基于H-infinity动态观测器的车辆质心侧偏角融合估计算法

针对车辆控制系统中关键参数质心侧偏角的估计问题,提出一种基于H-infinity理论和动态观测器理论的融合估计算法。提出的动态观测器具有动态变量,可以提高估计算法的暂态和稳态性能。通过引入偏差向量和构建李雅普诺夫函数,结合H-infinity理论,将动态观测器参数矩阵的求解问题转换成线性矩阵不等式的求解问题。建立车辆2自由度非线性动力学模型,采用质心侧偏角作状态变量,利用动态观测器对其进行估计。最后,在Simulink中搭建基于H-infinity理论和动态观测器理论的车辆质心侧偏角融合估计算法模型,并进行CarSim-Simulink联合仿真,对提出的算法进行仿真验证。

Robust H_∞ Controller Design for Uncertain Neutral Systems via Dynamic Observer Based Output Feedback

In this paper, the dynamic observer-based controller design for a class of neutral systems with H∞ control is considered. An observer-based output feedback is derived for systems with polytopic parameter uncertainties. This controller assures delay-dependent stabilization and H∞ norm bound attenuation from the disturbance input to the controlled output. Numerical examples are provided for illustration and comparison of the proposed conditions.

A novel robust proportional-integral (PI) adaptive observer design for chaos synchronization

In this paper, chaos synchronization in the presence of parameter uncertainty, observer gain perturbation and exogenous input disturbance is considered. A nonlinear non-fragile proportional-integral （PI） adaptive observer is designed for the synchronization of chaotic systems; its stability conditions based on the Lyapunov technique are derived. The observer proportional and integral gains, by converting the conditions into linear matrix inequality （LMI）, are optimally selected from solutions that satisfy the observer stability conditions such that the effect of disturbance on the synchronization error becomes minimized. To show the effectiveness of the proposed method, simulation results for the synchronization of a Lorenz chaotic system with unknown parameters in the presence of an exogenous input disturbance and abrupt gain perturbation are reported.

H_∞tracking design for a class of decentralized nonlinear systems via fuzzy adaptive observer

A novel H∞ tracking-based decentralized indirect adaptive output feedback fuzzy controller for a class of uncertain large-scale nonlinear systems is developed. By virtue of the proper filtering of the observation error dynamics, the observer-based decentralized indirect adaptive fuzzy control scheme is presented for a class of large-scale nonlinear systems using the combination of H∞ tracking technique, a fuzzy adaptive observer and fuzzy inference systems. The output feedback and adaptation mechanisms are both robust and implementable indeed owing to their freedom from the unavailable observation error vector. All the signals of the closed-loop largescale system are guaranteed to stay uniformly bounded and the output errors take on H∞ tracking performance. Simulation results substantiate the effectiveness of the proposed scheme.

Robust H_∞ observer-based control for synchronization of a class of complex dynamical networks

This paper is concerned with the robust Hoo synchronization problem for a class of complex dynamical networks by applying the observer-based control. The proposed feedback control scheme is developed to ensure the asymptotic stability of the augmented system, to reconstruct the non-measurable state variables of each node and to improve the H∞ performance related to the synchronization error and observation error despite the external disturbance. Based on the Lyapunov stability theory, a synchronization criterion is obtained under which the controlled network can be robustly stabilized onto a desired state with a guaranteed H∞ performance. The controller and the observer gains can be given by the feasible solutions of a set of linear matrix inequalities （LMIs）. The effectiveness of the proposed control scheme is demonstrated by a numerical example through simulation.

Robust Fault Detection and Isolation Based on Finite-frequency H__/H_∞ Unknown Input Observers and Zonotopic Threshold Analysis

This work proposes a robust fault detection and isolation scheme for discrete-time systems subject to actuator faults,in which a bank of H_/H∞ fault detection unknown input observers(UIOs) and a zonotopic threshold analysis strategy are considered. In observer design, finite-frequency H_ index based on the generalized Kalman-Yakubovich-Popov lemma and H∞ technique are utilized to evaluate worst-case fault sensitivity and disturbance attenuation performance, respectively. The proposed H_/H∞ fault detection observers are designed to be insensitive to the corresponding actuator fault only, but sensitive to others.Then, to overcome the weakness of predefining threshold for FDI decision-making, this work proposes a zonotopic threshold analysis method to evaluate the generated residuals. The FDI decision-making relies on the evaluation with a dynamical zonotopic threshold. Finally, numerical simulations are provided to show the feasibility of the proposed scheme.

