This paper proposes a novel composite dual-control bycombing the integral sliding mode control （ISMC） method basedon the finite time convergence theory with extended state observer（ESO） for a tracking problem of a...This paper proposes a novel composite dual-control bycombing the integral sliding mode control （ISMC） method basedon the finite time convergence theory with extended state observer（ESO） for a tracking problem of a missile with tail fins and reactionjetcontrol system （RCS）. First, the ISMC method based on finitetime convergence is utilized to design the control law of tail fins andthe pulse control of RCS for the dual-control system, ensuring thesystem with rapid response and high accuracy of tracking. Then,ESO is employed for the estimation of aerodynamic disturbancesinfluenced by the airflow of thruster jets. With the characteristicof high accuracy estimation of ESO, the chattering free trackingperformance of the attack angle command and the robustnessof the control law are achieved. Meanwhile, the stability of thedual-control system is analyzed based on finite time convergencestability theorem and Lyapunov’s theorem. Finally, numerical simulationsdemonstrate the effectiveness of the proposed design.展开更多
针对直流配电网中母线电压控制问题,在双向AC/DC变换器传统双闭环控制器的基础上,设计一种基于扩张状态观测器（extended state observer,ESO）和终端滑模的非线性鲁棒电流前馈控制器,在不需要增加额外电压/电流传感器的情况下实现对系...针对直流配电网中母线电压控制问题,在双向AC/DC变换器传统双闭环控制器的基础上,设计一种基于扩张状态观测器（extended state observer,ESO）和终端滑模的非线性鲁棒电流前馈控制器,在不需要增加额外电压/电流传感器的情况下实现对系统内扰动的快速跟踪,有利于直流配电网中分布式电源与负荷的扩展和即插即用。传统电流前馈控制需要多个电流传感器采集负载电流信息,利用ESO与终端滑模控制理论将电流前馈控制系统转变为以直流母线电压为输入信号的非线性鲁棒电流前馈控制器,有效避免额外传感器的加入,减少装置费用,并且ESO可对系统各状态以及系统模型的不确定性和外部扰动进行实时跟踪,实现对系统中母线电压波动的快速抑制。软件数值仿真结果表明,该控制器表现出良好的控制效果和鲁棒性,对于直流母线电压波动具有很好的稳定效果。展开更多
To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invari...To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invariance principle was used to realize static decoupling between the speed and tension of reversible cold strip mill. Then, considering the influence caused by the time variation of steel coil radius and rotational inertia of the left and right coilers, as well as the uncertainties, a CC strategy that is composed of extended state observer(ESO) and global sliding mode control(GSMC) with backstepping adaptive was proposed,which further realized dynamic decoupling and coordination control for the speed and tension system. Theoretical analysis shows that the resulting closed-loop system is global bounded stable. Finally, the simulation was carried out on the speed and tension system of a 1422 mm reversible cold strip mill by using the actual data, and through the comparison of the other control strategies, validity of the proposed CC strategy was shown by the results.展开更多
针对可旋转翼式弹道修正组件滚转通道控制中存在的未建模摩擦干扰、参数不确定性和外部随机干扰造成的复合扰动问题,提出一种基于扩张状态观测器(extended state observer, ESO)的滑模控制方法。首先建立弹道修正组件滚转通道模型,将动...针对可旋转翼式弹道修正组件滚转通道控制中存在的未建模摩擦干扰、参数不确定性和外部随机干扰造成的复合扰动问题,提出一种基于扩张状态观测器(extended state observer, ESO)的滑模控制方法。首先建立弹道修正组件滚转通道模型,将动力学模型中存在的外部干扰、未建模摩擦干扰和参数摄动整合为复合干扰,然后设计ESO对修正组件滚转通道模型中难以直接测定的状态变量以及复合干扰进行估计,并基于估计值结合滑模控制理论设计滚转通道控制器,实现对滚转角指令的精确跟踪。综合考虑ESO和滑模控制器构成的闭环控制系统,利用Lyaponov稳定性理论证明了所设计的闭环控制系统的稳定性。最后,通过仿真实验分析,证明所设计的修正组件滚转通道控制器,对滚转角指令的瞬态响应和稳态性能优异,同时可以有效抑制系统复合扰动,具备较强的鲁棒性。展开更多
针对具有多变量、非线性、强耦合和不确定性的可逆冷带轧机速度张力系统,提出了一种基于扩张状态观测器(extended state observer,ESO)的全局积分滑模自适应反步分散控制方法.首先,采用机理建模方法,建立了相对完备的可逆冷带轧机速度...针对具有多变量、非线性、强耦合和不确定性的可逆冷带轧机速度张力系统,提出了一种基于扩张状态观测器(extended state observer,ESO)的全局积分滑模自适应反步分散控制方法.首先,采用机理建模方法,建立了相对完备的可逆冷带轧机速度张力多变量耦合系统的数学模型.其次,将各子系统的耦合项和不确定项看成外扰,通过构造的ESO对其进行动态观测,并分别引入所设计的全局积分滑模自适应反步控制器中进行补偿,速度张力系统实现了有效的动态解耦和协调控制.理论分析表明,所提出的控制方法能够保证滑模面的渐近稳定和闭环系统的渐近跟踪性能.最后,基于某1422mm可逆冷带轧机速度张力系统的实际数据进行仿真,结果验证了所提方法的有效性.展开更多
基金supported by the National Natural Science Foundation of China(11202024)
文摘This paper proposes a novel composite dual-control bycombing the integral sliding mode control （ISMC） method basedon the finite time convergence theory with extended state observer（ESO） for a tracking problem of a missile with tail fins and reactionjetcontrol system （RCS）. First, the ISMC method based on finitetime convergence is utilized to design the control law of tail fins andthe pulse control of RCS for the dual-control system, ensuring thesystem with rapid response and high accuracy of tracking. Then,ESO is employed for the estimation of aerodynamic disturbancesinfluenced by the airflow of thruster jets. With the characteristicof high accuracy estimation of ESO, the chattering free trackingperformance of the attack angle command and the robustnessof the control law are achieved. Meanwhile, the stability of thedual-control system is analyzed based on finite time convergencestability theorem and Lyapunov’s theorem. Finally, numerical simulationsdemonstrate the effectiveness of the proposed design.
