describing attitudes of a spacecraft, employing an idea of equivalent disturbance, and building a flexible spacecraft dynamics and kinetics equation; solving the pseudo-inverse of a controlled object under the condition of neglecting equivalent disturbance, designing a quasi-differentiator of a specific type, and obtaining the nominal control of an expected locus; and designing a linear time varying adjuster through proportion-integration control. The method gives consideration to the influence of equivalent disturbance, designs the disturbance observer, and guarantees the asymptotic convergence of a tracking error of a flexible spacecraft. The method improves the anti-interference capability of a system, and improves the robustness of the system. The method is used in the attitude control field of flexible satellites.

The present invention provides a method for disturbance compensation based on a sliding mode disturbance observer for a spacecraft with a large flexible appendage, comprising steps of: a) building a spacecraft attitude control system; b) constructing an external system, the external system being incorporated with an uncertain portion of a damping matrix of a flexible appendage of the spacecraft; the external system being incorporated with an uncertain portion of a rigidity matrix of the flexible appendage of the spacecraft and describing a sum of flexible vibration and environmental disturbance; c) configuring a sliding mode disturbance observer for estimating the value of the sum of flexible vibration and environmental disturbance; d) compounding a nominal controller with the sliding mode disturbance observer in step c) to obtain a compound controller; the compound controller compensating for the sum of flexible vibration and environmental disturbance.

The invention discloses a near space vehicle robust control method with input saturation. According to the control method, controllers are designed for a slow loop and a fast loop in a near space vehicle attitude motion system respectively; for a slow loop system, compound disturbance in a self-adaptive processing system is adopted to design the controller based on a dynamic sliding mode method, and further the problem of buffeting of the controller is solved; for a fast loop system, considering that order of magnitude of external disturbance is far higher that that of uncertain items of the system, the compound disturbance is processed by the aid of a nonlinear disturbance observer technique, the controller is designed based on a normal sliding mode method of a double-power reaching law, meanwhile a compensator is constructed by the aid of radial basis function neural networks to perform saturation compensation on the designed controller, and further the problem of limitation to saturation of a control plane of a near space vehicle is solved.

The invention relates to a method for controlling a rigid spacecraft for target attitude tracking, and belongs to the technical field of the high-precision and high-stability attitude tracking control of spacecrafts. The method solves the problem that when the attitude tracking spacecraft runs in a low orbit in outer space, the conventional control method cannot eliminate the inherent flutter of a sliding mode variable structure. The method comprises the following steps: 1, establishing a kinetic model and a kinematic model of the rigid spacecraft; 2, setting an attitude tracking error and anexpected attitude parameter of the rigid spacecraft, and combining the attitude tracking error and the expectation attitude parameter with the kinetic model and the kinematic model to establish a mathematical model for the attitude tracking; 3, adopting a control algorithm of a sliding mode variable structure controller to adjust a control law of the mathematical model which is established in thestep 2 and is used for the attitude tracking, and simultaneously combining an observation result of a disturbance observer to modify the control law; and 4, controlling the rigid spacecraft by using the modified control law obtained in the step 3 to realize the attitude tracking. The method is suitable for the attitude tracking of targets running in the outer space.

The invention discloses a mixed control method based on trace tracking of a wheeled mobile robot. A kinematic virtual velocity controller, a sliding mode torque controller and a disturbance observer are involved in the mixed control method, wherein the sliding mode torque controller and the disturbance observer are based on dynamics. The virtual velocity controller is used for designing the linear velocity and the angular velocity of the robot; the sliding mode torque controller is used for designing a sliding mode face and a sliding mode control law, and the disturbance observer is used for observation of the external disturbance of a system to reduce the control quantity of the sliding mode controller and is introduced as a feedforward term. By means of the mixed control method, control over the trace tracking of the robot is achieved by the system under the condition that external change and external disturbance happen to a parameter. It is shown upon simulation experiments that by means of the mixed control method, chatter output by sliding mode control and output of the control quantity can be effectively reduced, and good robustness is achieved.

