Discrete-time movement model of a group of trains on a rail line with stochastic disturbance

This paper presents a discrete-time model to describe the movements of a group of trains, in which some operational strategies, including traction operation, braking operation and impact of stochastic disturbance, are defined. To show the dynamic characteristics of train traffic flow with stochastic disturbance, some numerical experiments on a railway line are simulated. The computational results show that the discrete-time movement model can well describe the movements of trains on a rail line with the moving-block signalling system. Comparing with the results of no disturbance, it finds that the traffic capacity of the rail line will decrease with the influence of stochastic disturbance. Additionally, the delays incurred by stochastic disturbance can be propagated to the subsequent trains, and then prolong their traversing time on the rail line. It can provide auxiliary information for rescheduling trains When the stochastic disturbance occurs on the railway.

Design of Luenberger function observer with disturbance decoupling for matrix second-order linear systems-a parametric approach

A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure assignment. By introducing the H2 norm of the transfer function from disturbance to estimation error, sufficient and necessary conditions for disturbance decoupling in matrix second-order linear systems are established and are arranged into constraints on the design parameters via Luenberger function observers in terms of the closed-loop eigenvalues and the group of design parameters provided by the eigenstructure assignment approach. Therefore, the disturbance decoupling problem is converted into an eigenstructure assignment problem with extra parameter constraints. A simple example is investigated to show the effect and simplicity of the approach.

ALMOST DISTURBANCE DECOUPLING FOR A CLASS OF MINIMUM-PHASE HIGHER-ORDER CASCADE NONLINEAR SYSTEMS

The problem of almost disturbance decoupling (ADD) with internal stability is discussed, for a class of high_order cascade nonlinear systems having zero dynamics. Using adding power integrator techniques, the ADD problems via a smooth static state feedback is solved.

Decoupling Zeros of Positive Discrete-Time Linear Sys-tems

The notions of decoupling zeros of positive discrete-time linear systems are introduced. The relationships between the decoupling zeros of standard and positive discrete-time linear systems are analyzed. It is shown that: 1) if the positive system has decoupling zeros then the corresponding standard system has also decoupling zeros, 2) the positive system may not have decoupling zeros when the corresponding standard system has decoupling zeros, 3) the positive and standard systems have the same decoupling zeros if the rank of reachability (observability) matrix is equal to the number of linearly independent monomial columns (rows) and some additional assumptions are satisfied.

DESIGN OF DISTURBANCE DECOUPLED FILTER AND ITSAPPLICATION TO MANEUVERING TARGETS TRACKING

A novel disturbance decoupled filter (DDF) design scheme is presented. Firstly, the system with unknown input is translated into an equivalent system without unknown imputs by a simple algebraic transformation. Then, a new DDF design scheme, which is very simple, is proposed via innovations theorem. At last, the application of DDF to Maneuvering Targets Tracking is simulated and the simulation results show that DDF is suitable for high maneuvering cases.

High AOA decoupling control for aircraft based on ADRC

In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six degree-of-freedom(DOF) nonlinear model with 12 variables is given. Due to low sufficiency of the aerodynamic actuators at high AOA, a thrust vector model with rotatable engine nozzles is derived. Secondly, the active disturbance rejection control(ADRC) is used to realize a three-channel decoupling control such that a strong coupling between different channels can be treated as total disturbance, which is estimated by the designed extended state observer. The control surface allocation is implemented by the traditional daisy chain method. Finally,the effectiveness of the presented control strategy is demonstrated by some numerical simulation results.

Reinforcement learning based parameter optimization of active disturbance rejection control for autonomous underwater vehicle

This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.

Stability analysis of linear/nonlinear switching active disturbance rejection control based MIMO continuous systems

In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.

车用燃料电池空气系统供气协同控制策略研究

针对车用燃料电池系统的“氧饥饿”和压力波动影响其动态性能与使用寿命的问题,本文提出了一种基于过氧比补偿的空气系统流量与压力协同控制策略。首先,建立120 kW级的车用燃料电池空气系统模型,通过台架实验确定其参数,并根据实验数据拟合出其传递函数模型。其次,基于扩张状态观测器间接获取电堆阴极压力,采用前馈+PI建立串级控制中外环过氧比控制模型,用以修正目标流量。最后,采用反向解耦与自抗扰控制器对空气流量和压力解耦内环控制,对模型不确定性和外部扰动构成的总扰动进行估计和补偿。仿真与实验研究表明,提出的基于过氧比补偿的串级控制策略能够快速跟踪过氧比、提升电堆功率和精确地控制压力,同时证实了该方案的协同性和鲁棒性。这有助于提升车用燃料电池系统的动态性能,延长其使用寿命。

