In this paper,an improved high-order model-free adaptive iterative control(IHOMFAILC)method for a class of nonlinear discrete-time systems is proposed based on the compact format dynamic linearization method.This meth...In this paper,an improved high-order model-free adaptive iterative control(IHOMFAILC)method for a class of nonlinear discrete-time systems is proposed based on the compact format dynamic linearization method.This method adds the differential of tracking error in the criteria function to compensate for the effect of the random disturbance.Meanwhile,a high-order estimation algorithmis used to estimate the value of pseudo partial derivative(PPD),that is,the current value of PPD is updated by that of previous iterations.Thus the rapid convergence of the maximumtracking error is not limited by the initial value of PPD.The convergence of the maximumtracking error is deduced in detail.This method can track the desired output with enhanced convergence and improved tracking performance.Two examples are used to verify the convergence and effectiveness of the proposed method.展开更多
By examining a specific case of compensating for nighttime construction noise in Beijing’s construction projects,we explored how the costs of mitigating construction noise disturbance could be fairly distributed amon...By examining a specific case of compensating for nighttime construction noise in Beijing’s construction projects,we explored how the costs of mitigating construction noise disturbance could be fairly distributed among multiple construction projects near residential areas.In this process,the local government played a crucial coordinating role.According to regulations,construction units must include the costs of preventing and controlling construction noise pollution in the project cost.The construction contract should clearly specify the construction unit’s responsibility for noise pollution prevention and control.After signing the contract,the construction unit should promptly undertake relevant measures to minimize disturbances caused by nighttime construction,aiming to reduce the adverse impacts on the community and ensure the smooth progress of the construction project.展开更多
An adaptive actuator failure compensation scheme is proposed for attitude tracking control of spacecraft with unknown disturbances and uncertain actuator failures. A new feature of this adaptive control scheme is the ...An adaptive actuator failure compensation scheme is proposed for attitude tracking control of spacecraft with unknown disturbances and uncertain actuator failures. A new feature of this adaptive control scheme is the adaptation of the failure pattern parameter estimates, as well as the failure signal parameter estimates, for direct adaptive actuator failure compensation. Based on an adaptive backstepping control design, the estimates of the disturbance parameters are used to solve the disturbance rejection problem. The unknown disturbances are compensated completely with the stability of the whole closed-loop system. The scheme is not only able to accommodate uncertain actuator failures, but also robust against unknown external disturbances. Simulation results verify the desired adaptive actuator failure compensation performance.展开更多
An adaptive current compensation control for a single-sided linear induction motor(SLIM) with nonlinear disturbance observer was developed. First, to maintain t-axis secondary component flux constant with consideratio...An adaptive current compensation control for a single-sided linear induction motor(SLIM) with nonlinear disturbance observer was developed. First, to maintain t-axis secondary component flux constant with consideration of the specially dynamic eddy-effect(DEE) of the SLIM, a instantaneously tracing compensation of m-axis current component was analyzed. Second,adaptive current compensation based on Taylor-discretization algorithm was proposed. Third, an effective kind of nonlinear disturbance observer(NDOB) was employed to estimate and compensate the undesired load vibrations, then the robustness of the control system could be guaranteed. Experimental verification of the feasibility of the proposed method for an SLIM control system was performed, and it showed that the proposed adaptive compensation scheme with NDOB could significantly promote speed dynamical response and minimize speed ripple under the conditions of external load coupled vibrations and unavoidable feedback control variables measured errors, i.e., current and speed.展开更多
To counter the strong disturbance caused by the rotation of steering axle, a synchro-compensation methodis proposed to absorb the generated disturbance now by driving the loading motor stator to make it synchronously ...To counter the strong disturbance caused by the rotation of steering axle, a synchro-compensation methodis proposed to absorb the generated disturbance now by driving the loading motor stator to make it synchronously rotatewith its axle. Through analyzing and discussing different kinds of synchro-compensation schemes, the determinedpassive position and speed synchro-compensation systems are designed and simulated by computer. The results prove thatthisa method is effective to eliminate the strong disturbance of the steering axle.展开更多