The invention discloses a robot compliance control method based on a contact force observer. The robot compliance control method belongs to the field of robot control, does not adopt a force sensor for measuring a contact force of a robot and the environment, but adopts a model for estimating magnitude of the force according to a motion state, and realizes compliance control of the robot by adopting a position-based impedance controller. The robot compliance control method comprises the steps of: acquiring joint angular velocity information by means of an encoder, and estimating an angle, an angular velocity and angular velocity information by means of a state observer; calculating a joint effective driving moment by means of a disturbance observer according to motor current information and joint state information; calculating a joint driving moment required by driving a mechanism to move through adopting a kinetic model according to a joint motion state; and subtracting the driving moment obtained through calculation by adopting the kinetic model from the effective driving moment to obtain a joint driving moment caused by the action of an external force, and mapping the joint driving moment by means of Jacobian matrix to obtain an environmental contact force. The robot compliance control method based on the contact force observer has the advantage that an expensive and easily-damaged multi-dimensional force sensor does not need to be installed.

The invention relates to a fine anti-interference tracking controller of a flexible hypersonic vehicle. A method for constructing the fine anti-interference tracking controller comprises the following steps of: (1) building a longitudinal model of the flexible hypersonic vehicle; (2) building a multisource interference system model of the flexible hypersonic vehicle based on the longitudinal model in the step (1): firstly, building a control-oriented nominal model; then regarding an elastic mode as interference and building an elastic mode interference model; and finally, building a multisource interference system model by combining the above two models and considering measurement errors, parameter uncertainty, external interference, etc.; (3) designing a nonlinear disturbance observer to estimate the elastic mode interference based on the multisource interference system model in the step (2); and (4) constructing the fine anti-interference dynamic reverse composite tracking controller based on the nonlinear disturbance observer in the step (3). The fine anti-interference tracking controller has the advantages of high anti-interference performance, rapid tracking speed, high control accuracy, etc., and applies to high accuracy tracking control of the height and the speed of the flexible hypersonic vehicle.

The invention relates to an adaptive nonsingular terminal sliding model control method for permanent magnet synchronous motors on the basis of disturbance observers. An adaptive nonsingular terminal sliding model controller is introduced into speed loops of vector control systems for the permanent magnet synchronous motors. The adaptive nonsingular terminal sliding model control method is characterized in that an adaptive variable-speed exponential approach law is proposed, first-order norms of state variables are introduced into the approach law, index approach speeds and constant approach speeds are adaptively adjusted according to the distances from the state variables to balance points, accordingly, the approach time can be shortened, and system buffeting can be weakened; the disturbance observers are designed for solving the problems of external disturbance of existing systems and load perturbation, and observation values are fed into designs of the sliding mode controllers. Rotational speeds can be quickly tracked when the systems are disturbed or load fluctuates, accordingly, overshoot and steady-state static difference of the systems can be reduced, and the robustness of the systems can be greatly enhanced.

The invention discloses a permanent magnet synchronous motor speed composite control method based on a continuous terminal slip form technology. According to a vector control principle, a permanent magnet synchronous motor system is decoupled into a speed ring and a current ring which are controlled respectively. The speed ring is controlled by using the composite control method. A continuous terminal slip form controller serves as a feedback controller, the speed of a permanent magnet synchronous motor can be responded quickly in a whole adjusting process, and the problem of buffeting on slip form control is solved; a disturbance term of the speed ring is observed by a second-order limited time disturbance observer; and the second-order limited time disturbance observer which serves as a feedforward compensator has real-time observation and disturbance compensation functions. When errors are observed without disturbance, the revolving speed of the permanent magnet synchronous motor can reach reference revolving speed within a limited time; and when disturbance observation errors are bounded (img file= ' DDA0000581681490000011.TIF' wi= '35' he= '41' / ), the revolving speed of the permanent magnet synchronous motor can reach a neighborhood of the reference revolving speed (img file= 'DDA0000581681490000012. TIF' wi= '50' he= '48' / ). By the composite control method, the revolving speed of the permanent magnet synchronous motor can be adjusted effectively, and the adjusting speed and the robustness are high.