基于跟踪微分观测器的永磁同步电机控制系统

传统PI控制无法实现永磁同步电机(PMSM)交直轴间的完全解耦。为此该文提出一种基于跟踪微分观测器(TD-NLESO)的永磁同步电机(PMSM)控制系统。采用线性自抗扰控制器(LADRC)对扰动的观测来抵消电感耦合项,实现电流环解耦,并对线性扩张状态观测器的结构进行改进,提高对扰动的观测速度;同时设计含预估因子的跟踪微分器以克服控制延时问题;最后,通过实验验证该策略具有可行性和良好的控制性能。

计及参数摄动的EMB电机改进型高阶线性自抗扰控制

为了提高EMB的安全性和可靠性,提高EMB驱动系统的容错性和抗扰能力,提出一种基于改进型高阶线性自抗扰控制器的串级矢量控制系统。首先,提出改进型高阶线性自抗扰控制器的设计方法,通过改进型高阶线性自抗扰控制器提高系统低频抗扰能力,同时降低对高频噪声的敏感度;其次,分析归纳EMB驱动系统内存在的扰动类型,并理论分析改进型高阶线性自抗扰控制器对电机参数摄动的鲁棒性。仿真和实验结果表明:该控制策略和控制算法可以实现对EMB驱动系统内电机参数变化、负载扰动、电流交叉耦合和宽频域扰动等多种扰动类型的抑制,验证了其有效性。最终,EMB驱动系统实现了5倍电机参数摄动下的抗扰控制。通过动态解耦,提高了EMB驱动系统在高速时的动态性能。该控制策略和控制算法显著提高了EMB驱动系统的容错性和鲁棒性。

基于自抗扰控制的变体飞机机动控制研究

针对变体飞机变体过程中的模型不确定性和机动过程中遇到的扰动等问题,提出一种基于自抗扰控制的变体飞机机动控制方法,用于消除模型不确定性和外界扰动的影响以及提高机动控制的快速性和准确性。建立变体飞机非线性运动模型并分析变体飞机变体过程对飞机影响机理;采用自抗扰控制技术设计角速度鲁棒控制律;在扰动影响下分析了自抗扰控制律的控制性能;在气动参数扰动下结合变体过程,选取上半滚倒转机动验证所设计控制律的性能。数值仿真结果表明,自抗扰控制器能够消除模型不确定性、外界扰动和不同通道间的强耦合作用,完成上半滚倒转机动的控制,具有较好的解耦效果和较强的抗扰动能力,并且通过变体可以有效地提高飞机的机动性能和操纵面的控制裕度。

基于线性自抗扰的无刷双馈电机功率解耦控制策略研究

针对抽水蓄能机组工作环境复杂、温度等扰动较为突出、传统矢量控制对于无刷双馈电机控制精度不足的问题,研究了一种基于线性自抗扰控制的无刷双馈电机功率解耦控制策略,用来降低电机扰动并提高控制精度,提升其运行特性,进而提高其在抽水蓄能系统中的能量转换效率。建立了无刷双馈电机统一坐标系下两相旋转坐标系的数学模型,采用功率绕组定向的方法确定坐标系,推导了功率绕组定向下的电流关系并据此使用控制绕组控制功率绕组的有功和无功,从而实现了功率解耦控制。为提高控制性能,重写转速环和电流环,分析扰动,列写状态方程,设计扩张状态观测器,采用自抗扰技术提升了电机控制性能。进行谐波分析,基于控制绕组电流在同步坐标系下主要谐波为6次谐波的结论,采用重复控制器进行特定频次谐波的抑制。通过Simulink仿真,观察动态响应和d轴绕组电流傅里叶分析,并在电网电压阶跃变化和系统存在白噪声两种状态下与传统PI控制的效果进行对比,验证了所提自抗扰功率解耦控制方法及谐波抑制方法的有效性。

基于改进灰狼自抗扰控制的连续轧染张力控制

在连续轧染过程中,受张力耦合、内外扰动、参数变化等不确定因素影响,轧染机系统张力会产生波动。针对该问题,文章在自抗扰控制器中引入了改进灰狼优化算法来控制轧染张力。通过构建轧染张力系统的数学模型,对灰狼算法存在的初始种群分布不均匀、易陷入局部最优解、后期收敛速度慢等问题进行优化,再借助优化后的灰狼算法对自抗扰控制器的关键参数进行实时整定,设计出一种改进灰狼自抗扰控制器。经过与其他控制器进行实验对比,发现改进灰狼自抗扰控制器在实现轧染系统张力解耦控制的同时,也提高了系统的抗干扰能力和鲁棒性,在保证轧染系统稳定运行的同时,也提高了织物的轧染质量。

