The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturban...The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
This paper describes the incremental PID control algorithm and the basic principles of motor soft start, and introduced STM32F103RB8 basic performance microcontroller, combined with incremental PID control advantages,...This paper describes the incremental PID control algorithm and the basic principles of motor soft start, and introduced STM32F103RB8 basic performance microcontroller, combined with incremental PID control advantages, and gives MCU in motor soft start process control application. Practice shows that the incremental PID applications, simplifying the control ideas to improve the performance of the current loop control, limiting the starting current, smooth start-up speed, and achieved good results motor start.展开更多
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.
文摘This paper describes the incremental PID control algorithm and the basic principles of motor soft start, and introduced STM32F103RB8 basic performance microcontroller, combined with incremental PID control advantages, and gives MCU in motor soft start process control application. Practice shows that the incremental PID applications, simplifying the control ideas to improve the performance of the current loop control, limiting the starting current, smooth start-up speed, and achieved good results motor start.