The invention discloses a robust adaptive underactuated surface ship path tracking control method based on a fuzzy unknown observer. The robust adaptive underactuated surface ship path tracking control method based on the fuzzy unknown observer comprises the following steps that an unmanned ship kinematics and dynamics model is established; a path tracking error dynamic state is built; a line-of-sight guidance law with variable speed is proposed; a fuzzy logic system is established; and a controller based on the fuzzy unknown observer is designed. In a guidance subsystem, the line-of-sight guidance law with the variable speed is proposed, the control flexibility and robustness of a guidance system are improved, and the position error is enabled to be asymptotically stabilized to zero; andin a control subsystem, the fuzzy unknown disturbance observer is designed to estimate the unknown disturbance quickly and accurately, and effective compensation is carried out on the designed speed and a heading controller, so that the tracking error between a guidance signal and actual quantity is asymptotically stabilized back to zero. The involved algorithm framework can enable a whole closed-loop system to be globally asymptotically stabilized, and the control flexibility and tracking accuracy of a path tracking control system are greatly improved.

A periodic disturbance observer determines real part ÎAn and imaginary part ÎBn of an estimated current including a periodic disturbance, from value of identification identifying a system transfer function of an nth order torque ripple frequency component from a command torque to a detected torque value, with a one-dimensional complex vector having a real part P̂An and an imaginary part P̂Bn, a cosine coefficient TAn, a sine coefficient TBn, and the real part P̂An and imaginary part P̂Bn of the system transfer function; subtracts command compensating current IAn* and IBn* obtained through pulsation extracting filter GF, respectively, from the real part ÎAn and imaginary part ÎBn of the estimated current, and thereby determines estimated periodic disturbance current real part dÎAn and imaginary part dÎBn to cancel the periodic disturbance current.

The invention provides a sliding-mode control method of a permanent magnet synchronous motor based on reaching law and disturbance observation compensation. A new reaching law algorithm is designed, and applicable in design of a speed controller in a sliding-mode variable structure; simultaneously, a saturation function is used in a disturbance observer control law, and used for improving a disturbance observer; a value observed by the disturbance observer is compensated in the speed controller; and therefore, a new control strategy is formed. The new control method is applicable in a vector control system of the permanent magnet synchronous motor; a current-speed double-closed-ring control structure is adopted; for buffeting and anti-interference problems in the sliding-mode control, an integral sliding-mode surface and a new reaching law are added based on the conventional sliding-mode speed controller; simultaneously, the disturbance observer is added; disturbance due to load changeis effectively inhibited; the responsiveness of the system is improved; buffeting of the system is reduced; and the anti-interference performance and the robustness of the system in a complex environment are obviously improved.

The invention provides an uncertain mechanical arm fixed time track following control method with input saturation, which can overcome influences of mechanical arm control input saturation effect anduncertainty, and improves robustness of a system. The method comprises the following steps: establishing a kinetic equation of an n-freedom rotary joint rigid mechanical arm system with a viscous friction item; according to the established kinetic equation and a mechanical arm track error following signal, establishing a following error kinetic equation which takes parameter uncertainty into consideration; establishing a state space model of mechanical arm track following errors; establishing a fixed time disturbance observer according to the established space model; establishing a fixed timenon-singular terminal sliding mode surface according to the mechanical arm track following error signal; preliminarily determining each joint drive motor control moment instruction of a mechanical arm, and integrating a moment output range of a performer, thereby obtaining each joint control moment of the mechanical arm. The invention relates to the field of mechanical arm control.

The invention discloses a vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers, and belongs to the technical field of aircraft control. A vertical take-off and landing airplane dynamical model taking external disturbance and actuator faults into consideration is built, the dynamical model is converted into a non-linear model in a standard form, the disturbance, the faults and state variables are estimated in real time by using the disturbance observer and the fault diagnosis observer which is in cascade connection with the disturbance observer, the non-linear model is decoupled into two subsystems, the control rate of each subsystem is determined, and the fault-tolerant control rate is determined according to the control rates and fault estimation values of the two subsystems. Under the action of a fault-tolerant controller, the system taking effects of the external disturbance and the faults into consideration compensates for the faults and the disturbance in real time, influence of the faults and the disturbance is reduced rapidly, and robustness of the control system is improved.

