Neural networks require a lot of training to understand the model of a plant or a process. Issues such as learning speed, stability, and weight convergence remain as areas of research and comparison of many training a...Neural networks require a lot of training to understand the model of a plant or a process. Issues such as learning speed, stability, and weight convergence remain as areas of research and comparison of many training algorithms. The application of neural networks to control interior permanent magnet synchronous motor using direct torque control （DTC） is discussed. A neural network is used to emulate the state selector of the DTC. The neural networks used are the back-propagation and radial basis function. To reduce the training patterns and increase the execution speed of the training process, the inputs of switching table are converted to digital signals, i.e., one bit represent the flux error, one bit the torque error, and three bits the region of stator flux. Computer simulations of the motor and neural-network system using the two approaches are presented and compared. Discussions about the back-propagation and radial basis function as the most promising training techniques are presented, giving its advantages and disadvantages. The system using back-propagation and radial basis function networks controller has quick parallel speed and high torque response.展开更多
The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this p...The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.展开更多
A flux linkage compensation field oriented control (FOC) method was proposed to suppress the speed and torque ripples of a brushless wound-field synchronous motor in its starting process. The starting process was anal...A flux linkage compensation field oriented control (FOC) method was proposed to suppress the speed and torque ripples of a brushless wound-field synchronous motor in its starting process. The starting process was analyzed and the model of wound-field synchronous electric machine was established. The change of field current of the electric machine was described mathematically for simplified exciter and rotate rectifier. Based on the traditional field control, the flux linkage compensation was introduced in d-axis current to counteract the flux ripple. Some simulation and preliminary experiments were implemented. The results show that the proposed method is feasible and effective.展开更多
Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and ev...Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.展开更多
This article analyzes the shift factors of the descending node local time for sun-synchronous satellites and proposes a shift control method to keep the local time shift within an allowance range. It is found that the...This article analyzes the shift factors of the descending node local time for sun-synchronous satellites and proposes a shift control method to keep the local time shift within an allowance range. It is found that the satellite orbit design and the orbit injection deviation are the causes for the initial shift velocity, whereas the atmospheric drag and the sun gravitational perturbation produce the shift acceleration. To deal with these shift factors, a shift control method is put forward, through such methods as orbit variation design, orbit altitude, and inclination keeping control. The simulation experiment and practical application have proved the effectiveness of this control method.展开更多
A fuzzy sliding-mode control (FSMC) scheme based on T-S fuzzy models was proposed for the permanent magnet synchronous motor (PMSM) drive system to solve the speed tracking problem. A T-S fuzzy model was firstly forme...A fuzzy sliding-mode control (FSMC) scheme based on T-S fuzzy models was proposed for the permanent magnet synchronous motor (PMSM) drive system to solve the speed tracking problem. A T-S fuzzy model was firstly formed to represent the nonlinear system of PMSM. For converting the tracking control into a stabilization problem, a new control design was proposed to define the internal desired states. Then, the FSMC controller for PMSM system with parameter variation and load disturbance was designed based on the fuzzy model. The performance of the proposed controller was verified by experimental results on PMSM system. The results show that the FSMC scheme can drive the dynamics of PMSM into a designated sliding surface in finite time and guarantee the property of asymptotical stability. The information of upper bound of modeling errors as well as perturbations is not required when using the FSMC controller.展开更多
In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on...In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on adjacent coupling error analysis is presented. The mathematical models of the robot, including kinematic model, dynamic model and spline trajectory planing, are established and verified. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with nonlinear control and coupling performance of the robot, N-PD cross-coupling synchronization controller is designed and validated by simulation analysis. A servo control experimental system which mainly consists of laser tracking system, the robot mechanical system and EtherCAT based servo control system is constructed. The synchronization error is significantly decreased and the maximum trajectory error is reduced from 0.33 mm to 0.1 mm. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot＇s trajectory tracking precision significantly.展开更多
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
