In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.T...In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.展开更多
控制力矩陀螺(control moment gyroscope,CMG)框架伺服系统常受到外部扰动力矩和内部参数摄动等多源扰动影响,导致其控制性能降低,本文重点针对参数摄动对框架伺服系统造成的影响,提出了基于H_(2)/H_(∞)复合控制的CMG框架伺服系统扰动...控制力矩陀螺(control moment gyroscope,CMG)框架伺服系统常受到外部扰动力矩和内部参数摄动等多源扰动影响,导致其控制性能降低,本文重点针对参数摄动对框架伺服系统造成的影响,提出了基于H_(2)/H_(∞)复合控制的CMG框架伺服系统扰动抑制方法.在常规H_(∞)鲁棒控制方法中引入电机参数摄动量,在保证对外部力矩扰动具有鲁棒性的基础上,提升对内部参数摄动影响的抑制能力;结合H_(2)控制策略,提出基于状态反馈H_(2)/H_(∞)复合控制方法,在保证稳态性能的同时进一步提升系统动态响应速度.所提出的复合控制方法能够有效降低多源扰动导致的速度波动,提升系统的动态响应速度.展开更多
针对双馈风机经串补并网引发的次同步控制相互作用(sub-synchronous control interaction,SSCI)问题,提出一种有源电力滤波器(active power filter,APF)谐波补偿控制策略。基于双馈风机(doubly fed induction generator,DFIG)和串补输...针对双馈风机经串补并网引发的次同步控制相互作用(sub-synchronous control interaction,SSCI)问题,提出一种有源电力滤波器(active power filter,APF)谐波补偿控制策略。基于双馈风机(doubly fed induction generator,DFIG)和串补输电线路的等效阻抗电路,利用阻抗法分析了系统发生SSCI的原因和特性;设计有源电力滤波器,通过向有源电力滤波器内部控制器注入包含无功电流和振荡电流在内的谐波参考电流来抑制风电场的次同步控制相互作用,该谐波电流参考值可通过并网采样电流减去其有功电流获得,有功电流则通过对APF直流侧电压采用一阶自抗扰控制(active disturbance rejection control,ADRC)获得;仿真验证了所提APF补偿控制策略在抑制SSCI方面的可行性。展开更多
针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自...针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自抗扰控制,速度环采用传统的自抗扰控制。电流环采用一种改进的谐振扩张状态观测器,将观测电流作为谐振控制器的输入,令谐振控制器的输出直接作用到电流环输出,从而降低了谐振电流环设计的复杂性。双环自抗扰谐振控制器保留了谐振控制器抑制特定频率谐波电流的特性,同时优化了系统的超调量与调节时间,有效提升了谐振控制系统的动态性能。仿真结果验证DLADRC系统的有效性。展开更多
A measurement system for the scattering characteristics of warhead fragments based on high-speed imaging systems offers advantages such as simple deployment,flexible maneuverability,and high spatiotemporal resolution,...A measurement system for the scattering characteristics of warhead fragments based on high-speed imaging systems offers advantages such as simple deployment,flexible maneuverability,and high spatiotemporal resolution,enabling the acquisition of full-process data of the fragment scattering process.However,mismatches between camera frame rates and target velocities can lead to long motion blur tails of high-speed fragment targets,resulting in low signal-to-noise ratios and rendering conventional detection algorithms ineffective in dynamic strong interference testing environments.In this study,we propose a detection framework centered on dynamic strong interference disturbance signal separation and suppression.We introduce a mixture Gaussian model constrained under a joint spatialtemporal-transform domain Dirichlet process,combined with total variation regularization to achieve disturbance signal suppression.Experimental results demonstrate that the proposed disturbance suppression method can be integrated with certain conventional motion target detection tasks,enabling adaptation to real-world data to a certain extent.Moreover,we provide a specific implementation of this process,which achieves a detection rate close to 100%with an approximate 0%false alarm rate in multiple sets of real target field test data.This research effectively advances the development of the field of damage parameter testing.展开更多
基金supported by the National Natural Science Foundation of China(61803015).
文摘In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.
基金Supported by the National Natural Science Foundation of China (62173150)the Science and Technology Innovation Project of Shunde,Foshan(2230218004224)the Guangdong Basic and Applied Basic Research Foundation-the Key Joint Research Project (2022B1515120003)。
文摘控制力矩陀螺(control moment gyroscope,CMG)框架伺服系统常受到外部扰动力矩和内部参数摄动等多源扰动影响,导致其控制性能降低,本文重点针对参数摄动对框架伺服系统造成的影响,提出了基于H_(2)/H_(∞)复合控制的CMG框架伺服系统扰动抑制方法.在常规H_(∞)鲁棒控制方法中引入电机参数摄动量,在保证对外部力矩扰动具有鲁棒性的基础上,提升对内部参数摄动影响的抑制能力;结合H_(2)控制策略,提出基于状态反馈H_(2)/H_(∞)复合控制方法,在保证稳态性能的同时进一步提升系统动态响应速度.所提出的复合控制方法能够有效降低多源扰动导致的速度波动,提升系统的动态响应速度.
文摘针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自抗扰控制,速度环采用传统的自抗扰控制。电流环采用一种改进的谐振扩张状态观测器,将观测电流作为谐振控制器的输入,令谐振控制器的输出直接作用到电流环输出,从而降低了谐振电流环设计的复杂性。双环自抗扰谐振控制器保留了谐振控制器抑制特定频率谐波电流的特性,同时优化了系统的超调量与调节时间,有效提升了谐振控制系统的动态性能。仿真结果验证DLADRC系统的有效性。
文摘A measurement system for the scattering characteristics of warhead fragments based on high-speed imaging systems offers advantages such as simple deployment,flexible maneuverability,and high spatiotemporal resolution,enabling the acquisition of full-process data of the fragment scattering process.However,mismatches between camera frame rates and target velocities can lead to long motion blur tails of high-speed fragment targets,resulting in low signal-to-noise ratios and rendering conventional detection algorithms ineffective in dynamic strong interference testing environments.In this study,we propose a detection framework centered on dynamic strong interference disturbance signal separation and suppression.We introduce a mixture Gaussian model constrained under a joint spatialtemporal-transform domain Dirichlet process,combined with total variation regularization to achieve disturbance signal suppression.Experimental results demonstrate that the proposed disturbance suppression method can be integrated with certain conventional motion target detection tasks,enabling adaptation to real-world data to a certain extent.Moreover,we provide a specific implementation of this process,which achieves a detection rate close to 100%with an approximate 0%false alarm rate in multiple sets of real target field test data.This research effectively advances the development of the field of damage parameter testing.
