Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturba...Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.展开更多
A nonlinear controller for disturbances rejection and collision avoidance is proposed for spacecraft formation flying.The formation flying is described by a nonlinear model with the J2 perturbation and atmospheric dra...A nonlinear controller for disturbances rejection and collision avoidance is proposed for spacecraft formation flying.The formation flying is described by a nonlinear model with the J2 perturbation and atmospheric drag. Based on the theory of the state-dependent Riccati equation（SDRE）, a finite time nonlinear control law is developed for the nonlinear dynamics involved in formation flying. Then, a compensative internal mode（IM） control law is added to eliminate disturbances.These two control laws compose a finite time nonlinear tracking controller with disturbances rejection. Moreover, taking safety requirements into account, the repulsive control law is incorporated in the composite controller to perform collision avoidance manoeuvres. A numerical simulation is presented to demonstrate the effectiveness of the proposed method.Compared to the conventional control method, the proposed method provides better performance in the presence of the obstacles and external disturbances.展开更多
Active disturbance rejection controller (ADRC) has good performance in induction motor (IM) control system, but controller parameter is difficult to tune. A method of tuning ADRC parameter by time scale is analyzed. T...Active disturbance rejection controller (ADRC) has good performance in induction motor (IM) control system, but controller parameter is difficult to tune. A method of tuning ADRC parameter by time scale is analyzed. The IM time scale is obtained by theoretical analysis. Combining the relations between scale time and ADRC parameters, ADRC parameter tuning in IM vector control based stator flux oriented is obtained. This parameter tuning method is validated by simulations and it provides a new technique for tuning of ADRC parameters of IM.展开更多
Disturbance rejection algorithm based on model reference adaptive control(MRAC)augmentation is investigated for uncertain turbulence disturbances.A stable adaptive control scheme is developed based on lower diagonal u...Disturbance rejection algorithm based on model reference adaptive control(MRAC)augmentation is investigated for uncertain turbulence disturbances.A stable adaptive control scheme is developed based on lower diagonal upper(LDU)decomposition of the high frequency gain matrix,which ensures closed-loop stability and asymptotic output tracking.Under the proposed control techniques,the bounded stability is achieved and the controller is able to remain within tight bounds on the matched and unmatched uncertainties.Finally,simulation studies of a linearized lateral-directional dynamics model are conducted to demonstrate the performance of the adaptive scheme.展开更多
This paper presents a novel flocking algorithm based on a memory-enhanced disturbance observer.To compensate for external disturbances,a filtered regressor for the double integrator model subject to external disturban...This paper presents a novel flocking algorithm based on a memory-enhanced disturbance observer.To compensate for external disturbances,a filtered regressor for the double integrator model subject to external disturbances is designed to extract the disturbance information.With the filtered regressor method,the algorithm has the advantage of eliminating the need for acceleration information,thus reducing the sensor requirements in applications.Using the information obtained from the filtered regressor,a batch of stored data is used to design an adaptive disturbance observer,ensuring that the estimated values of the parameters of the disturbance system equation and the initial value converge to their actual values.The result is that the flocking algorithm can compensate for external disturbances and drive agents to achieve the desired collective behavior,including virtual leader tracking,inter-distance keeping,and collision avoidance.Numerical simulations verify the effectiveness of the algorithm proposed in the present study.展开更多
The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this...The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.展开更多
To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed...To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed.Initially,aerodynamic models of the main and tail rotor are created using the blade element theory and the uniform inflow assumption.Subsequently,a comprehensive flight dynamic model of the helicopter is established through fitting aerodynamic force fitting.Subsequently,for precise helicopter maneuvering,including the spiral,spiral up,and Ranversman maneuver,a regular trim is undertaken,followed by minor perturbation linearization at the trim point.Utilizing the linearized model,controllers are created for the IM attitude inner loop and LADRC position outer loop of the helicopter.Ultimately,a comparison is made between the maneuver trajectory tracking results of the IM‑LADRC and the conventional proportional-integral-derivative(PID)control method is performed.Experimental results demonstrate that utilizing the post-trim minor perturbation linearized model in combination with the IM‑LADRC method can achieve higher precision in tracking results,thus enhancing the accuracy of helicopter maneuver execution.展开更多
Active disturbance rejection controller（ADRC）uses tracking-differentiator（TD）to solve the contradiction between the overshoot and the rapid nature.Fractional order proportion integral derivative（PID）controller i...Active disturbance rejection controller（ADRC）uses tracking-differentiator（TD）to solve the contradiction between the overshoot and the rapid nature.Fractional order proportion integral derivative（PID）controller improves the control quality and expands the stable region of the system parameters.ADRC fractional order（ADRFO）PID controller is designed by combining ADRC with the fractional order PID and applied to reentry attitude control of hypersonic vehicle.Simulation results show that ADRFO PID controller has better control effect and greater stable region for the strong nonlinear model of hypersonic flight vehicle under the influence of external disturbance,and has stronger robustness against the perturbation in system parameters.展开更多
针对直流到直流(direct-current to direct-current,DC-DC)变换器在负载切换时,传统的控制策略无法取得良好的动态性能问题,提出一种模型补偿自抗扰控制方法,将其应用于DC-DC变换器系统。通过建立BUCK型DC-DC变换器控制系统模型,提出电...针对直流到直流(direct-current to direct-current,DC-DC)变换器在负载切换时,传统的控制策略无法取得良好的动态性能问题,提出一种模型补偿自抗扰控制方法,将其应用于DC-DC变换器系统。通过建立BUCK型DC-DC变换器控制系统模型,提出电压外环及电流内环线性自抗扰,并在此基础上对电压外环设计基于扰动补偿的模型自抗扰控制策略。对DC-DC变换器模型自抗扰控制系统进行模拟仿真,仿真结果表明:所提出的数学模型补偿自抗扰方式在电压追踪性能和鲁棒性方面更具优势。展开更多
文摘Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.