Fault diagnosis using robust cascade observers with application to spacecraft attitude control

This paper proposes a new gyro and star sensor fault diagnosis architecture that designs two groups of cascade H∞ optimal fault observers using LMI for spacecraft attitude control systems.The basic idea of the approach is to identify the gyro fault to good effect first and then makes a further diagnosis for the star sensor based on the former.The H∞ optimal fault observer in design has the robustness with respect to model uncertainties and diagnosis uncertainties.Its robustness to unknown inputs is as a special study in frequency domain.Finally,simulation results demonstrate the effectiveness and feasibility of the proposed control algorithm.

Robust <i>H</i>_∞Observer-Based Tracking Control for the Photovoltaic Pumping System

In this paper, we propose a H∞ robust observer-based control DC motor based on a photovoltaic pumping system. Maximum power point tracking is achieved via an algorithm using Perturb and Observe method, with array voltage and current being used to generate the reference voltage which should be the PV panel’s operating voltage to get maximum available power. A Takagi-Sugeno (T-S) observer has been proposed and designed with non-measurable premise variables and the conditions of stability are given in terms of Linear Matrix Inequality (LMI). The simulation results show the effectiveness and robustness of the proposed method.

Lipschitz非线性离散系统基于观测器的鲁棒镇定控制设计

本文研究Lipschitz非线性离散时间系统的基于观测器的鲁棒镇定控制问题.首先,针对Lipschitz非线性离散系统,应用微分中值定理和线性参变系统理论,以线性矩阵不等式(LMI)的形式给出基于观测器的鲁棒镇定控制设计的充分条件.随后,将设计结果进一步推广,针对含干扰的Lipschitz非线性离散系统进行H∞性能分析,实现了基于观测器的鲁棒H∞镇定控制,同时给出观测器增益矩阵和控制器增益矩阵的一步求解算法.最后,通过两个数值例子验证了所提方法的有效性.

时滞依赖H_/H_∞观测器的线性系统故障检测

本文研究了线性连续时滞系统的鲁棒故障检测问题.利用H_/H∞故障检测方法,设计了故障检测观测器,并给出了时滞依赖的故障检测观测器设计条件.本文直接给出刻画有限频故障检测性能的线性矩阵不等式条件,避免因引入加权函数而产生的不准确性.最后,仿真算例表明时滞依赖的有限频故障检测观测器可以取得比已有结果更好的故障检测性能.

并联级联H桥电源电流跟踪优化与环流抑制的模型预测控制

分布式控制在级联H桥(CHB)变换器并联的电源中可提升输出容量及可靠性。然而,常规分布式控制器可能由于硬件或控制参数的不匹配而导致输出功率不平衡,从而在CHB支路之间形成不稳定的环流,这将导致:①支路电流的稳定性与跟踪性能变差;②均流电抗器易饱和。对此该文提出一种基于Luenberger观测器状态重构的主从模型预测控制,所提策略可以实现参考电流跟踪和环流抑制的控制优化。此外,通过载波可以轻松实现级联H桥交错和并联控制器同步,从而固定开关频率。基于推导出的电流预测模型,当多个并联CHB支路具有不同的输出功率时,可以实现优化的电流跟踪响应并消除环流。仿真和实验结果验证了所提方法的有效性。

A new type of internal solitary waves with a re-appearance period of 23 h observed in the South China Sea

The South China Sea （SCS）, in particular the northern SCS, is one of ocean areas where energetic internal solitary waves （ISWs）occur most frequently （Cai et al., 2012; Zheng, 2017）. Based on the re-appearance period （RP） at an observation station, Ramp et al.（2004） divided the ISWs into two types：Type-a and Type-b. Type-a ISWs arrive regularly at the same time every day, i.e., the RP is about 24 h, and Type-b ISWs arrive about one hour late every day, i.e., the RP is about 25 h.

活血消积搓痧法治疗H型高血压痰瘀互结证的临床观察

目的观察活血消积搓痧法治疗H型高血压痰瘀互结证的临床疗效。方法选取2021年6月至2022年5月于丽水市中医院诊治的H型高血压痰瘀互结证患者70例,根据随机数字表法将其分为对照组和治疗组,每组各35例。对照组患者予西药治疗,治疗组患者在西药治疗基础上加用活血消积搓痧法,两组均连续治疗6周。观察两组患者的降压疗效、中医证候积分、收缩压(systolic blood pressure,SBP)、舒张压(diastolic blood pressure,DBP)、血清同型半胱氨酸(homocysteine,Hcy)、红细胞体积分布宽度(red cell volume distribution width,RDW)、中性粒细胞/淋巴细胞比值(neutrophil-to-lymphocyte ratio,NLR)及肱踝脉搏波传导速度(brachial-ankle pulse wave velocity,baPWV)的差异,同时记录不良反应。结果治疗组患者的降压总有效率显著高于对照组(Z=–2.094,P=0.036)。治疗后,治疗组患者的中医证候积分、RDW、NLR、Hcy、SBP、DBP和baPWV均显著低于对照组(P<0.05)。两组患者治疗后均未见明显不良反应。结论活血消积搓痧法联合西药治疗H型高血压痰瘀互结证患者,能有效改善临床症状,降低血压、Hcy、RDW和NLR水平,改善血管僵硬度,值得临床推广。