The discovery of chaos in the sixties of last century was a breakthrough in concept,revealing the truth that some disorder behavior,called chaos,could happen even in a deterministic nonlinear system under barely deter...The discovery of chaos in the sixties of last century was a breakthrough in concept,revealing the truth that some disorder behavior,called chaos,could happen even in a deterministic nonlinear system under barely deterministic disturbance.After a series of serious studies,people begin to acknowledge that chaos is a specific type of steady state motion other than the conventional periodic and quasi-periodic ones,featuring a sensitive dependence on initial conditions,resulting from the intrinsic randomness of a nonlinear system itself.In fact,chaos is a collective phenomenon consisting of massive individual chaotic responses,corresponding to different initial conditions in phase space.Any two adjacent individual chaotic responses repel each other,thus causing not only the sensitive dependence on initial conditions but also the existence of at least one positive top Lyapunov exponent(TLE) for chaos.Meanwhile,all the sample responses share one common invariant set on the Poincaré map,called chaotic attractor,which every sample response visits from time to time ergodically.So far,the existence of at least one positive TLE is a commonly acknowledged remarkable feature of chaos.We know that there are various forms of uncertainties in the real world.In theoretical studies,people often use stochastic models to describe these uncertainties,such as random variables or random processes.Systems with random variables as their parameters or with random processes as their excitations are often called stochastic systems.No doubt,chaotic phenomena also exist in stochastic systems,which we call stochastic chaos to distinguish it from deterministic chaos in the deterministic system.Stochastic chaos reflects not only the intrinsic randomness of the nonlinear system but also the external random effects of the random parameter or the random excitation.Hence,stochastic chaos is also a collective massive phenomenon,corresponding not only to different initial conditions but also to different samples of the random parameter or the random excitation.Thus,the unique common feature of deterministic chaos and stochastic chaos is that they all have at least one positive top Lyapunov exponent for their chaotic motion.For analysis of random phenomena,one used to look for the PDFs(Probability Density Functions) of the ensemble random responses.However,it is a pity that PDF information is not favorable to studying repellency of the neighboring chaotic responses nor to calculating the related TLE,so we would rather study stochastic chaos through its sample responses.Moreover,since any sample of stochastic chaos is a deterministic one,we need not supplement any additional definition on stochastic chaos,just mentioning that every sample of stochastic chaos should be deterministic chaos.We are mainly concerned with the following two basic kinds of nonlinear stochastic systems,i.e.one with random variables as its parameters and one with ergodical random processes as its excitations.To solve the stochastic chaos problems of these two kinds of systems,we first transform the original stochastic system into their equivalent deterministic ones.Namely,we can transform the former stochastic system into an equivalent deterministic system in the sense of mean square approximation with respect to the random parameter space by the orthogonal polynomial approximation,and transform the latter one simply through replacing its ergodical random excitations by their representative deterministic samples.Having transformed the original stochastic chaos problem into the deterministic chaos problem of equivalent systems,we can use all the available effective methods for further chaos analysis.In this paper,we aim to review the state of art of studying stochastic chaos with its control and synchronization by the above-mentioned strategy.展开更多
For multiple grid-connected inverters with active filter function,it makes sense to regulate every unit to output maximum active power from photovoltaic arrays,as well as eliminate the harmonic due to the non-linear l...For multiple grid-connected inverters with active filter function,it makes sense to regulate every unit to output maximum active power from photovoltaic arrays,as well as eliminate the harmonic due to the non-linear loads connected to the electric networks.Naturally,a centralized control coordination strategy was proposed for the purpose of high facility utilization,good harmonic compensation ability and unwanted overcompensation condition.Based on a vector decoupling control scheme and generalized instantaneous reactive power theory,the solution was to allocate the harmonic eliminating task for every inverter according to the instantaneous power margin of each.The grid current always keeps sinusoidal in spite of non-linear load change and output active power change for any inverter.The simulation results validate the efficacy of the proposed coordination strategy.展开更多
Chaos synchronization of systems with perturbations was investigated.A generic nonlinear control scheme to realize chaos synchronization of systems was proposed.This control scheme is flexible and practicable,and give...Chaos synchronization of systems with perturbations was investigated.A generic nonlinear control scheme to realize chaos synchronization of systems was proposed.This control scheme is flexible and practicable,and gives more freedom in designing controllers in order to achieve some desired performance.With the aid of Lyapunov stability theorem and partial stability theory,two cases were presented:1) Chaos synchronization of the system without perturbation or with vanishing perturbations;2) The boundness of the error state for the system with nonvanishing perturbations satisfying some conditions.Finally,several simulations for Lorenz system were provided to verify the effectiveness and feasibility of our method.Compared numerically with the existing results of linear feedback control scheme,the results are sharper than the existing ones.展开更多
The synchronization problem under two cases is considered. One is that the bound on the uncertainty existing in the controller is known, the other is that the bound is unknown. In the latter case, the simple adaptatio...The synchronization problem under two cases is considered. One is that the bound on the uncertainty existing in the controller is known, the other is that the bound is unknown. In the latter case, the simple adaptation laws for upper bound on the norm of the uncertainty is proposed. Using this adaptive upper bound, a variable structure control is designed. The proposed method does not guarantee the convergence of the adaptive upper bound to the real one but makes the system asymptotically stable.展开更多
