41 results about "Saturation nonlinearity" patented technology

The invention discloses a periodic adaptive learning control method of an input saturation mechanical arm system. Firstly, an input saturation nonlinear time-delay mechanical arm system model is established; then, a nonlinear time-varying mechanical arm periodic system equation with a Brunovsky standard form is constructed; a tracking controller and a compensatory learning controller are designed; stability and boundedness analysis is carried out according to a composite energy function method, and finally control parameters are selected to achieve real-time adaptive iterative learning torque control over the mechanical arm periodic system. The control method has the advantages of being better in adaptivity, capable of being well used for carrying out compensation on different degrees of saturation input, good in robustness, and capable of being popularized for achieving control over a periodic system without saturation characteristics and and popularized to a nonlinear periodic system without time-delay items; the controllers are easier and more convenient to obtain.

The invention discloses a boundary robust adaptive control method and device for a marine flexible riser. The method includes the steps of: determining boundary control input according to a set dynamic equation and a system boundary condition; constructing an auxiliary system for eliminating a saturation effect caused by the boundary control input; designing a boundary robust adaptive control lawaccording to the auxiliary system for compensation of the uncertainty of the disturbance of the system; controlling actual parameters of the system, and according to the control law formula, calculating a boundary control law at any moment; and according to the boundary control law, controlling a drive device to apply an action force to a marine flexible riser system. The boundary robust adaptivecontrol method and device for the marine flexible riser can actively eliminate the influence of the saturation linear input on the control performance of the marine flexible riser system and can compensate the uncertainty of the system so as to improve the stability of the system.

The invention discloses a repetitive controller system and an integral anti-saturation control method, wherein the repetitive controller system comprises a controller module, an integral anti-saturation module and a controlled object, the integral anti-saturation module includes a first output terminal and a second output terminal, the first output terminal is connected with an input terminal of the repetitive controller system and the second output terminal is connected with an input terminal of a saturated nonlinear function module, a control quantity compensation output by the second outputterminal is added to an original control signal to form a compensated control quantity, and is connected with the input terminal of the saturated nonlinear function module, an output terminal of thesaturated nonlinear function module is connected with an input terminal of the controlled object, an output quantity compensation of the first output terminal and the original output signal are addedto form a new output signal to be fed back to the input terminal of the repetitive controller system and the new output signal and a reference signal form deviation as an input of the repetitive controller system. According to the repetitive controller system and the integral anti-saturation control method, the technical problem in the prior art that the compensation effect of the control quantitysaturation is poor is solved.

Provided in the invention is a ground target staring anti-saturation tracking control method of a microsatellite. The method comprises the following steps: establishing a microsatellite attitude tracking dynamical model; constructing an appropriate Lyapunov functional unit and carrying out processing on an execution mechanism saturation model by using an additional matrix method; designing a feedback controller; and calculating an estimation range of an attraction domain. Therefore, problems of state time delay and execution mechanism output torque saturation during the satellite attitude tracking process can be solved; closed-loop system stability during the spacecraft staring tracking process can be ensured; and the ground target staring or space target reconnoiter task can be completed. Compared with the prior art, the influence on the attitude control system by time delay caused by system state data obtaining and processing can be eliminated and a design problem of a controller having execution mechanism saturation non-linear system can be solved; and attraction domain estimation can be completed with a low conservative property. The method can be applied to designs of other controllers having execution mechanism saturation and state time delay systems as well as attraction domain estimation.

The invention discloses a low-noise permanent magnet synchronous motor rotor initial position detection method, and relates to the field of motor control. The problem that the traditional initial position detection method generates relatively big vibration and loud noise when the position and the polarity of a magnetic pole is detected, so that the application thereof is limited in certain occasions with higher requirements on noise is solved. The method comprises the following steps: Step 1, identifying an estimated value theta est1 of the initial position of the magnetic pole by adopting a voltage injection method based on random high-frequency square wave aiming at a high-frequency mathematical model of a built-in permanent magnet synchronous motor; Step 2, observing the sign of the accumulated value of the high-frequency response current peak value of a gamma axis in the high-frequency mathematical model of the built-in permanent magnet synchronous motor based on the stator core saturation nonlinearity principle, and identifying the polarity information of the magnetic pole of a rotor; and Step 3, correcting and compensating the estimated value theta est1 of the initial position of the magnetic pole according to the polarity information of the magnetic pole of the rotor to obtain the estimated value theta est of the initial position of the rotor. The low-noise permanent magnet synchronous motor rotor initial position detection method is mainly used for detecting the initial position of the permanent magnet synchronous motor rotor.

