共查询到19条相似文献,搜索用时 156 毫秒
1.
空间飞行器姿态控制律设计 总被引:2,自引:2,他引:0
空间飞行器姿态系统具有非线性、强耦合、多输入多输出的特点。针对飞行器姿态模型的非线性和不确定性,提出了分散模糊变结构控制方法。利用模糊系统对不确定性函数进行逼近,将获得的模糊系统函数作为系统不确定性界函数。对模糊逼近所带来的误差以及外部干扰项,采用控制补偿方法。理论分析和仿真研究表明,提出的方法具有控制精度高,实时计算量小,便于工程实现等优点。 相似文献
2.
3.
4.
5.
6.
7.
针对导弹电液伺服机构的跟踪控制问题,提出了一种自适应模糊滑模的设计方案.使用具有参数在线调节的自适应模糊控制,逼近滑模控制中的等效控制部分,并确定非线性控制项以保证系统的稳定性.根据滑模控制原理给出四条模糊规则,以平滑不连续控制,达到削弱抖振的目的.仿真结果表明了该方案的有效性. 相似文献
8.
9.
10.
11.
薄膜材料的绕组处理是在一个高度非线性的动态系统中维持应力不变.提出一个为薄膜材料的绕组处理在不同摩擦锟供料速度下的适应模糊应力的控制系统.该提出的适应模糊应力的控制系统包括一个模糊应力控制器和一个适应调谐器.模糊应力控制器是主进度控制器,一个平移宽度的概念和变化模式技术被包括在模糊推论中以矫正模糊现象,而且只有一个参数因素需要被调整.为了对抗在实际应用中的不确定,一个失真压力的控制系统占据着简单控制框架,无震颤的,稳定跟踪性能和对不确定性的鲁棒的优势.与传统的比例积分应力控制方法相比较可提出的这种控制方法有显著的优势. 相似文献
12.
针对高炉TRT顶压控制系统存在的复杂性,高度非线性,时变不确定性等特点,提出一种模糊自适应PID优化控制算法,应用模糊推理的方法实现对TRT顶压控制系统中PID参数的自整定,达到对高炉顶压的稳定控制。实验结果表明,采用该优化算法可使控制效果得到明显改善,系统运行速度及可靠性等得到进一步提高,达到优化系统控制性能的目的,满足TRT系统的控制要求。 相似文献
13.
This article proposes a robust fuzzy neural network sliding mode control (FNNSMC) law for interior permanent magnet synchronous motor (IPMSM) drives. The proposed control strategy not only guarantees accurate and fast command speed tracking but also it ensures the robustness to system uncertainties and sudden speed and load changes. The proposed speed controller encompasses three control terms: a decoupling control term which compensates for nonlinear coupling factors using nominal parameters, a fuzzy neural network (FNN) control term which approximates the ideal control components and a sliding mode control (SMC) term which is proposed to compensate for the errors of that approximation. Next, an online FNN training methodology, which is developed using the Lyapunov stability theorem and the gradient descent method, is proposed to enhance the learning capability of the FNN. Moreover, the maximum torque per ampere (MTPA) control is incorporated to maximise the torque generation in the constant torque region and increase the efficiency of the IPMSM drives. To verify the effectiveness of the proposed robust FNNSMC, simulations and experiments are performed by using MATLAB/Simulink platform and a TI TMS320F28335 DSP on a prototype IPMSM drive setup, respectively. Finally, the simulated and experimental results indicate that the proposed design scheme can achieve much better control performances (e.g. more rapid transient response and smaller steady-state error) when compared to the conventional SMC method, especially in the case that there exist system uncertainties. 相似文献
14.
Hui Hu Peng-Yung Woo 《Industrial Electronics, IEEE Transactions on》2006,53(3):929-940
Highly nonlinear, highly coupled, and time-varying robotic manipulators suffer from structured and unstructured uncertainties. Sliding-mode control (SMC) is effective in overcoming uncertainties and has a fast transient response, while the control effort is discontinuous and creates chattering. The neural network has an inherent ability to learn and approximate a nonlinear function to arbitrary accuracy, which is used in the controllers to model complex processes and compensate for unstructured uncertainties. However, the unavoidable learning procedure degrades its transient performance in the presence of disturbance. A novel approach is presented to overcome their demerits and take advantage of their attractive features of robust and intelligent control. The proposed control scheme combines the SMC and the neural-network control (NNC) with different weights, which are determined by a fuzzy supervisory controller. This novel scheme is named fuzzy supervisory sliding-mode and neural-network control (FSSNC). The convergence and stability of the proposed control system are proved by using Lyapunov's direct method. Simulations for different situations demonstrate its robustness with satisfactory performance. 相似文献
15.