A simple control structure in servo system is occasionally needed for simple industrial application which precise and high control performance is not exessively important so that the cost production can be reduced eff...A simple control structure in servo system is occasionally needed for simple industrial application which precise and high control performance is not exessively important so that the cost production can be reduced efficiently. Simplified vector control, which has simple control structure, is utilized as the permanent magnet synchronous motor control algorithm and genetic algorithm is used to tune three PI controllers used in simplified vector control. The control performance is obtained from simulation and investigated to verify the feasibility of the algorithm to be applied in the real application. Simulation results show that the speed and torque responses of the system in both continuous time and discrete time can achieve good performances. Furthermore, simplified vector control combined with genetic algorithm has a similar perfofmance with conventional field oriented control algorithm and possible to be realized into the real simple application in the future.展开更多
The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics m...The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics modeling of multi-cylinder thrust system and synchronous control design were accomplished. The simulation of the synchronization motion control system was completed in AMESim and Matlab/Simulink software environments. The experiment was conducted by means of master/slave PID with dead band compensating flow and conventional PID regulating pressure. The experimental results show that the proposed thrust hydraulic system and its control strategy can meet the requirements of tunneling in motion and posture control for the shield machine, keeping the non-synchronous error within ±3 mm.展开更多
To design a hyperchaotic generator and apply chaos into secure communication, a linear unidirectional coupling control is applied to two identical simplified Lorenz systems. The dynamical evolution process of the coup...To design a hyperchaotic generator and apply chaos into secure communication, a linear unidirectional coupling control is applied to two identical simplified Lorenz systems. The dynamical evolution process of the coupled system is investigated with variations of the system parameter and coupling coefficients. Particularly, the influence of coupling strength on dynamics of the coupled system is analyzed in detail. The range of the coupling strength in which the coupled system can generate hyperchaos or realize synchronization is determined, including phase portraits, Lyapunov exponents, and Poincare section. And the critical value of the system parameter between hyperchaos and synchronization is also found with fixed coupled strength. In addition, abundant dynamical behaviors such as four-wing hyperchaotic, two-wing chaotic, single-wing coexisting attractors and periodic orbits are observed and chaos synchronization error curves are also drawn by varying system parameter c. Numerical simulations are implemented to verify the results of these investigations.展开更多
To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based ...To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based on the finite-time control strategy is developed to observe the time-varying external disturbance via estimating the upper bound of its first derivative.Meanwhile,the rotation matrix is employed to describe the attitude of SFF for the purpose of the avoidance of singularity and unwinding phenomenon.As for the attitude synchronization and the tracking control architecture,a sliding mode surface(SMS)is given such that the control objective can be achieved.The effectiveness and the validity of the proposed method are elaborated via theoretical analysis and numerical simulations.展开更多
A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two pha...A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two phase-current sensors are indispensable for MPTC.In response to only one phase current sensor available and the change of stator resistance,a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC.Moreover,in view of the variation of system parameters and external disturbance,a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness.In this paper,the GFTSM,based on sliding mode theory,employs the fast terminal sliding mode in both the reaching stage and the sliding stage.The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors.On the other hand,compared with proportional-integral(PI)-based and sliding mode(SM)-based MPTC PMSM drive systems,it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion(THD)index of three-phase stator currents in the presence of variation of load torque.The simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
An adaptive backstepping sliding mode control approach is introduced to control the pitch motion of a rocket launcher. Its control law is proposed to guarantee that the control system is ultimately bounded in a Lyapun...An adaptive backstepping sliding mode control approach is introduced to control the pitch motion of a rocket launcher. Its control law is proposed to guarantee that the control system is ultimately bounded in a Lyapunov sense and make the servo system track the instruction of reference position globally and asymptotically. In addition, the sliding mode control can restrain the effects of parameter uncertainties and external disturbance. The functions of adaptive mechanism and sliding mode control are analyzed through the simulation in the different conditions.The simulation results illustrate that the method is applicable and robust.展开更多
基金the National Natural Science Foundation of China (60374032).