The invention discloses an event trigger control method of a saturated nonlinear networked industrial control system. The method comprises the following steps: establishing a saturated nonlinear networked industrial control system state space model, designing a saturated nonlinear networked industrial control system state feedback controller based on event triggering, establishing a closed-loop system state space model, analyzing the stability and the passivity of a closed-loop system, and solving a feedback controller of the saturated nonlinear networked industrial control system based on event triggering. By designing the state feedback controller based on event triggering, the problem that the system cannot continuously, effectively and safely operate due to the fact that the influenceof state saturation, actuator saturation and external interference on the control performance of the industrial control system is rarely considered at the same time in an existing control method of the industrial control system is solved. The method can be used for effective control and safe operation of a complex networked nonlinear industrial control system.

The invention discloses a method and device for flexible riser vibration control. The method includes the following steps: the kinetic equation of saturation nonlinear input and dead zone nonlinear input is acquired, the input saturation model of a marine flexible riser system is constructed; an auxiliary system and a disturbance upper bound adaptive law are introduced according to the input saturation model, so that a control rate formula is obtained; the actual parameters of the marine flexible riser system are obtained, with the control rate formula used in combination, a boundary control rate at any time point is calculated; and a driving device is controlled according to the boundary control rate to apply an acting force to the marine flexible riser. With the method and device of theinvention adopted, the influence of mixed nonlinear input on the control performance of the marine flexible riser system can be eliminated; and the control precision and sensitivity of vibration suppression are improved, so that the stability of the system can be improved.

The invention discloses an adaptive control method for a fractional order system influenced by saturated nonlinear input, and the method specifically comprises the following steps: building a fractional order system mathematic model for describing a class of physical objects or processes, and carrying out the designing of a fractional order sliding mode surface according to a fractional order calculus theory; determining an adaptive updating law of unknown parameters in the fractional order mathematical model; designing a self-adaptive controller of the controlled system according to a fractional order stability theory and a saturated nonlinear input characteristic; and searching an appropriate Lyapunov function to verify the finite time accessibility of a sliding mode approaching stage. According to the invention, the adaptive control of the fractional order system under the influence of input nonlinearity can be realized; when unmodeled dynamics with unknown upper bound and external interference occur in the system, it can be guaranteed that a state trajectory reaches a sliding mode surface within limited time under the action of a designed controller; through the sliding mode action, the purpose that the state trajectory of the controlled system converges to zero is achieved, the self-adaptive identification of unknown parameters is achieved, and the control purpose is achieved.

The invention relates to a method for estimate that rotor position of switched reluctance motor. Based on the inductance characteristics of the saturated main magnetic circuit, A rotor position estimation strategy with saturated nonlinear inductance interval avoiding detection coil is proposed, Considering the problem of phase shift caused by analog filtering in the process of indirect acquisitionof inductance information of detection coil, a phase shift compensation algorithm is designed according to the phase shift theory to eliminate the position estimation error and further improve the position estimation accuracy. Through the above design, the detection coil technology can meet the requirements of dynamic operation under various load conditions, and can also achieve accurate positioning of the static initial position, to achieve frequent non-reverse starting of the motor. Therefore, it is helpful for its application in aerospace starter generators, electric vehicle drive motors and other applications where the reliability requirements are extremely high and the operating conditions are relatively harsh.