The invention discloses a predictive control method for a supercritical set based on decoupling and disturbance observation. According to the method, a supercritical thermal power generating set is adopted as a controlled object, the fuel amount, the water supply amount, and the openness of an adjusting valve of a steam turbine are adopted as inputs, the main steam pressure, the middle point temperature, and the loads of the set are adopted as outputs, the controlled object is enabled to be similar to decoupling through a feedforward compensator, and then disturbance is observed through disturbance observers which are respectively arranged at channels, so that the multivariate predictive control to the controlled object is realized, the problem of poor control effects caused by the disturbance influences of a coordinative control system of the supercritical set is solved, the external influence that the disturbance cannot be measured can be effectively inhibited, and besides, the internal disturbance caused by the coupling between input varies can be inhibited, so that the control property of the coordinative control system of the supercritical set is improved.

The invention discloses a preset performance ocean bottom flying node trajectory tracking control method based on a disturbance observer, relates to a preset performance ocean bottom flying node trajectory tracking control method, and aims to solve the problems that an existing method does not consider modeling uncertainty and ocean environment disturbance and propeller faults affect the OBFN (Ocean Bottom Flying Node). The method comprises the following steps that: 1: establishing a Fossen outline six-degree-of-freedom nonlinear kinetic model; 2: carrying out OBFN kinetic model transformationon the nonlinear kinetic model established in S1 to obtain an OBFN kinetic model, and determining an OBFN tracking error equation according to the OBFN kinetic model; 3: establishing a performance function; 4: carrying out error transformation on the tracking error in the S3 to obtain a transformed error; and 5: according to the transformed error obtained in S4, designing an OBFN system total uncertainty observer and a preset performance trajectory tracking controller. The method is used in the field of trajectory tracking control.

In a medical control system, when motors are in a stopped state according to the determination based on an amount of change in an instruction value, the disturbance characteristics is set at high sensitivity in order to keep the detection capability of a disturbance observer section in an enhanced state during a period to the drive start time of the motors, and when the motors are brought into an operating state, a gain of a controller is returned to a normal setting value to maintain the excellent follow-up characteristics.

A double-ring dead-beat prediction control method for a permanent magnet synchronous motor based on disturbance estimation compensation comprises the following steps: establishing a discrete current prediction model of the permanent magnet synchronous motor, and designing a dead-beat current prediction controller; designing a sliding mode disturbance observer to estimate stator current and parameter disturbance; designing a dead-beat speed prediction controller; and designing a sliding mode disturbance observer to observe and compensate the load torque. According to the invention, under the condition that motor model parameters are not matched, the method achieve the accurate current control; under the condition that the dead-beat speed prediction controller is sensitive to load change, the method achieves the improvement of the dynamic and static performance and the anti-disturbance performance of the speed outer ring through load torque observation and compensation.

An abnormality detection support device, suitable for a case where rescue operations are made under situations that visibility is disturbed by smoke due to fire, includes an infrared camera, a display which, at least when the infrared camera is in use, comes to be positioned in front of a user's eyes and reproduces an image taken by the infrared camera thereon and a face protector or a helmet, on which the infrared camera and the display are provided, and the infrared camera and the display are arranged to be within an outline of the user's head in a front view when the device is put on the user. The present invention can, therefore, provide the abnormality detection support device which enables an operator to work with both hands available while directly watching the infrared image even under a circumstance that smoke or the like due to occurrence of fire disturbs the field of vision of the operator, and has excellent usability.

A current control unit takes a deviation between a current command value and a current flowing through an inverter of a power conversion device, and controls the inverter based on the deviation. A harmonic sensing part receives input of an output current of an AC filter, and outputs a predetermined order harmonic of the input current in a direct current value form. A disturbance observer estimates the disturbance of the harmonic based on the output current and a coefficient defined as an inverse function of a transfer function from harmonic suppression current command value to filter output current detection value. A harmonic suppression control unit takes the deviation between the estimated harmonic disturbance and a disturbance command value that suppresses the disturbance, and calculates a harmonic suppression current command value. The harmonic suppression current command value is superimposed on the current command value of the current control unit.

