带有干扰观测器的分数阶滑模控制

针对一类带有匹配不确定性的系统,结合分数阶理论设计分数阶滑模控制器,在保证控制精度的同时,更好地削弱系统中存在的抖振;针对系统中存在的不确定量,利用干扰观测器来估计;最后对系统稳定性进行分析。通过仿真验证可以看出,所用方法不仅能很好地估计不确定量,而且能极大降低系统抖振。     

基于模糊干扰观测器的无人机自主着陆逆控制器设计

针对具有显著非线性和不确定性的无人机自主着陆系统,提出基于模糊干扰观测器的非线性动态逆的控制方法,用于降低控制器对不确定性的要求。基于时标分离原则,将无人机自主着陆系统分为快回路、慢回路、非常慢回路和极慢回路,通过在快回路、慢回路和非常慢回路设计动态逆控制律使状态解耦,设计直线下滑和指数拉平的着陆轨迹,并在极慢回路进行跟踪。设计基于模糊系统的干扰观测器,以逼近外部干扰和内部不确定性等复合干扰,基于李雅普诺夫理论证明系统稳定性。最后给出了无人机自主着陆轨迹跟踪控制仿真,仿真结果表明设计控制器具有良好鲁棒性,完成无人机在外界干扰下的自主着陆控制。     

基于干扰观测器的无人机着陆飞行逆控制器设计

基于干扰观测器设计了无人机着陆飞行逆控制器。根据时标分离的原则,将无人机系统分解为快慢不同的4个回路,采用动态逆的方法设计快回路、慢回路和非常慢回路控制器,并且在慢回路引入干扰观测器估计无人机所受的扰动和在线估计动态逆误差,降低控制器对干扰和模型精确度的要求,增强控制器的鲁棒性。仿真结果说明所设计的无人机着陆控制器是非常有效的。     

Adaptive Fuzzy Controller of the Overhead Cranes With Nonlinear Disturbance

Overhead cranes are common industrial structures that are used in many factories and harbors. They are usually operated manually or by some conventional control methods, such as the optimal and PLC-based methods. The theme of this paper is to provide an effective all-purpose adaptive fuzzy controller for the crane. This proposed method does not need the complex dynamic model of the crane system, but it uses trolley position and swing angle information instead to design the fuzzy controller. An adaptive algorithm is provided to tune the free parameters in the crane control system. The ways to speed the transportation and reduce the computational efforts are also given. Therefore, the designing procedure of the proposed controller will be very easy. External disturbance, such as the wind and the hit, which always deteriorates the control performance, is also discussed in this paper to verify the robustness of the proposed adaptive fuzzy algorithm. At last, several experimental results with different wire length and payload weight compare the feasibility and effectiveness of the proposed scheme with conventional methods     

使用插值法滤波的单站无源定位算法

综合利用到达方位角(DOA)和到达时间差(TDOA)等信息,建立单站无源定位系统的状态模型和观测模型,应用多维情形的二阶插值公式构造新型非线性滤波算法,而不需计算非线性函数的偏导,使得计算简化。仿真结果表明,用该算法可替代扩展卡尔曼滤波器(EKF)应用于单站无源定位中,能获得更为准确且收敛更快的定位结果。     

基于新颖磁链观测的三电平PWM整流器的模糊PI控制策略研究

三电平PWM整流器在高压大功率场合有着广泛的应用,但是由于三电平PWM整流器自身的开关器件的非线性和对电路参数的依赖性,使得传统的PI双闭环控制无法更好的提高其动态性能,因此限制了其在更宽负载范围内的运用。本文在建立二极管钳位式PWM整流器数学模型的基础上,针对目前三相PWM整流器动态性能较差的特点,采用一种新型简化虚拟磁链定向,设计了一种模糊PI控制器。仿真实验表明:该控制方法设计简单,提高了PWM整流器的动态性能,而且较好地实现了电流的解耦控制,且使系统鲁棒性增强。     

单片机遥控转向控制器

文章介绍了一种基于单片机设计的结构简单的具有较强实用性的转向控制器 ,并且对其硬件结构、通信方式以及软件设计等方面作了一定的介绍。该控制器已成功应用于船用广播系统。     

Design and Performance Tuning of Sliding-Mode Controller for High-Speed and High-Accuracy Positioning Systems in Disturbance Observer Framework

The tuning method of controllers can be used for effectively determining the overall performance of positioning systems. In particular, this method is highly effective in the case of high-speed and high-accuracy positioning systems. In this paper, a sliding-mode controller that uses one of the well-known approaches of robust control methodology is designed for high-speed positioning systems that require a high-accuracy performance. A performance-tuning method based on a disturbance observer (DOB) structure is also proposed. First, a generalized disturbance attenuation framework named robust internal-loop compensator (RIC) is introduced, and a sliding-mode controller based on a Lyapunov redesign is analyzed in the RIC framework. Then, the DOB properties of the sliding-mode controller are presented, and it is shown that the performance of the closed-loop system with a sliding-mode controller can be tuned up by using the structural characteristics of the DOB. These results make the design of an enhanced sliding-mode controller possible. Finally, the proposed algorithm is experimentally verified and discussed with two positioning systems. Experimental results show the effectiveness and the robustness of the proposed scheme.     

