机械臂自适应反演超螺旋全局终端滑模控制

针对机械臂系统存在的系统参数摄动、非线性摩擦及外部干扰等不确定问题,提出一种自适应反演超螺旋全局终端滑模轨迹跟踪控制方法。该方法基于反演法、Lyapunov理论和全局快速终端滑模理论设计控制器,保证系统稳定性及全局收敛性,增强系统的鲁棒性。为解决系统集总扰动上界未知的问题,采用自适应技术设计切换控制律,抵消不确定性的影响,同时引入超螺旋算法抑制滑模控制固有的抖振现象。最后,通过理论分析和仿真算例验证了该控制器的有效性与可行性。     

基于嵌入式的无线通信网络远程终端控制系统设计

考虑到传统无线通信网络远程终端控制系统的功能和性能无法满足设计要求,提出了基于嵌入式的无线通信网络远程终端控制系统。基于设计无线通信网络远程终端控制系统总体架构,设计了嵌入式无线通信网络用户授权控制器和无线通信网络远程终端控制电路,完成系统硬件设计。在系统软件设计中,重构无线通信网络远程终端控制信号,通过小波变换设计无线通信网络远程终端控制算法,实现了无线通信网络的远程终端控制。测试结果表明,文中系统的功能满足设计要求,有效提高了控制中心的链路占有率,降低了冲突率,满足系统性能要求。     

Nonlinear cascade control of an electro-hydraulic actuator with large payload variation

Electro-hydraulic actuators have been widely used in industrial production, but the unknown variable payload seriously affects its position control accuracy. Therefore, a radial basis function neural network disturbance observer is designed to estimate the lumped disturbance force through strong online learning ability in the absence of force sensor. Besides, a nonlinear cascade controller with double loop structure is proposed in this paper. A global fast terminal sliding mode control method is firstly applied in the outer loop position system, which can eliminate chattering and improve convergence speed comparing to traditional sliding mode control. The inner loop force system adopts a backstepping control method to calculate the actual input of the whole system. Theoretical analysis indicates that the proposed controller is stable even if existing time-variant disturbance. Moreover, three comparative controllers are designed and tested in both simulations and experiments. Comparative results show that the developed method has absolute average errors of 1.14 and 0.49 mm in different position tracking, which means more satisfactory tracking performance compared to the contrast controllers.     

Implicit discrete-time fast terminal sliding mode control with disturbance compensation

In this paper, an implicit discrete-time fast terminal sliding mode (DFTSM) control with disturbance compensation is designed and analyzed for uncertain high-order systems. First, a recursive discrete sliding surface is constructed based on implicit Euler technique, which can completely eliminate discretization chattering so as to significantly reduce the boundary layer of sliding mode motion. With the help of a high-order disturbance compensator, the accuracy limitation of implicit DFTSM control systems is overcome by increasing the order of sliding mode. Then the finite-time convergence of implicit DFTSM is proved for the first time, and the influence relationship of control parameters on the convergence speed and control accuracy of the algorithm is established. Finally, two numerical examples are provided to demonstrate the effectiveness and superiority of the proposed design approach.     

四旋翼无人机姿态系统复合连续快速非奇异终端滑模控制EI北大核心CSCD

本文针对受多源干扰影响的四旋翼无人机姿态系统,基于复合连续快速非奇异终端滑模算法,研究了姿态指令变化率未知情况下的连续有限时间姿态跟踪控制问题.首先,基于四旋翼无人机姿态回路动力学模型,通过引入虚拟控制量实现姿态跟踪误差动态的三通道解耦;其次,分别针对各通道跟踪误差动态设计高阶滑模观测器,实现跟踪误差变化率和集总干扰的有限时间估计;最后,结合姿态跟踪误差变化率的估计信息,构建动态快速非奇异终端滑模面,并在控制设计中用指数幂函数代替符号函数以保证控制量连续.并且基于Lyapunov分析方法给出了姿态跟踪误差有限时间收敛的严格证明,仿真结果验证了所提方法的有效性.     

