基于全阶观测器的感应电动机转速识别方法

在无速度传感器感应电动机控制系统的转速估算观测器中,要求有一个合适的电流反馈增益来保证转速估算的稳定性与工作性能.本文中的转速估算系统,新设计了一个观测器的电流反馈增益.本文中的转速估算系统,可以在低速、再生发电状态下稳定工作.对系统进行了仿真,仿真结果表明,系统具有较好的性能.     

无速度传感器永磁同步电动机反馈线性控制研究

本文利用永磁同步电动机定子交轴电流和转速方程构造降维线性Luenberger观测器来获得电动机的转速，观测器简单易行，通过特征值的配置可以获得快速的收敛速度。本文采用直接反馈线性控制策略来设计系统控制器，使系统具有良好的速度跟踪和转矩响应。通过Matlab的仿真，验证了系统设计的有效性和可行性。     

一种改进的MRAS观测器及异步电机转速估计方法的研究

为了提高异步电机无速度传感器矢量控制系统的低速性能以及降低对电机参数变化的敏感性,提出了一种改进的转子磁链估算方法,基于模型参考自适应(MRAS)观测转速。仿真研究表明,该方法对电机参数变化的鲁棒性好,磁链观测精度高,收敛速度快,低速性能稳定。基于该改进的磁链观测器作为参考模型,可实现异步电机无速度传感器矢量控制系统的高性能运行。     

电梯用永磁同步电机无速度传感器矢量控制研究

研究了一种基于模糊观测器的PMSM无速度传感器矢量控制系统,阐述了其控制原理,介绍了模型观测器设计。数字仿真试验验证了其控制系统性能良好,在0～4 000 r/min转速范围内能够得到较高的转子位置和速度估算精度。     

一种高压永磁同步电机无位置控制器设计

提出了一种基于滑模观测器的高压永磁同步电机无位置控制器的设计方法,在代替传统的电流误差开关函数基础上,引入电流误差饱和函数,构造新的电流滑模观测器,对电机转子位置信号进行准确估算,试验结果表明设计方法的可行性。     

一种改进的永磁同步主轴电机速度估算方法

对永磁同步主轴电机的模型进行分析,提出一种改进的永磁同步主轴电机速度估算方法。该方法根据估算电流与实际电流的误差修正估算速度值,并结合所提出的修正参数选取原则,能准确估算出电机转速。实验表明电机快速加速性能好,能在1s时间内从静止加速到额定转速（6000r/min）,高速运行时控制精度高,抗负载冲击能力强,鲁棒性好,适用速度范围宽,低速运行时在低于2%额定转速时仍能满载稳定运行,从而验证了该方法的可行性和有效性。     

基于滑模观测器的永磁同步电机模型预测电流控制研究

针对永磁同步电机无位置传感器高动态性能控制问题,对传统矢量控制存在电流内环PI控制器对系统性能的影响以及传统滑模观测器中动态转子位置角估计不准、稳态转速估计不精确等观测器性能进行了改进,提出了一种基于改进滑模观测器的永磁同步电机模型预测电流控制方法。根据永磁同步电机在同步旋转坐标系下的数学模型,选择了电机d、q电流作为状态变量,利用前向欧拉法推导出永磁同步电机d、q轴电流的预测模型。通过实时评估价值函数选出使得下一时刻电流跟踪效果最好的电压矢量,将其对应的开关状态作用于逆变器。同时,推导表贴式永磁同步电机的滑模观测器模型并对其观测出的转子位置角和转速进行补偿,得到较为精确的估算值。最后将算法在Matlab/Simulink进行了仿真试验。研究结果表明:所提出的控制方法动态性能好、稳态精度高。     

基于滑模观测器的永磁同步电机无传感器矢量控制

为解决永磁同步电机（PMSM）控制中机械式位置传感器带来的成本及可靠性等问题,将滑模观测器技术应用到PMSM矢量控制系统中。该系统采用滑模面及滑模等效控制方法,通过选择足够大的滑模增益,在观测电流和实测电流之间的误差上构建滑模面,对电机反电势进行观测以得到转子位置角,并基于Lyapunov稳定性判据对滑模观测器的收敛性进行了分析;建立了应用滑模观测器的PMSM无传感器矢量控制实验系统,设计了位置及速度滑模控制器。进行了1500r／min稳态及正负转速切换的角度估算实验,实验结果验证了该方法的有效性。研究结果表明,基于滑模观测器的无传感器控制策略能准确估计出PMSM的转子位置角,从而得到转子速度,且系统具有较好的动、静态特性。     