Aiming to suppress the influence of uncertain disturbances in the drive control of permanent magnet synchronous machines(PMSM),such as the parameter uncertainties and load disturbance,a robust anti-interference contro...Aiming to suppress the influence of uncertain disturbances in the drive control of permanent magnet synchronous machines(PMSM),such as the parameter uncertainties and load disturbance,a robust anti-interference control for the angular position tracking control of a PMSM servo system has been proposed in this paper.During the position tracking,uncertain system disturbances being regarded as a lumped unknown term will be online observed by a nonlinear disturbance observer(NDOB),of which the influence will consequently be counteracted by a robust backstepping compensator(RBC).The asymptotical stability of proposed control scheme is analyzed and designed according to the Lyapunov stability criterion,and its convergence against the system uncertain disturbance is verified on a prototype PMSM servo platform and shows good performance in rotor angular position tracking and anti-interference.展开更多
Base on the accurate inverse of a system, the feedforward compensation method can compensate the tracking error of a linear system dramatically. However, many control systems have complex dynamics and their accurate i...Base on the accurate inverse of a system, the feedforward compensation method can compensate the tracking error of a linear system dramatically. However, many control systems have complex dynamics and their accurate inverses are difficult to obtain. In the paper, a variable parameter model is proposed to describe a system and a multi-step adaptive seeking approach is used to obtain its parameters in real time. Based on the proposed model, a variable-parameter-model-based feedforward compensation method is proposed, and a disturbance observer is used to overcome the influence of the model uncertainty. Theoretical analysis and simulation results show that the variable-parametermodel-based feedforward compensation method can obtain better performance than the traditional feedforward compensation.展开更多
The attitude control and momentum management(ACMM)problem is quite fundamental for many spacecrafts including space stations,sky laboratories and etc.Instead of single attitude control problem,ACMM problem has to take...The attitude control and momentum management(ACMM)problem is quite fundamental for many spacecrafts including space stations,sky laboratories and etc.Instead of single attitude control problem,ACMM problem has to take account of both disturbance rejection and energy optimization.This paper studies the ACMM problem for general spacecraft.A practical active disturbance rejection control architecture is proposed with hierarchical compensation to different kinds of uncertain dynamics or disturbances.In particular,by integrating RLS into ESO,the constant and sinusoidal disturbance terms to be compensated are reconstructed.Also,the LQR law is implemented to achieve the desired performance of control systems after disturbance compensation.Furthermore,quantitative performances of the generalized ESO,the RLS algorithm and the closed-loop tracking system are rigorously analyzed.Finally,the results under 9-DOF semi-physical test environment show the effectiveness of our control method.展开更多
文摘In this paper,an improved high-order model-free adaptive iterative control(IHOMFAILC)method for a class of nonlinear discrete-time systems is proposed based on the compact format dynamic linearization method.This method adds the differential of tracking error in the criteria function to compensate for the effect of the random disturbance.Meanwhile,a high-order estimation algorithmis used to estimate the value of pseudo partial derivative(PPD),that is,the current value of PPD is updated by that of previous iterations.Thus the rapid convergence of the maximumtracking error is not limited by the initial value of PPD.The convergence of the maximumtracking error is deduced in detail.This method can track the desired output with enhanced convergence and improved tracking performance.Two examples are used to verify the convergence and effectiveness of the proposed method.
文摘By examining a specific case of compensating for nighttime construction noise in Beijing’s construction projects,we explored how the costs of mitigating construction noise disturbance could be fairly distributed among multiple construction projects near residential areas.In this process,the local government played a crucial coordinating role.According to regulations,construction units must include the costs of preventing and controlling construction noise pollution in the project cost.The construction contract should clearly specify the construction unit’s responsibility for noise pollution prevention and control.After signing the contract,the construction unit should promptly undertake relevant measures to minimize disturbances caused by nighttime construction,aiming to reduce the adverse impacts on the community and ensure the smooth progress of the construction project.
基金supported by the National Natural Science Foundation of China(6137413061374116)+2 种基金the Nanjing University of Aeronautics and Astronautics Research Foundation(NP2013303)the Funding of Jiangsu Innovation Program for Graduate(CXLX13 157)the Fundamental Research Funds for the Central Universities
文摘An adaptive actuator failure compensation scheme is proposed for attitude tracking control of spacecraft with unknown disturbances and uncertain actuator failures. A new feature of this adaptive control scheme is the adaptation of the failure pattern parameter estimates, as well as the failure signal parameter estimates, for direct adaptive actuator failure compensation. Based on an adaptive backstepping control design, the estimates of the disturbance parameters are used to solve the disturbance rejection problem. The unknown disturbances are compensated completely with the stability of the whole closed-loop system. The scheme is not only able to accommodate uncertain actuator failures, but also robust against unknown external disturbances. Simulation results verify the desired adaptive actuator failure compensation performance.