文摘Neural networks require a lot of training to understand the model of a plant or a process. Issues such as learning speed, stability, and weight convergence remain as areas of research and comparison of many training algorithms. The application of neural networks to control interior permanent magnet synchronous motor using direct torque control （DTC） is discussed. A neural network is used to emulate the state selector of the DTC. The neural networks used are the back-propagation and radial basis function. To reduce the training patterns and increase the execution speed of the training process, the inputs of switching table are converted to digital signals, i.e., one bit represent the flux error, one bit the torque error, and three bits the region of stator flux. Computer simulations of the motor and neural-network system using the two approaches are presented and compared. Discussions about the back-propagation and radial basis function as the most promising training techniques are presented, giving its advantages and disadvantages. The system using back-propagation and radial basis function networks controller has quick parallel speed and high torque response.
基金Project(50375139) supported by the National Natural Science Foundation of ChinaProject(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China
文摘The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.
基金Sponsored by the NSFC General Project (51177135)the Key Project of Natural Science Foundation of Shaanxi Province (2011GZ013)
文摘A flux linkage compensation field oriented control (FOC) method was proposed to suppress the speed and torque ripples of a brushless wound-field synchronous motor in its starting process. The starting process was analyzed and the model of wound-field synchronous electric machine was established. The change of field current of the electric machine was described mathematically for simplified exciter and rotate rectifier. Based on the traditional field control, the flux linkage compensation was introduced in d-axis current to counteract the flux ripple. Some simulation and preliminary experiments were implemented. The results show that the proposed method is feasible and effective.
基金Supported by the National Natural Science Foundation of China (11161027)。
文摘Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.
基金supported by the China Postdotoral Science Foundation(20060401004)
文摘This article analyzes the shift factors of the descending node local time for sun-synchronous satellites and proposes a shift control method to keep the local time shift within an allowance range. It is found that the satellite orbit design and the orbit injection deviation are the causes for the initial shift velocity, whereas the atmospheric drag and the sun gravitational perturbation produce the shift acceleration. To deal with these shift factors, a shift control method is put forward, through such methods as orbit variation design, orbit altitude, and inclination keeping control. The simulation experiment and practical application have proved the effectiveness of this control method.
基金Project (60835004) supported by the National Natural Science Foundation of China
文摘A fuzzy sliding-mode control (FSMC) scheme based on T-S fuzzy models was proposed for the permanent magnet synchronous motor (PMSM) drive system to solve the speed tracking problem. A T-S fuzzy model was firstly formed to represent the nonlinear system of PMSM. For converting the tracking control into a stabilization problem, a new control design was proposed to define the internal desired states. Then, the FSMC controller for PMSM system with parameter variation and load disturbance was designed based on the fuzzy model. The performance of the proposed controller was verified by experimental results on PMSM system. The results show that the FSMC scheme can drive the dynamics of PMSM into a designated sliding surface in finite time and guarantee the property of asymptotical stability. The information of upper bound of modeling errors as well as perturbations is not required when using the FSMC controller.
基金Project(2015AA043003)supported by National High-technology Research and Development Program of ChinaProject(GY2016ZB0068)supported by Application Technology Research and Development Program of Heilongjiang Province,ChinaProject(SKLR201301A03)supported by Self-planned Task of State Key Laboratory of Robotics and System(Harbin Institute of Technology),China
文摘In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on adjacent coupling error analysis is presented. The mathematical models of the robot, including kinematic model, dynamic model and spline trajectory planing, are established and verified. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with nonlinear control and coupling performance of the robot, N-PD cross-coupling synchronization controller is designed and validated by simulation analysis. A servo control experimental system which mainly consists of laser tracking system, the robot mechanical system and EtherCAT based servo control system is constructed. The synchronization error is significantly decreased and the maximum trajectory error is reduced from 0.33 mm to 0.1 mm. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot＇s trajectory tracking precision significantly.