一种新型永磁同步电机高阶滑模转速观测器的研究

针对面贴式永磁同步电机无位置传感器速度控制系统存在的速度检测延迟、检测误差较大、动态响应不够快等问题,对永磁同步电机无位置传感器速度控制系统模型和传统滑模速度观测器结构和原理进行了分析,对高阶滑模算法理论进行了推导,结合永磁同步电机数学模型,提出了一种以位置信号为滑模变量,以高阶滑模变结构算法为基础的新型滑模转速观测器,利用Simulink软件构建了基于新型滑模速度观测器永磁同步电机矢量控制系统,对电机的起动特性、速度跟踪特性、抗外界干扰性能进行了研究。研究结果表明,由于新的滑模观测器将转子位置与反电势信号的关系进行了分离,消除了反电势信号处理滤波器对速度估算的延迟,提高了速度检测精度,从而改善了系统的稳态和动态性能。     

基于磁通观测器的异步电机矢量控制系统

在异步电机无速度传感器矢量控制系统中,其关键之处是速度推算,而基于磁通观测器的速度估算法,可以提高系统的推算精度。本研究首先结合异步电机状态方程对系统各个模块进行建模,然后采用C＋＋语言对所提出的控制系统进行了计算机仿真。仿真结果表明,基于磁通观测器的异步电机矢量控制系统方案具有较快的动态响应和一定的鲁棒性,并能根据误差反馈较好的自动跟踪电机实际值,因此可以实现对电机转速进行稳定,精确,高效的控制。     

Controller design approach based on linear programming

This study explains and demonstrates the design method for a control system with a load disturbance observer. Observer gains are determined by linear programming (LP) in terms of the Routh–Hurwitz stability criterion and the final-value theorem. In addition, the control model has a feedback structure, and feedback gains are determined to be the linear quadratic regulator. The simulation results confirmed that compared with the conventional method, the output estimated by our proposed method converges to a reference input faster when a load disturbance is added to a control system. In addition, we also confirmed the effectiveness of the proposed method by performing an experiment with a DC motor.     

Robust fixed-time sliding mode controller for flexible air-breathing hypersonic vehicle

An improved robust fixed-time sliding mode controller (RFSMC) is presented for flexible air-breathing hypersonic vehicle (FAHV) with actuator faults, composing of a novel fast fixed-time integral sliding surface (FFIS), a continuous fixed-time super-twisting-like reaching law (CFSTL) and a uniformly convergent observer. Firstly, the nonlinear control-oriented model of FAHV is processed via input/output feedback linearization with flexible effects and actuator faults modeling as matched Lipschitz disturbances. Secondly, a novel non-singular FFIS is established based on a fast fixed-time high-order regulator (FFTR), which is improved with two gains incorporating into standard fixed-time high-order regulator via dilation rescaling. The FFTR proposed can accelerate respond speed of system by tuning values of two gains simply without complicated parameters selection and the stability is proved strictly via Lyapunov criteria. Thirdly, a CFSTL is utilized to ensure high-precision convergence of sliding mode vector and its derivative in fixed time. Afterwards, a uniformly convergent observer is applied to estimate lumped disturbances accurately in fixed time. With the estimated values compensated into controller, RFSMC can enhance fault-tolerant performance and attenuate chattering efficiently. Finally, simulations on FAHV are performed to verify the effectiveness and superiority of the method proposed.     

Decentralized coordinated control of elastic web winding systems without tension sensor

In elastic web winding systems, precise regulation of web tension in each span is critical to ensure final product quality, and to achieve low cost by reducing the occurrence of web break or fold. Generally, web winding systems use load cells or swing rolls as tension sensors, which add cost, reduce system reliability and increase the difficulty of control. In this paper, a decentralized coordinated control scheme with tension observers is designed for a three-motor web-winding system. First, two tension observers are proposed to estimate the unwinding and winding tension. The designed observers consider the essential dynamic, radius, and inertial variation effects and only require the modest computational effort. Then, using the estimated tensions as feedback signals, a robust decentralized coordinated controller is adopted to reduce the interaction between subsystems. Asymptotic stabilities of the observer error dynamics and the closed-loop winding systems are demonstrated via Lyapunov stability theory. The observer gains and the controller gains can be obtained by solving matrix inequalities. Finally, some simulations and experiments are performed on a paper winding setup to test the performance of the designed observers and the observer-base DCC method, respectively.     

A nonlinear updated gain observer for MIMO systems: Design,analysis and application to marine surface vessels

In this paper, the state estimation problem of a class of multi-input-multi-output nonlinear systems with measurement noise is studied. We develop an extended updated-gain high gain observer to make a tradeoff between reconstruction speed and measurement noise attenuation. The designed observer, whose gains are driven by nonlinear functions of the available output estimation errors, has the ability to reconstruct system states quickly and reduce the effect of measurement noise. We establish that, if there exists a state feedback law exponentially stabilizing the system with respect to an invariant set, the estimations and estimation errors are bounded. Besides, the trajectories of state- and output-feedback (based on the proposed observer) are sufficiently close, namely performance recovery. The observer performance is illustrated by various examples in marine control, including a case of transformation into the predefined structure.     