单片机FUZZY－PID双模温控仪

采用８０３１、１４４３３及８２７９等芯片，并将模糊控制与常规ＰＩＤ结合设计成一种单片机温控仪。该仪器应用于一小型ＰＴＣ电阻炉取得较好的控制效果，总的跟踪偏差在５℃以内。文章介绍了温控仪的硬件组成及软件设计     

一种模糊神经网络智能控制器及其应用

本文提出了一种模拟推理神经网络模型，并用于实现模糊控制，在此基础上提出了基于模糊神经网络的自组织控制器和有效的快速Ｋａｌｍａｎ学习算法，经仿真结果和实际温度控制表明，这种新型的自组织控制器性能优于一般Ｆｕｚｚｙ自组织控制器。     

Synchronization of Chaotic Systems Using Time-Delayed Fuzzy State-Feedback Controller

This paper presents the fuzzy-model-based control approach to synchronize two chaotic systems subject to parameter uncertainties. A fuzzy state-feedback controller using the system state of response chaotic system and the time-delayed system state of drive chaotic system is employed to realize the synchronization. The time delay which complicates the system dynamics makes the analysis difficult. To investigate the system stability and facilitate the design of fuzzy controller, Takagi-Sugeno (T-S) fuzzy models are employed to represent the system dynamics of the chaotic systems. Furthermore, the membership grades of the T-S fuzzy models become uncertain due to the existence of parameter uncertainties which further complicates the system analysis. To ease the stability analysis and produce less conservative analysis result, the membership functions of both T-S fuzzy models and fuzzy controller are considered. Stability conditions are derived using Lyapunov-based approach to aid the design of fuzzy state-feedback controller to synchronize the chaotic systems. Simulation examples are presented to illustrate the merits of the proposed approach.     

A Mixed Signal Fuzzy Controller Using Current Mode Circuits

A mixed analog-digital fuzzy logic inference processor chip, designed in a 0.35-μm CMOS technology, is presented. The analog fuzzy engine is based on a novel current-mode CMOS circuit used for the implementation of fuzzy partition membership functions. The architecture consists of a 3 inputs—1 output analog fuzzy engine, internal digital registers to store the parameters of the fuzzy controller, and a digital subsystem that allows the programmability of the fuzzy controller via an I ² C interface. The architecture, circuits, and some Cadence Spectre simulations are presented.     

异步电机矢量控制系统模糊PI控制器设计

采用传统PI控制器的异步电机矢量控制系统响应有延迟,调整过程中有超调。为改善异步电机矢量控制系统的动态性能,文中采用模糊矢量控制策略对三相异步电机进行控制,能够获得较好的动稳态性能。在Matlab/Simulink环境下,对模糊矢量控制策略进行了仿真研究,仿真实验结果表明,该控制策略能够获得快速的动态响应、转速无超调、系统鲁棒性更强的效果。     

柔性结构振动自适应模糊控制与实验研究

针对机敏柔性结构振动主动控制，提出了一种自适应模糊控制方案。在简单模糊控制器基础上引进了自适应环节，并经大量实验研究后总结了量化因子Ke、Kc与比例因子Ku的调整规则。最后对一机敏柔性梁进行了抑振实验，获得了良好的效果。     

单片机视频电缆多工控制装置

本文介绍了单片微机视频电缆多工控制器和解码器。它用一根同轴电缆既传送从摄像机发向控制器的视频信号,又传送从控制器发向摄像机的编码脉冲。     

Chaotic Synchronization Using Sampled-Data Fuzzy Controller Based on Fuzzy-Model-Based Approach

This paper presents the synchronization of chaotic system using a sampled-data fuzzy controller. To carry out the system analysis, a fuzzy model is employed to represent the chaotic systems. Linear-matrix-inequality (LMI)-based system stability and performance conditions are derived using a Lyapunov-based approach. The derived LMI-based stability and performance conditions are employed to aid the design of a stable and well-performing sampled-data fuzzy controller to achieve the synchronization of chaotic systems. An application example is given to illustrate the merits of the proposed approach.     

基于视在加速度与角速度信息的单站无源 定位原理与目标跟踪算法研究

本文提出了一种基于视在加速度与角速度信息的单站无源定位方法,分析了其定位原理和利用该方法对静止或匀速运动辐射源的即时定位.同时提出了一种适合于这一定位方法的目标跟踪算法——测量空间卡尔曼滤波(MSKF)算法.对即时定位精度与MSKF跟踪算法进行了计算机仿真实验,最后,将该定位方法和MSKF算法应用于某次无源定位外场试验中,结果表明了该定位方法的有效性.     

非视距环境下单站定位的伪目标动态可行域约束法

 针对非视距环境下多站定位方法需要资源量大、成本高且定位精度受非视距传播影响大等问题,本文提出了单站定位的伪目标动态可行域约束法.该方法将目标周围的散射体看作伪目标,利用单个机动观测站测量伪目标信号的来波方向角和方向角变化率,得到较精确的伪目标坐标后,根据伪目标与真实目标间的位置关系构造可行域,在可行域内进行最优化求解,消除非视距引起的误差,得到真实目标位置的估计值.伪目标动态可行域约束法把通常认为是不利的多径信号转化为有利因素.仿真实验证明:该方法在对目标连续数次采样测量后,即可以快速有效地抑制定位误差.     

2R柔性机械臂压电抑振的模糊控制实验研究

柔性机械臂在运动过程中不可避免产生弹性振动,对柔性机械臂的振动抑制成为重要研究课题.基于压电陶瓷的模糊控制抑振,利用电阻应变传感器检测机械臂振动信息,经动态应变仪采集到计算机系统,根据控制规律进行模糊运算,得到控制电压;再以该电压驱动压电陶瓷片,产生与振动方向相反控制力矩,抑制机械臂柔性变形.实验结果显示,压电抑振效果显著,模糊控制的鲁棒性较高.