考虑质量分布的雨蚀叶片横向振动分析与自抗扰解耦控制

为提升高速耐雨蚀测试装置运行的稳定性与安全性,以其转子-雨蚀叶片系统为研究对象,开展雨蚀叶片的横向振动特性分析。首先,综合考虑雨蚀叶片振动、旋叶连接盘质量偏心及转子不平衡磁拉力的影响,建立转子-雨蚀叶片系统的四自由度横向振动模型。然后,基于Lagrange方程建立转子-雨蚀叶片系统的运动微分方程,并利用Runge-Kutta算法对方程进行数值求解,以观察转子及雨蚀叶片的轴心轨迹与振幅的分布规律。考虑到转子与雨蚀叶片的非线性强耦合关系,采用自抗扰解耦控制方法来抑制雨蚀叶片的横向振动,其中扩张状态观测器的参数采用极点配置和带宽进行调节。最后,通过搭建实验平台来分析采用自抗扰解耦控制前后雨蚀叶片的振动特性,并与数值分析结果进行对比。结果表明,在采用自抗扰解耦控制前转子-雨蚀叶片系统存在振动超标现象,而采用自抗扰解耦控制后雨蚀叶片的横向振动得到了有效抑制,验证了该控制方法的可行性和有效性。研究结果可为后续高速耐雨蚀测试装置的结构优化提供理论参考。

Current Loop Disturbance Suppression for Dual Three Phase Permanent Magnet Synchronous Generators Based on Modified Linear Active Disturbance Rejection Control

A modified four-dimensional linear active disturbance rejection control(LADRC)strategy is proposed for a dual three-phase permanent magnet synchronous generator(DTP-PMSG)system to reduce cross-coupling between the d and q axis currents in the d-q subspace and harmonic currents in the x-y subspace.In the d-q subspace,the proposed strategy uses a model-based LADRC to enhance the decoupling effect between the d and q axes and the disturbance rejection ability against parameter variation.In the x-y subspace,the 5th and 7th harmonic current suppression abilities are improved by using quasi-resonant units parallel to the extended state observer of the traditional LADRC.The proposed modified LADRC strategy improved both the steady-state performance and dynamic response of the DTP-PMSG system.The experimental results demonstrate that the proposed strategy is both feasible and effective.

基于自抗扰解耦的电力电子牵引变压器整流级直接功率控制

【目的】为改善电力电子牵引变压器(PETT)整流级在传统dq电流解耦双闭环控制下抗干扰能力差、对参数变化敏感、谐波含量高等问题。【方法】通过对直接功率控制(DPC)的解耦方式进行改进,提出了一种无需系统角频率和电感参数基于自抗扰控制(ADRC)的功率解耦控制器。最后,在Matlab/Simulink中搭建模型进行不同工况的仿真分析。【结果】仿真结果表明新型控制策略较传统控制策略网侧电流THD值减少5.38%,等效电感突变时电压跌落值减少48 V,电压频率偏移时电压跌落值减少14 V,新型控制策略在负载突变和负载不平衡工况下具有较好的平衡控制效果。【结论】该控制器通过解耦实现了有功功率和无功功率精确且独立的控制。仿真结果验证了所提控制策略的合理性与有效性。

基于电流偏差的PMSM滑模自抗扰解耦控制

针对永磁同步电机运行过程中存在电流耦合以及电感参数失配时动态解耦效果不佳的问题,提出一种基于电流偏差的永磁同步电机滑模自抗扰解耦控制方法。该方法基于d、q轴同步旋转坐标系下的电机数学模型,采用偏差解耦控制对电机d、q轴的电流耦合项进行补偿;为加快启动时系统趋于稳定的时间并降低输出抖振,采用积分滑模控制引入双曲正切函数设计了一种包含系统状态量的新型趋近律;将电流估计值与实际值的差值作为扩张观测量对扰动进行综合观测和补偿,从理论分析证明了该控制器的稳定性,仿真和试验结果表明,该方法提高了电机的快速性和动态控制性能,进而实现d、q轴电流近似完全解耦。

基于火电燃烧机组中固态变压器改进LADRC协同优化控制策略

在火电燃烧机组中,固态变压器面临惯性大、滞后多和耦合强等问题,为提升其控制性能,研制了一种基于改进线性自抗扰的协同燃烧优化控制策略。该策略以参数解耦型观测器为核心,结合BP神经网络算法进行参数调节,将固态变压器逆变级数学模型改写为解耦自抗扰形式。经数字仿真实验验证,该策略能有效提升抵抗扰动的能力,稳定误差下降2.5%,控制误差在3%以内,优于传统的PI控制和LADRC控制方法。

Almost Disturbance Decoupling for HOFA Nonlinear Systems with Strict-Feedback Form

The article is devoted to the almost disturbance decoupling problem for high-order fully actuated(HOFA)nonlinear systems with strict-feedback form.Using the full-actuation feature of high-order fully actuated systems and Lyapunov stability theory,a state feedback control law and virtual control laws are designed.The unknown disturbances are handled by almost disturbance decoupling(ADD)method.Finally,the effectiveness of the control strategy is verified by stability analysis and simulation.