Sliding mode controller with sliding perturbation observer based on gain optimization using genetic algorithm

The Stewart platform manipulator is a closed-kinematics chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. However, this is a complex and nonlinear system, so the control performance of the system is not so good. In this paper, a new robust motion control algorithm is proposed. The algorithm uses partial state feedback for a class of nonlinear systems with modeling uncertainties and external disturbances. The major contribution is the design of a robust observer for the state and the perturbation of the Stewart platform, which is combined with a variable structure controller (VSC). The combination of controller and observer provides the robust routine called sliding mode control with sliding perturbation observer (SMCSPO). The optimal gains of SMCSPO, which is determined by nominal eigenvalues, are easily obtained by genetic algorithm. The proposed fitness function that evaluates the gain optimization is to put sliding function. The control performance of the proposed algorithm is evaluated by the simulation and experiment to apply to the Stewart platform. The results showed high accuracy and good performance.     

带有迟滞非线性的气动运动模拟平台自抗扰轨迹跟踪控制

针对带有迟滞非线性的气动运动模拟平台的轨迹跟踪提出了带有切换扩张状态观测器的自抗扰控制方法。气动运动模拟平台的迟滞非线性特性主要指气动人工肌肉在正向充气反向放气时长度和拉力曲线的差异。针对此特性设计了切换扩张状态观测器来估计和补偿模型非线性,分别对于气动人工肌肉正反向充放气的不同模型采用不同的观测器增益,以提高状态估计效果,减小跟踪误差。进一步,设计了状态误差反馈控制器,得到了基于切换扩张状态观测器的二阶非线性动态系统全局有界稳定的充分条件。最后实验结果证实了所设计的切换扩张状态观测器的实际效果。     

基于改进型全维观测器的 BLDC 无传感器控制

对基于全维观测器的无刷直流电机无传感器控制算法进行了研究,针对现有的传统全维观测器存在响应慢的问题,提出了一种改进型全维观测器,在传统全维观测器基础上,通过引入反馈增益,以提高动态响应能力和系统稳定性。为了验证提出方案的正确性,搭建相应的测试平台进行了传统和新型观测器的性能对比测试。由实验结果可知,所提出的改进型全维观测器无传感器控制算法能使系统响应更快,是实现无刷直流电机无传感器高速高响应控制的一种有效方法。     

Extended observer based on adaptive second order sliding mode control for a fixed wing UAV

This paper addresses the design of attitude and airspeed controllers for a fixed wing unmanned aerial vehicle. An adaptive second order sliding mode control is proposed for improving performance under different operating conditions and is robust in presence of external disturbances. Moreover, this control does not require the knowledge of disturbance bounds and avoids overestimation of the control gains. Furthermore, in order to implement this controller, an extended observer is designed to estimate unmeasurable states as well as external disturbances. Additionally, sufficient conditions are given to guarantee the closed-loop stability of the observer based control. Finally, using a full 6 degree of freedom model, simulation results are obtained where the performance of the proposed method is compared against active disturbance rejection based on sliding mode control.     

A composite control method based on the adaptive RBFNN feedback control and the ESO for two-axis inertially stabilized platforms

Due to the nonlinearity and time variation of a two-axis inertially stabilized platform (ISP) system, the conventional feedback control cannot be utilized directly. To realize the control performance with fast dynamic response and high stabilization precision, the dynamic model of the ISP system is expected to match the ideal model which satisfies the desired control performance. Therefore, a composite control method based on the adaptive radial basis function neural network (RBFNN) feedback control and the extended state observer (ESO), is proposed for ISP. The adaptive RBFNN is proposed to generate the feedback control parameters online. Based on the state error information in the working process, the adaptive RBFNN can be constructed and optimized directly. Therefore, no priori training data is needed for the construction of the RBFNN. Furthermore, a linear second-order ESO is constructed to compensate for the composite disturbance. The asymptotic stability of the proposed control method has been proven by the Lyapunov stability theory. The applicability of the proposed method is validated by a series of simulations and flight tests.     

基于扰动观测器的时延双边遥操作系统鲁棒阻抗控制

时延以及不确定性等因素容易造成双边遥操作系统操作性能差,甚至不稳定等问题。为了解决这一问题,针对主、从端不同的任务特点,提出一种新的双边遥操作系统控制结构。由于主端在实现力反馈时易受扰动影响,设计一种非线性扰动观测器用于扰动的在线估计并进行补偿;从端采用基于滑模的阻抗控制以保证精确的位置跟踪和与环境的期望交互。利用Liewellyn绝对稳定准则推导出时延下保证系统稳定性的条件以及参数选取依据。在建立的单自由度遥操作系统试验平台上进行了试验研究,结果表明本文所提方法能够在保证系统鲁棒性的条件下有效提高操作性能。