In the electric power steering apparatus which controls a motor that gives a steering assisting force to a steering mechanism based on an electric current controlling value which is computed from a steering assisting command value which has been computed by a computing device based on a steering torque generated in a steering shaft and an electric current value of the motor, provided are a self-aligning torque estimating section which estimates a self-aligning torque by a disturbance observer constitution and a steering torque feedback section which performs definition of a steering reaction force based on a self-aligning torque estimated value which has been estimated by the self-aligning torque estimating section and feeds the steering reaction force back to the steering torque.

The invention provides a hybrid finite time control method for quadrotor accurate trajectory tracking. The method comprises the steps: establishing a kinematic model and a dynamical model of a quad-rotor unmanned aerial vehicle; designing a vertical control law of the vertical motion according to a height tracking error of the quadrotor unmanned aerial vehicle and an adaptive integral sliding surface design; on the basis of a horizontal position tracking error of the quadrotor unmanned aerial vehicle, designing a horizontal control law of the horizontal motion based on a backstepping method; and designing a finite time disturbance observer based on the attitude angle of quadrotor unmanned aerial vehicle and designing a precise attitude stability control law by combining a non-singular terminal sliding-mode control law and the finite time disturbance observer. According to the invention, the quad-rotor is classified into three subsystems of the height, horizontal position and attitude and three kinds of control strategies are designed respectively; and on the basis of the hybrid control scheme, the trajectory tracking error is stabilized rapidly. The accurate trajectory tracking ofthe quadrotor can be realized under the condition that the unknown model parameters and the external disturbance are allowed; and the manipulation is more flexible.

The present invention provides a method for attitude control based on finite time friction estimation for a flexible spacecraft. The control method includes the following steps: a. introducing spacecraft flywheel friction disturbance into a spacecraft dynamics system, and establishing a flexible spacecraft dynamics system with flywheel friction disturbance; b. converting the flexible spacecraft dynamics system with flywheel friction disturbance into a state-space form; c. constructing a flywheel friction disturbance estimator; d. constructing a flexible appendage vibration disturbance observer; and e. combining the flywheel friction disturbance estimator in the step c and the flexible appendage vibration disturbance observer in the step d with a nominal controller to obtain a compound controller; the compound controller compensating for flywheel friction according to an estimated value of a flywheel friction moment; and the compound controller compensating for flexible appendage vibration disturbance according to an estimated value of flexible appendage vibration disturbance.

The invention relates to a vehicle yaw stability predicting model control method and belongs to the technical field of a vehicle control. The disturbance-observer-based vehicle yaw stability predicting model control method uses a model predicting control method to design a linear model predicting controller, considers constraint conditions and can reduce computation time, track an expected value as much as possible and keep vehicle stability. The method includes: designing a reference model; performing linearization on a vehicle two-freedom-degree nonlinear model to obtain a linear model withmodel error disturbance terms; designing error terms in a disturbance observer pair model according to the linear model; using a model predicting control algorithm to build a target function, and solving an optimal problem corresponding to a cost function to obtain control input acting to a system to allow the vehicle system to track the expected value as much as possible so as to guaranteed vehicle stability. By the method, model complexity can be lowered effectively, control precision requirements are satisfied, and the constraint of driving torque is considered.

The invention provides a method for achieving tooth space compensation for a flexible joint of a space manipulator. The method comprises the following steps that the position command signals yd of a direct current motor and the position signals y output by a kinetic model, with space influences taken into consideration, of the flexible joint of the space manipulator are collected, a sliding mode variable structure controller is designed, and a sliding-mode control law is obtained; the control input of a control system of the flexible joint after linear decoupling processing is carried out is obtained by adopting a differential geometry feedback linearization method according to the sliding-mode control law; according to the control input of the control system of the flexible joint after linear decoupling processing is carried out, a disturbance observer is designed for the kinetic model, with the space influences taken into consideration, of the flexible joint of the space manipulator, the control input, under compensation space nonlinear influences, of the flexible joint, and therefore it is guaranteed that the position output of the control system tracks the expected position signals with needed precision. According to the technical scheme of the method for achieving the tooth space compensation for the flexible joint of the space manipulator, influences of the space on the system position precision can be compensated for effectively, high-precision tracking control can be achieved, and the happening frequency of the buffeting phenomenon is reduced at the same time.