A relative attitude and orbit coupling control method for a rendezvous and docking final approximation section aims at particularity of a space rendezvous and docking task, inherits advantages of a preset performance control method, and utilizes approximation capability of a radial basis function neural network (RBFNN) to compensate saturation nonlinearity of an execution mechanism in an actual rendezvous and docking task. The whole controller design process does not need model priori knowledge such as saturation nonlinear structural characteristics of the execution mechanism, external interference and orbiter mass rotational inertia, the calculation complexity can be greatly reduced, meanwhile, the control saturation constraint of the execution mechanism is considered while the preset steady-state and transient-state performance is considered, and the method has high engineering practicability.

The invention discloses a low-complexity and adaptive saturation control method for a nonlinear system. The control method comprises the following steps of: firstly, converting control saturation nonlinearity into a linear model relative to an actual input signal by adopting a dead zone model; then, converting an original system with time-varying output constraint into unconstrained output constraint, and designing a new adaptive saturation control law along the filtered error manifold based on the system; and finally, by adopting the minimum learning parameter technology and the virtual errorconcept, only requiring update of two adaptive parameters on line to greatly reduce the calculation burden. Compared to the current work, the calculation amount of the adaptive scheme is small, and the asymptotic stability of the tracking error system can be ensured instead of the consistent final bounded stability. The adopted simulation shows that an improvement of about 4 times in tracking accuracy can be obtained, which demonstrates the effectiveness of the proposed control law.

The invention discloses a cross coupling magnetic saturation nonlinear transmission line structure comprising a coaxial rectangular external cylinder, an external cylinder cover and a coaxial internal core. The rectangular external cylinder and the external cylinder cover are fixedly connected as a whole via screws, and the rectangular external cylinder is internally provided with a sealing space. The coaxial internal core is arranged in the rectangular external cylinder, and the rectangular external cylinder is internally filled with transformer oil. The coaxial internal core comprises multiple metal block internal cores, ceramic dielectric blocks and conductor rods. The metal blocks are symmetrically and evenly distributed at the upper side and the lower side of the coaxial line. The conductor rods are successively connected between the metal blocks arranged at the upper side and the lower side of the coaxial line from input to output of the coaxial internal core. The ceramic dielectric blocks are arranged between the metal blocks arranged at the upper side or the lower side of the coaxial line. The external surface of a glass tube is sleeved by a ferrite magnetic core. The cross coupling magnetic saturation nonlinear transmission line concrete structure with high power capacity can be constructed so that generation of high-power radio frequency pulse can be realized, and a technical problem of generating high-power microwave by utilizing the nonlinear transmission line can be solved.

The invention discloses a guidance method based on sight angle nonlinear anti-saturation and uncertainty compensation, belongs to the technical field of aircraft flight guidance, and is characterizedin that approximate differential signals are obtained by only measuring sight angle information of an aircraft and constructing a third-order inertia nonlinear filter to provide damping required by aircraft guidance; a corresponding nonlinear signal is obtained through nonlinear anti-saturation transformation; and finally, by constructing a guidance interference and uncertainty compensator, a compensation signal of uncertainty interference of the guidance system is obtained, so that a good foundation is laid for improving the precision and fitness of the whole guidance design. Finally, the compensation signal, the sight angle signal, the anti-saturation nonlinear transformation signal and the integral signal are integrated to form a guidance integrated signal. The novel guidance method based on interference estimation compensation has the advantages of being simple in measurement information, high in guidance precision, good in robustness and wide in adaptability.

The invention discloses a running process modeling and adaptive control method for a motor train unit. The running process modeling and adaptive control method comprises the following steps: according to characteristics that the running process of the motor train unit is complex, information is incomplete and nonlinearity is obvious, putting forward a T-S bilinear model identification method by a data-driven modeling method; according to constraints such as an actual running chart, a front route condition, a limited speed condition, and traction/ braking force saturation nonlinearity of the motor train unit, establishing a constraint model of the motor train unit; and according to the model design, studying a model prediction control algorithm immediately to improve performance indexes for multi-objective optimization control. By the running process modeling and adaptive control method, a set of reliable basis is provided for optimizing operation of trainmen of the motor train unit, ensuring safe and punctual running of the motor train unit, improving the running comfort and lowering energy consumption; and the running process modeling and adaptive control method is applicable to on-line identification and the multi-objective optimization control on the running state of the motor train unit.