文摘针对直流配电网中母线电压控制问题,在双向AC/DC变换器传统双闭环控制器的基础上,设计一种基于扩张状态观测器（extended state observer,ESO）和终端滑模的非线性鲁棒电流前馈控制器,在不需要增加额外电压/电流传感器的情况下实现对系统内扰动的快速跟踪,有利于直流配电网中分布式电源与负荷的扩展和即插即用。传统电流前馈控制需要多个电流传感器采集负载电流信息,利用ESO与终端滑模控制理论将电流前馈控制系统转变为以直流母线电压为输入信号的非线性鲁棒电流前馈控制器,有效避免额外传感器的加入,减少装置费用,并且ESO可对系统各状态以及系统模型的不确定性和外部扰动进行实时跟踪,实现对系统中母线电压波动的快速抑制。软件数值仿真结果表明,该控制器表现出良好的控制效果和鲁棒性,对于直流母线电压波动具有很好的稳定效果。
基金Project(61074099)supported by the National Natural Science Foundation of ChinaProject(LJRC013)supported by Cultivation Program for Leading Talent of Innovation Team in Colleges and Universities of Hebei Province,ChinaProject(B705)supported by Doctor Foundation of Yanshan University,China
文摘To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invariance principle was used to realize static decoupling between the speed and tension of reversible cold strip mill. Then, considering the influence caused by the time variation of steel coil radius and rotational inertia of the left and right coilers, as well as the uncertainties, a CC strategy that is composed of extended state observer(ESO) and global sliding mode control(GSMC) with backstepping adaptive was proposed,which further realized dynamic decoupling and coordination control for the speed and tension system. Theoretical analysis shows that the resulting closed-loop system is global bounded stable. Finally, the simulation was carried out on the speed and tension system of a 1422 mm reversible cold strip mill by using the actual data, and through the comparison of the other control strategies, validity of the proposed CC strategy was shown by the results.
文摘针对可旋转翼式弹道修正组件滚转通道控制中存在的未建模摩擦干扰、参数不确定性和外部随机干扰造成的复合扰动问题,提出一种基于扩张状态观测器(extended state observer, ESO)的滑模控制方法。首先建立弹道修正组件滚转通道模型,将动力学模型中存在的外部干扰、未建模摩擦干扰和参数摄动整合为复合干扰,然后设计ESO对修正组件滚转通道模型中难以直接测定的状态变量以及复合干扰进行估计,并基于估计值结合滑模控制理论设计滚转通道控制器,实现对滚转角指令的精确跟踪。综合考虑ESO和滑模控制器构成的闭环控制系统,利用Lyaponov稳定性理论证明了所设计的闭环控制系统的稳定性。最后,通过仿真实验分析,证明所设计的修正组件滚转通道控制器,对滚转角指令的瞬态响应和稳态性能优异,同时可以有效抑制系统复合扰动,具备较强的鲁棒性。
文摘针对具有多变量、非线性、强耦合和不确定性的可逆冷带轧机速度张力系统,提出了一种基于扩张状态观测器(extended state observer,ESO)的全局积分滑模自适应反步分散控制方法.首先,采用机理建模方法,建立了相对完备的可逆冷带轧机速度张力多变量耦合系统的数学模型.其次,将各子系统的耦合项和不确定项看成外扰,通过构造的ESO对其进行动态观测,并分别引入所设计的全局积分滑模自适应反步控制器中进行补偿,速度张力系统实现了有效的动态解耦和协调控制.理论分析表明,所提出的控制方法能够保证滑模面的渐近稳定和闭环系统的渐近跟踪性能.最后,基于某1422mm可逆冷带轧机速度张力系统的实际数据进行仿真,结果验证了所提方法的有效性.