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Project supported by National Natural Science Foundation of China (10872165)Northwestern Polytechnical University (CX200712)
文摘The discovery of chaos in the sixties of last century was a breakthrough in concept,revealing the truth that some disorder behavior,called chaos,could happen even in a deterministic nonlinear system under barely deterministic disturbance.After a series of serious studies,people begin to acknowledge that chaos is a specific type of steady state motion other than the conventional periodic and quasi-periodic ones,featuring a sensitive dependence on initial conditions,resulting from the intrinsic randomness of a nonlinear system itself.In fact,chaos is a collective phenomenon consisting of massive individual chaotic responses,corresponding to different initial conditions in phase space.Any two adjacent individual chaotic responses repel each other,thus causing not only the sensitive dependence on initial conditions but also the existence of at least one positive top Lyapunov exponent(TLE) for chaos.Meanwhile,all the sample responses share one common invariant set on the Poincaré map,called chaotic attractor,which every sample response visits from time to time ergodically.So far,the existence of at least one positive TLE is a commonly acknowledged remarkable feature of chaos.We know that there are various forms of uncertainties in the real world.In theoretical studies,people often use stochastic models to describe these uncertainties,such as random variables or random processes.Systems with random variables as their parameters or with random processes as their excitations are often called stochastic systems.No doubt,chaotic phenomena also exist in stochastic systems,which we call stochastic chaos to distinguish it from deterministic chaos in the deterministic system.Stochastic chaos reflects not only the intrinsic randomness of the nonlinear system but also the external random effects of the random parameter or the random excitation.Hence,stochastic chaos is also a collective massive phenomenon,corresponding not only to different initial conditions but also to different samples of the random parameter or the random excitation.Thus,the unique common feature of deterministic chaos and stochastic chaos is that they all have at least one positive top Lyapunov exponent for their chaotic motion.For analysis of random phenomena,one used to look for the PDFs(Probability Density Functions) of the ensemble random responses.However,it is a pity that PDF information is not favorable to studying repellency of the neighboring chaotic responses nor to calculating the related TLE,so we would rather study stochastic chaos through its sample responses.Moreover,since any sample of stochastic chaos is a deterministic one,we need not supplement any additional definition on stochastic chaos,just mentioning that every sample of stochastic chaos should be deterministic chaos.We are mainly concerned with the following two basic kinds of nonlinear stochastic systems,i.e.one with random variables as its parameters and one with ergodical random processes as its excitations.To solve the stochastic chaos problems of these two kinds of systems,we first transform the original stochastic system into their equivalent deterministic ones.Namely,we can transform the former stochastic system into an equivalent deterministic system in the sense of mean square approximation with respect to the random parameter space by the orthogonal polynomial approximation,and transform the latter one simply through replacing its ergodical random excitations by their representative deterministic samples.Having transformed the original stochastic chaos problem into the deterministic chaos problem of equivalent systems,we can use all the available effective methods for further chaos analysis.In this paper,we aim to review the state of art of studying stochastic chaos with its control and synchronization by the above-mentioned strategy.
基金Project(51107111)supported by the National Natural Science Foundation of China
文摘For multiple grid-connected inverters with active filter function,it makes sense to regulate every unit to output maximum active power from photovoltaic arrays,as well as eliminate the harmonic due to the non-linear loads connected to the electric networks.Naturally,a centralized control coordination strategy was proposed for the purpose of high facility utilization,good harmonic compensation ability and unwanted overcompensation condition.Based on a vector decoupling control scheme and generalized instantaneous reactive power theory,the solution was to allocate the harmonic eliminating task for every inverter according to the instantaneous power margin of each.The grid current always keeps sinusoidal in spite of non-linear load change and output active power change for any inverter.The simulation results validate the efficacy of the proposed coordination strategy.
基金Projects(61075065,60774045,U1134108) supported by the National Natural Science Foundation of ChinaProject(20110162110041) supported by the Ph.D Programs Foundation of Ministry of Education of ChinaProject(CX2011B086) supported by Hunan Provincial Innovation Foundation For Postgraduate,China
文摘Chaos synchronization of systems with perturbations was investigated.A generic nonlinear control scheme to realize chaos synchronization of systems was proposed.This control scheme is flexible and practicable,and gives more freedom in designing controllers in order to achieve some desired performance.With the aid of Lyapunov stability theorem and partial stability theory,two cases were presented:1) Chaos synchronization of the system without perturbation or with vanishing perturbations;2) The boundness of the error state for the system with nonvanishing perturbations satisfying some conditions.Finally,several simulations for Lorenz system were provided to verify the effectiveness and feasibility of our method.Compared numerically with the existing results of linear feedback control scheme,the results are sharper than the existing ones.
文摘The synchronization problem under two cases is considered. One is that the bound on the uncertainty existing in the controller is known, the other is that the bound is unknown. In the latter case, the simple adaptation laws for upper bound on the norm of the uncertainty is proposed. Using this adaptive upper bound, a variable structure control is designed. The proposed method does not guarantee the convergence of the adaptive upper bound to the real one but makes the system asymptotically stable.