具有执行器故障的四旋翼无人机有限时间容错控制

本文主要研究了四旋翼无人机在外部干扰、执行器存在部分失效和偏置故障并发情况下有限时间轨迹跟踪的控制问题. 通过分析四旋翼无人机动力学特性, 构建了带有外部干扰、执行器机构故障的动力学模型. 基于鲁棒全局快速终端滑模控制算法, 设计了一种有限时间容错控制器, 提高了系统对故障的响应速度. 其次, 针对常值/时变故障和干扰,在控制器设计中采用改进的连续函数进行补偿, 减少了由切换函数引起的系统抖振, 并基于Lyapunov函数对控制器的稳定性进行了分析. 最后, 通过仿真实验验证了所设计控制器的有效性和可靠性, 同时存在执行器故障和外部干扰的情况下, 无人机能够实现较好的轨迹跟踪性能.     

Adaptive non-singular fast terminal sliding mode based on prescribed performance for robot manipulators

A fast convergent non-singular terminal sliding mode adaptive control law based on prescribed performance is formulated to solve the uncertainties and external disturbances of robot manipulators. First, the tracking error of robot manipulators is transformed by using the prescribed performance function, which improves the transient behaviors and steady-state accuracy of robot manipulators. Then, a novel fast convergent non-singular terminal sliding mode surface is brought up according to the transformed error, and the control law is derived to meet the stability requirements of robot manipulators. In practice, the upper boundary of the lumped disturbances cannot be accurately obtained. Therefore, an adaptive prescribed performance control (PPC) controller to lumped disturbances is brought up to ensure the stability and finite-time convergence of robot manipulators. Finally, the system stability of robot manipulators is proved by the Lyapunov theorem. Simulation results and comparative analysis demonstrate the superiority and robustness of the raised strategy.     

赣江尾闾河网地形变化对洪季水动力的影响北大核心CSCD

为探明在新水沙条件和人类活动的影响下赣江尾闾河网地形变化与洪季水动力特征变化的关系,以1998—2020年为研究时段,基于1998、2013、2020年河道地形,分别建立一维河网数学模型,复演赣江98特大洪水,研究不同时期地形变化对洪季水动力特征的影响。结果表明:赣江尾闾河网的整体下切使水位流量关系右移,洪期各支洪峰流量整体增加,相同水位下,外洲站来流增幅超过50%。1998—2020年期间,南支地形下切幅度大于其他各支,地形不均匀下切导致尾闾河网节点分流比改变,整体上主支与南支分流增多、中支与北支分流减少。各支流速变化剧烈,主支下游流速增幅超过1 m/s。本研究可为河道整治规划、堤坝防护和灾害预防提供一些技术参考。     

手持终端设备主备电池控制系统设计

手持终端设备属于一种嵌入式系统,特别在工业应用领域对其供电持续性的要求很高。为了解决单电池供电下设备续航能力不足导致传输数据丢失的问题,本文设计一种主备电池控制系统,提高了整机的续航能力和电源系统的可靠性。方案设计对切换灵敏度、功耗和可靠性方面进行了综合考虑,已经应用到实际产品中,取得了良好的效果。     

终端近场通信天线研究北大核心CSCD

近场通信(NFC)已成为无线终端的标配功能,工作范围小、抗干扰性和安全性较高的特性使其被广泛应用于终端的移动支付和虚拟卡片等领域。由于近场天线产生的感应磁场会在临近的金属上耦合出反向涡流,并且金属屏蔽物覆盖会降低收发天线间的磁场耦合,紧凑终端中的电池、主板、外壳等金属元件将大幅影响NFC天线性能。本文从近场通信的历史、标准、系统结构出发,以终端NFC天线工作环境中的金属覆盖情况作为分类依据,对终端近场通信天线的研究进展进行了简要介绍。