Design and implementation of a robust and nonlinear flight control system for an unmanned helicopter 总被引:2,自引:0,他引:2
In this work, we focus on the design and implementation of a robust flight control system for an unmanned helicopter. A comprehensive nonlinear model for an unmanned helicopter system, which is built by our research team at the National University of Singapore, is first presented. A three-layer control architecture is then adopted to construct an automatic flight control system for the aircraft, which includes (1) an inner-loop controller designed using the H∞ control technique to internally stabilize the aircraft and at the same time yield good robustness properties with respect to external disturbances, (2) a nonlinear outer-loop controller to effectively control the helicopter position and yaw angle in the overall flight envelope, and lastly, (3) a flight-scheduling layer for coordinating flight missions. Design specifications for military rotorcraft set for the US army aviation are utilized throughout the whole process to guarantee a top level performance. The result of actual flight tests shows our design is very successful. The unmanned helicopter system is capable of achieving the desired performance in accordance with the military standard under examination. 相似文献
16.
基于自适应模糊理论的某型无人机起飞控制方法 总被引:1,自引:0,他引:1
基于合理简化的无人机纵向模型,设计了一种自适应模糊控制器,该控制器将Takagi-Sugeno模糊系统与等效控制器相结合,以增强系统的鲁棒性.只要求预先知道系统的相对阶以及未知函数的上下界即可,不需要精确的数学模型.Lyapunov合成方法证明了跟踪误差能趋近于零且其余的控制信号均有界.最后,结合优先级按比例分配的控制分配器,给出了存在扰动情况下飞行控制系统的仿真结果,表明即使在模型部分未知的情况下,该系统仍然能够达到飞行控制的指标性能和品质要求,验证了该方法的有效性. 相似文献
17.
Zhongze Chen Changhong Shan Huiling Zhu 《Industrial Informatics, IEEE Transactions on》2007,3(4):302-311
This paper concerns the design of robust controller for a nonlinear system that can be represented or approximated in a non-affine form. The control algorithm is based on sliding mode control that incorporates a fuzzy tuning technique, and it superposes equivalent control, switching control, and fuzzy control. An equivalent control law is firstly designed based on a nominal system model that was obtained by using curve fitting techniques under MATLAB. Switching control is then added to guarantee that the state reaches the sliding surface in the presence of parameter and disturbance uncertainties. Also, fuzzy tuning schemes, which can be supported by learning techniques derived from neural networks, are employed to improve control performance and to reduce chattering in the sliding mode. To verify the performance of this controller, an experimental platform of a pneumatically actuated top-guided single-seated control valve, which belongs to a classical complex nonlinear system, was constructed. Also, the experimental results show that high performance and attenuated chatter are achieved and thus verify the validity of the proposed control approach to dynamic systems characterized by severe uncertainties. 相似文献
18.
This paper presents a stochastic, multi-parameters, divergence optimization method for the auto-tuning of proportional–integral–derivative (PID) controllers according to a fractional-order reference model. The study aimed to approximate the step response of the real closed-loop flight control system to the response of a theoretical reference model for a smoother and more precise flight control experience. The proposed heuristic optimization method can auto-tune a PID controller without a precise plant model. This is very advantageous when dealing with model and parameter uncertainties in real control application and practice. Experimental study confirms the reference model driven auto-tuning of the DC rotor prototype. 相似文献
19.
Nonlinear adaptive torque control of electro-hydraulic load system with external active motion disturbance 总被引:1,自引:0,他引:1
《Mechatronics》2014,24(1):32-40
This paper develops a high performance nonlinear adaptive control method for electro-hydraulic load simulator (EHLS). The tracking performance of EHLS is mainly affected by the following factors: actuator’s active motion disturbance, flow nonlinear and parametric uncertainties, etc. Most previous studies on EHLS pay too much attention on actuator’s active motion disturbance, while deemphasize the other two factors. This paper concerns EHLS as a motion loading system. Besides actuator’s motion disturbance, both the nonlinear characteristics and parametric uncertainties of the loading system are addressed by the present controller. First, the nonlinear model of EHLS is developed, and then a Lyapunov-based control algorithm augmented with parameters update law is developed using back-stepping design method. The stability of the developed control algorithm is proven via Lyapunov analysis. Both the co-simulation and experiment are performed to validate the effectiveness of the developed algorithm. 相似文献