基金Project(114601034)supported by the Scholarship Award for Excellent Doctoral Students Granted by the Ministry of Education of ChinaProject(61273158)supported by the National Natural Science Foundation of China
文摘An adaptive current compensation control for a single-sided linear induction motor(SLIM) with nonlinear disturbance observer was developed. First, to maintain t-axis secondary component flux constant with consideration of the specially dynamic eddy-effect(DEE) of the SLIM, a instantaneously tracing compensation of m-axis current component was analyzed. Second,adaptive current compensation based on Taylor-discretization algorithm was proposed. Third, an effective kind of nonlinear disturbance observer(NDOB) was employed to estimate and compensate the undesired load vibrations, then the robustness of the control system could be guaranteed. Experimental verification of the feasibility of the proposed method for an SLIM control system was performed, and it showed that the proposed adaptive compensation scheme with NDOB could significantly promote speed dynamical response and minimize speed ripple under the conditions of external load coupled vibrations and unavoidable feedback control variables measured errors, i.e., current and speed.
文摘To counter the strong disturbance caused by the rotation of steering axle, a synchro-compensation methodis proposed to absorb the generated disturbance now by driving the loading motor stator to make it synchronously rotatewith its axle. Through analyzing and discussing different kinds of synchro-compensation schemes, the determinedpassive position and speed synchro-compensation systems are designed and simulated by computer. The results prove thatthisa method is effective to eliminate the strong disturbance of the steering axle.
基金The work is supported by the financial support of National Natural Science Foundation of China under Grant 51877075 and 51575167the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body(No.71865008)+1 种基金Hunan University,and the State Key Laboratory of Reliability and Intelligence of Electrical Equipment(No.EERIKF2018007)Hebei University of Technology.
文摘Aiming to suppress the influence of uncertain disturbances in the drive control of permanent magnet synchronous machines(PMSM),such as the parameter uncertainties and load disturbance,a robust anti-interference control for the angular position tracking control of a PMSM servo system has been proposed in this paper.During the position tracking,uncertain system disturbances being regarded as a lumped unknown term will be online observed by a nonlinear disturbance observer(NDOB),of which the influence will consequently be counteracted by a robust backstepping compensator(RBC).The asymptotical stability of proposed control scheme is analyzed and designed according to the Lyapunov stability criterion,and its convergence against the system uncertain disturbance is verified on a prototype PMSM servo platform and shows good performance in rotor angular position tracking and anti-interference.
基金supported in part by the National Natural Science Foundation of China(51775215,51535004)。
文摘Base on the accurate inverse of a system, the feedforward compensation method can compensate the tracking error of a linear system dramatically. However, many control systems have complex dynamics and their accurate inverses are difficult to obtain. In the paper, a variable parameter model is proposed to describe a system and a multi-step adaptive seeking approach is used to obtain its parameters in real time. Based on the proposed model, a variable-parameter-model-based feedforward compensation method is proposed, and a disturbance observer is used to overcome the influence of the model uncertainty. Theoretical analysis and simulation results show that the variable-parametermodel-based feedforward compensation method can obtain better performance than the traditional feedforward compensation.
基金This research was supported by the National Natural Science Foundation of China under Grant Nos.62122083,61903085 and 62022013Guangdong Basic and Applied Basic Research Foundation under Grant No.201515111070+1 种基金Shenzhen Key Technology Project under Grant No.20191113140425399Research Fund for the Industry-specific Program of China Aerospace Science and Technology Corporation under Grant No.6230109004.
文摘The attitude control and momentum management(ACMM)problem is quite fundamental for many spacecrafts including space stations,sky laboratories and etc.Instead of single attitude control problem,ACMM problem has to take account of both disturbance rejection and energy optimization.This paper studies the ACMM problem for general spacecraft.A practical active disturbance rejection control architecture is proposed with hierarchical compensation to different kinds of uncertain dynamics or disturbances.In particular,by integrating RLS into ESO,the constant and sinusoidal disturbance terms to be compensated are reconstructed.Also,the LQR law is implemented to achieve the desired performance of control systems after disturbance compensation.Furthermore,quantitative performances of the generalized ESO,the RLS algorithm and the closed-loop tracking system are rigorously analyzed.Finally,the results under 9-DOF semi-physical test environment show the effectiveness of our control method.