The invention relates to the technical field of vibration suppression of flexible marine risers, and particularly discloses a vibration suppression method for a flexible marine riser. The method comprises the following steps: modeling a flexible marine riser based on boundary disturbing force and spatial distribution disturbing force to obtain a marine riser model; acquiring the boundary state information of the flexible marine riser; constructing a boundary sliding mode anti-saturation controller; judging whether an actuator control value reaches an actuator saturation upper limit or not according to the output of the boundary sliding mode anti-saturation controller; if so, designing an auxiliary system according to the boundary state information of the flexible marine riser and the part exceeding the saturation upper limit; and when it is determined that the flexible marine riser is stable, acquiring the gain value range of the boundary sliding mode anti-saturation controller. The invention further discloses a vibration suppression system for the flexible marine riser. According to the vibration suppression method for the flexible marine riser, the influence of saturation nonlinearity of the actuator and external unknown disturbance on the stability of the flexible marine riser can be eliminated.

The invention discloses a relative orbit and attitude tracking control method for a final approaching section of rendezvous and docking of spacecrafts. The design of a controller in an existing preset performance control scheme depends on an initial value of a system tracking error, under the condition of considering relative orbit and attitude tracking error preset performance constraints, physical structure limitations of executing mechanisms such as a thruster, a control moment gyroscope and a momentum wheel in an actual rendezvous and docking task cannot be met, the above invention just aims to solve the above problem. According to the method, a new performance function is constructed by establishing a relative orbit and attitude tracking dynamics model between a tracking spacecraft and a target spacecraft, known limitations on an initial tracking error are relaxed, a design idea of preset performance is utilized to realize fine steady-state and transient-state control considering relative orbit and attitude tracking errors, and an auxiliary saturation compensation system is designed to compensate saturation nonlinearity of an execution mechanism.

The invention relates to a guaranteed cost robust gain scheduling controller design method of a spacecraft rendezvous system. According to the method, spacecraft intersection is divided into in-planemotion and out-of-plane motion to be considered, and a dynamic model with saturated nonlinearity and parameter uncertainty is established. For a spacecraft circular orbit rendezvous system with actuator saturation and parameter uncertainty, a cost-guaranteed robust gain scheduling controller is designed based on low gain feedback, a gain scheduling method and a robust control theory. Compared withthe existing gain scheduling control, the cost-guaranteed robust gain scheduling controller provided by the invention considers the mutual restriction relationship between the dynamic performance andthe control cost of the system, and balances the dynamic performance and the control cost of the system by introducing a secondary performance index function.

The invention discloses an intelligent anti-interference control method for a saturated nonlinear system, and belongs to the technical field of robots. The method includes: taking an uncertain nonlinear system as a research object, and taking an instruction of which the output can accurately track expectation under the common influence of coupling uncertain factors such as saturated nonlinearity, nonlinear dynamic, external interference and the like as a control target, performing estimation and feed-forward compensation on non-matching and matching unknown nonlinear dynamic states through a radial basis function neural network; performing estimation and feed-forward compensation on non-matching external interference and matching external interference through an extended state observer; aiming at the influence of'differential explosion 'existing in the controller, performing optimization through a control strategy based on instruction filtering backstepping; and aiming at the influence of saturation and filtering errors, performing real-time compensation through an auxiliary system based on the saturation and filtering errors. According to the method, it can be guaranteed that system output can accurately track expected instructions, the influence of differential explosion is avoided, and application in complex working conditions is better facilitated.

The invention provides a fuzzy adaptive output feedback specified performance control method and system for an intelligent ship autopilot system, and belongs to the technical field of ship motion intelligent control. For the intelligent ship autopilot system, a saturated nonlinear model is adopted, limited input signals are processed, and an error conversion technology and a fuzzy state observer are applied; the problem of output feedback specified performance control of an intelligent ship autopilot system is solved, the known requirement of a controller for autopilot system course angle change rate state information is effectively reduced, and the course tracking speed and precision are improved.