文摘A simple control structure in servo system is occasionally needed for simple industrial application which precise and high control performance is not exessively important so that the cost production can be reduced efficiently. Simplified vector control, which has simple control structure, is utilized as the permanent magnet synchronous motor control algorithm and genetic algorithm is used to tune three PI controllers used in simplified vector control. The control performance is obtained from simulation and investigated to verify the feasibility of the algorithm to be applied in the real application. Simulation results show that the speed and torque responses of the system in both continuous time and discrete time can achieve good performances. Furthermore, simplified vector control combined with genetic algorithm has a similar perfofmance with conventional field oriented control algorithm and possible to be realized into the real simple application in the future.
基金Project(50425518) supported by National Outstanding Youth Foundation of China Project(2007CB714004) supported by National Basic Research Program of China
文摘The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics modeling of multi-cylinder thrust system and synchronous control design were accomplished. The simulation of the synchronization motion control system was completed in AMESim and Matlab/Simulink software environments. The experiment was conducted by means of master/slave PID with dead band compensating flow and conventional PID regulating pressure. The experimental results show that the proposed thrust hydraulic system and its control strategy can meet the requirements of tunneling in motion and posture control for the shield machine, keeping the non-synchronous error within ±3 mm.
基金Projects(61073187,61161006) supported by the National Nature Science Foundation of ChinaProject supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,State Education Ministry,China
文摘To design a hyperchaotic generator and apply chaos into secure communication, a linear unidirectional coupling control is applied to two identical simplified Lorenz systems. The dynamical evolution process of the coupled system is investigated with variations of the system parameter and coupling coefficients. Particularly, the influence of coupling strength on dynamics of the coupled system is analyzed in detail. The range of the coupling strength in which the coupled system can generate hyperchaos or realize synchronization is determined, including phase portraits, Lyapunov exponents, and Poincare section. And the critical value of the system parameter between hyperchaos and synchronization is also found with fixed coupled strength. In addition, abundant dynamical behaviors such as four-wing hyperchaotic, two-wing chaotic, single-wing coexisting attractors and periodic orbits are observed and chaos synchronization error curves are also drawn by varying system parameter c. Numerical simulations are implemented to verify the results of these investigations.
基金This work was supported by the National Natural Science Foundation of China(11772185)the Natural Science Foundation of Heilongjiang Province(F2017005)the Fundamental Research Funds for the Central Universities(HEUCFP201770).
文摘To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based on the finite-time control strategy is developed to observe the time-varying external disturbance via estimating the upper bound of its first derivative.Meanwhile,the rotation matrix is employed to describe the attitude of SFF for the purpose of the avoidance of singularity and unwinding phenomenon.As for the attitude synchronization and the tracking control architecture,a sliding mode surface(SMS)is given such that the control objective can be achieved.The effectiveness and the validity of the proposed method are elaborated via theoretical analysis and numerical simulations.
基金supported by the National Natural Science Foundation of China(61463025).
文摘A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two phase-current sensors are indispensable for MPTC.In response to only one phase current sensor available and the change of stator resistance,a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC.Moreover,in view of the variation of system parameters and external disturbance,a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness.In this paper,the GFTSM,based on sliding mode theory,employs the fast terminal sliding mode in both the reaching stage and the sliding stage.The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors.On the other hand,compared with proportional-integral(PI)-based and sliding mode(SM)-based MPTC PMSM drive systems,it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion(THD)index of three-phase stator currents in the presence of variation of load torque.The simulation results validate the feasibility and effectiveness of the proposed scheme.
基金Supported by National Natural Science Foundation of China （61164013, U1334211, 51174091）, the Key Program of China Ministry of Railway （2011Z002-D）, and Natural Science Foundation of Jiangxi Province （20122BAB201021）
基金Sponsored by the National Ministries Foundation(A2620061288)
文摘An adaptive backstepping sliding mode control approach is introduced to control the pitch motion of a rocket launcher. Its control law is proposed to guarantee that the control system is ultimately bounded in a Lyapunov sense and make the servo system track the instruction of reference position globally and asymptotically. In addition, the sliding mode control can restrain the effects of parameter uncertainties and external disturbance. The functions of adaptive mechanism and sliding mode control are analyzed through the simulation in the different conditions.The simulation results illustrate that the method is applicable and robust.
