A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and param...A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.展开更多
微电网采用多交流电力弹簧(AC electric spring,ACES)分布式一致性控制可实现系统母线电压平稳,但非理想通信网络情形下传统矢量控制方法难以保持母线电压期望轨迹稳定跟踪。针对这一问题,设计形式简单的高斯观测器,以有功功率和无功功...微电网采用多交流电力弹簧(AC electric spring,ACES)分布式一致性控制可实现系统母线电压平稳,但非理想通信网络情形下传统矢量控制方法难以保持母线电压期望轨迹稳定跟踪。针对这一问题,设计形式简单的高斯观测器,以有功功率和无功功率牵制项形式与多ACES一致性控制器结合,动态调节各母线电压期望轨迹,在线补偿时变通信时延与噪声干扰造成的偏差;设计具有零动态特性的反馈线性化控制方法,采用简单的线性化控制器,即可实现存在不确定性扰动情形下系统母线电压期望轨迹准确跟踪;设计基于ACES开关模式的模型预测控制方法,完成滤波电感电流目标函数快速寻优与有功功率精确分配。依据Lyapunov稳定性定理,证明通信网络非理想情形下闭环控制系统可全局渐近收敛至期望工作点,并求取收敛时间上界。基于dSPACE的实验结果验证所提方法具有动态响应快、稳定域宽、鲁棒性强的特点。展开更多
The robust control problem for a class of underactuated mechanical systems called acrobots is addressed. The goal is to drive the acrobots away from the straight-down position and balance them at the straight-up unsta...The robust control problem for a class of underactuated mechanical systems called acrobots is addressed. The goal is to drive the acrobots away from the straight-down position and balance them at the straight-up unstable equilibrium position in the presence of parametric uncertainties and external disturbance. First, in the swing-up area, it is shown that the time derivative of energy is independent of the parameter uncertainties, but exogenous disturbance may destroy the characteristic of increase in mechanical energy. So, a swing-up controller with compensator is designed to suppress the influence of the disturbance. Then, in the attractive area, the control problem is formulated into a H~ control framework by introducing a proper error signal, and a sufficient condition of the existence of Hoo state feedback control law based on linear matrix inequality （LMI） is proposed to guarantee the quadratic stability of the control system. Finally, the simulation results show that the proposed control approach can simultaneously handle a maximum ±10% parameter perturbation and a big disturbance simultaneously.展开更多
To explore the precise dynamic response of the levitation system with active controller, a maglev guide way-electromagnet-air spring-cabin coupled model is derived firstly. Based on the mathematical model, it shows th...To explore the precise dynamic response of the levitation system with active controller, a maglev guide way-electromagnet-air spring-cabin coupled model is derived firstly. Based on the mathematical model, it shows that the inherent nonlinearity, inner coupling, misalignments between the sensors and actuators, load uncertainties and external disturbances are the main issues that should be solved in engineering. Under the assumptions that the loads and external disturbance are measurable, the backstepping module controller developed in this work can tackle the above problems effectively. In reality, the load is uncertain due to the additions of luggage and passengers, which will degrade the dynamic performance. A load estimation algorithm is introduced to track the actual load asymptotically and eliminate its influence by tuning the parameters of controller online. Furthermore,considering the external disturbances generated by crosswind, pulling motor and air springs, the extended state observer is employed to estimate and suppress the external disturbance. Finally, results of numerical simulations illustrating closed-loop performance are provided.展开更多
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject(2012AA041801)supproted by the High-tech Research and Development Program of China
文摘A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.
文摘微电网采用多交流电力弹簧(AC electric spring,ACES)分布式一致性控制可实现系统母线电压平稳,但非理想通信网络情形下传统矢量控制方法难以保持母线电压期望轨迹稳定跟踪。针对这一问题,设计形式简单的高斯观测器,以有功功率和无功功率牵制项形式与多ACES一致性控制器结合,动态调节各母线电压期望轨迹,在线补偿时变通信时延与噪声干扰造成的偏差;设计具有零动态特性的反馈线性化控制方法,采用简单的线性化控制器,即可实现存在不确定性扰动情形下系统母线电压期望轨迹准确跟踪;设计基于ACES开关模式的模型预测控制方法,完成滤波电感电流目标函数快速寻优与有功功率精确分配。依据Lyapunov稳定性定理,证明通信网络非理想情形下闭环控制系统可全局渐近收敛至期望工作点,并求取收敛时间上界。基于dSPACE的实验结果验证所提方法具有动态响应快、稳定域宽、鲁棒性强的特点。
基金Projects(61074112,60674044) supported by the National Natural Science Foundation of China
文摘The robust control problem for a class of underactuated mechanical systems called acrobots is addressed. The goal is to drive the acrobots away from the straight-down position and balance them at the straight-up unstable equilibrium position in the presence of parametric uncertainties and external disturbance. First, in the swing-up area, it is shown that the time derivative of energy is independent of the parameter uncertainties, but exogenous disturbance may destroy the characteristic of increase in mechanical energy. So, a swing-up controller with compensator is designed to suppress the influence of the disturbance. Then, in the attractive area, the control problem is formulated into a H~ control framework by introducing a proper error signal, and a sufficient condition of the existence of Hoo state feedback control law based on linear matrix inequality （LMI） is proposed to guarantee the quadratic stability of the control system. Finally, the simulation results show that the proposed control approach can simultaneously handle a maximum ±10% parameter perturbation and a big disturbance simultaneously.
基金Projects(60404003,11202230)supported by the National Natural Science Foundation of China
文摘To explore the precise dynamic response of the levitation system with active controller, a maglev guide way-electromagnet-air spring-cabin coupled model is derived firstly. Based on the mathematical model, it shows that the inherent nonlinearity, inner coupling, misalignments between the sensors and actuators, load uncertainties and external disturbances are the main issues that should be solved in engineering. Under the assumptions that the loads and external disturbance are measurable, the backstepping module controller developed in this work can tackle the above problems effectively. In reality, the load is uncertain due to the additions of luggage and passengers, which will degrade the dynamic performance. A load estimation algorithm is introduced to track the actual load asymptotically and eliminate its influence by tuning the parameters of controller online. Furthermore,considering the external disturbances generated by crosswind, pulling motor and air springs, the extended state observer is employed to estimate and suppress the external disturbance. Finally, results of numerical simulations illustrating closed-loop performance are provided.