基金supported by the National Natural Science Foundation of China(Grant No.11404404)
文摘A nonlinear controller for disturbances rejection and collision avoidance is proposed for spacecraft formation flying.The formation flying is described by a nonlinear model with the J2 perturbation and atmospheric drag. Based on the theory of the state-dependent Riccati equation（SDRE）, a finite time nonlinear control law is developed for the nonlinear dynamics involved in formation flying. Then, a compensative internal mode（IM） control law is added to eliminate disturbances.These two control laws compose a finite time nonlinear tracking controller with disturbances rejection. Moreover, taking safety requirements into account, the repulsive control law is incorporated in the composite controller to perform collision avoidance manoeuvres. A numerical simulation is presented to demonstrate the effectiveness of the proposed method.Compared to the conventional control method, the proposed method provides better performance in the presence of the obstacles and external disturbances.
文摘Active disturbance rejection controller (ADRC) has good performance in induction motor (IM) control system, but controller parameter is difficult to tune. A method of tuning ADRC parameter by time scale is analyzed. The IM time scale is obtained by theoretical analysis. Combining the relations between scale time and ADRC parameters, ADRC parameter tuning in IM vector control based stator flux oriented is obtained. This parameter tuning method is validated by simulations and it provides a new technique for tuning of ADRC parameters of IM.
文摘Disturbance rejection algorithm based on model reference adaptive control(MRAC)augmentation is investigated for uncertain turbulence disturbances.A stable adaptive control scheme is developed based on lower diagonal upper(LDU)decomposition of the high frequency gain matrix,which ensures closed-loop stability and asymptotic output tracking.Under the proposed control techniques,the bounded stability is achieved and the controller is able to remain within tight bounds on the matched and unmatched uncertainties.Finally,simulation studies of a linearized lateral-directional dynamics model are conducted to demonstrate the performance of the adaptive scheme.
文摘This paper presents a novel flocking algorithm based on a memory-enhanced disturbance observer.To compensate for external disturbances,a filtered regressor for the double integrator model subject to external disturbances is designed to extract the disturbance information.With the filtered regressor method,the algorithm has the advantage of eliminating the need for acceleration information,thus reducing the sensor requirements in applications.Using the information obtained from the filtered regressor,a batch of stored data is used to design an adaptive disturbance observer,ensuring that the estimated values of the parameters of the disturbance system equation and the initial value converge to their actual values.The result is that the flocking algorithm can compensate for external disturbances and drive agents to achieve the desired collective behavior,including virtual leader tracking,inter-distance keeping,and collision avoidance.Numerical simulations verify the effectiveness of the algorithm proposed in the present study.
基金supported by Southern Marine Science and Guangdong Laboratory(Zhuhai)(Grant No.SML2023SP229)。
文摘The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.
基金supported in part by the National Natural Science Foundation of China(No.12032012)the Key Discipline Construction Project of Colleges and Universities in Jiangsu Province.
文摘To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed.Initially,aerodynamic models of the main and tail rotor are created using the blade element theory and the uniform inflow assumption.Subsequently,a comprehensive flight dynamic model of the helicopter is established through fitting aerodynamic force fitting.Subsequently,for precise helicopter maneuvering,including the spiral,spiral up,and Ranversman maneuver,a regular trim is undertaken,followed by minor perturbation linearization at the trim point.Utilizing the linearized model,controllers are created for the IM attitude inner loop and LADRC position outer loop of the helicopter.Ultimately,a comparison is made between the maneuver trajectory tracking results of the IM‑LADRC and the conventional proportional-integral-derivative(PID)control method is performed.Experimental results demonstrate that utilizing the post-trim minor perturbation linearized model in combination with the IM‑LADRC method can achieve higher precision in tracking results,thus enhancing the accuracy of helicopter maneuver execution.
基金Supported by the Innovation Foundation of Aerospace Science and Technology(CASC200902)~~
文摘Active disturbance rejection controller（ADRC）uses tracking-differentiator（TD）to solve the contradiction between the overshoot and the rapid nature.Fractional order proportion integral derivative（PID）controller improves the control quality and expands the stable region of the system parameters.ADRC fractional order（ADRFO）PID controller is designed by combining ADRC with the fractional order PID and applied to reentry attitude control of hypersonic vehicle.Simulation results show that ADRFO PID controller has better control effect and greater stable region for the strong nonlinear model of hypersonic flight vehicle under the influence of external disturbance,and has stronger robustness against the perturbation in system parameters.
文摘针对直流到直流(direct-current to direct-current,DC-DC)变换器在负载切换时,传统的控制策略无法取得良好的动态性能问题,提出一种模型补偿自抗扰控制方法,将其应用于DC-DC变换器系统。通过建立BUCK型DC-DC变换器控制系统模型,提出电压外环及电流内环线性自抗扰,并在此基础上对电压外环设计基于扰动补偿的模型自抗扰控制策略。对DC-DC变换器模型自抗扰控制系统进行模拟仿真,仿真结果表明:所提出的数学模型补偿自抗扰方式在电压追踪性能和鲁棒性方面更具优势。