单相CHBR改进型无网压传感器直接功率控制

以降低单相级联H桥整流器(CHBR)系统硬件成本、改善控制系统性能为目的,提出一种改进型无网压传感器直接功率控制方法。首先,建立单相CHBR的数学模型,并通过混合逻辑动态方法估算出网侧输入电压。针对已有虚拟磁链观测器存在的缺点,提出改进型的虚拟磁链观测器,并给出详细的频域分析过程。所提观测器可以有效地解决幅、值相位误差和直流偏置问题,并且能够有效地抑制谐波。此外,提出一种基于比例积分(PI)控制器的CHBR改进型直接功率控制(DPC)方法。相较于传统DPC方法,改进型DPC取消了旋转坐标变换,不需要网压相位信息,改善了系统动态响应速度。最后,在实验样机上对已有的虚拟磁链观测器方法、直接功率控制方法以及所提改进型控制方法展开对比实验研究,结果验证了所提方法的可行性和有效性。

Full-disk synoptic observations of the chromosphere using Hα telescope at the Kodaikanal Observatory

This paper reports on the installation and observations of a new solar telescope installed on 2014 October 7 at the Kodaikanal Observatory. The telescope is a refractive type equipped with a tunable Lyot Hα filter. A CCD camera with size 2k ×2k acquires images of the Sun and has a pixel size of 1.21″ pixel^-1 and a full field-of-view of 41＇. The telescope is equipped with a guiding system which keeps the image of the Sun within a few pixels throughout the observations. The FWHM of the Lyot filter is 0.4A and the filter is motorized, capable of scanning the Hα line profile at a smaller step size of 0.01 A. Partial-disk imaging covering about 10＇ is also possible with the help of a relay lens kept in front of the CCD camera. In this paper, we report the detailed specifications of the telescope, filter unit, the installation, observations and the procedures we have followed to calibrate and align the data. We also present preliminary results with this new full-disk telescope.

地磁H、D分量受高压直流输电干扰形态分析

利用全国地磁台站地磁秒数据干扰资料,统计了27条高压直流输电对地磁观测H、D分量造成的干扰情况,研究高压直流输电对地磁观测H、D分量的影响特点,根据统计结果得到了地磁观测H、D分量受高压直流输电影响的多种干扰形态,并对各类形态产生的原因进行了分析,对H、D分量受高压直流干扰形态有了更清晰的认识。

Adaptive Observer-Based Fault Estimate for Nonlinear Systems

An approach for adaptive observer-based fault estimate for nonlinear system is proposed.H-infinity theory is applied to analyzing the design method and stable conditions of the adaptive observer, from which both system state and fault can be estimated. It is proved that the fault estimate error is related to the given H-infinity track performance indexes,as well as to the changing rate of the fault and the Lipschitz constant of the nonlinear item.The design steps of the adaptive observer are proposed.The simulation results show that the observer has good performance for fault estimate even when the system includes nonlinear terms, which confirms the effectiveness of the method.

基于扰动观测器的挠性传动系统H∞解耦设计

为具有死区特性的挠性传动系统提出了一种基于扰动观测器的复合控制策略,该方法将系统的跟踪性能、带宽要求、鲁棒性能构成含有多维性能输出的H∞优化矩阵,并选取适当的性能加权函数进而通过一种新的H∞解耦方法来确定控制器参数。仿真结果表明,系统转矩传递性能较好,设计的控制器可使系统具有良好的鲁棒性和较高的稳定裕度,有效解决了弱阻尼挠性模态以及齿隙非线性因素引起的振动加剧问题,且有效的解决系统的振动问题。

基于离散状态观测器的H桥级联STATCOM无差拍控制

H桥级联静止同步补偿器(STATCOM)以其损耗低、响应快速、储能元件体积小和输出电流谐波含量低等优点,成为动态无功补偿装置发展的重要方向。通过对STATCOM工作原理及数学模型的分析,推导出无差拍控制算法。为了提高无差拍控制算法的实时性,消除参考电压滞后一拍的影响和抑制STATCOM输出电流的谐波,构造离散状态观测器对系统参考指令电流进行预测。构造离散滑模观测器对STATCOM实际输出电压进行观测,避免了通过直流侧电容电压参考值计算STATCOM实际输出电压的误差。仿真与实验结果表明,该算法可以精确地预测参考指令电流,进而提高了STATCOM无差拍控制的性能。