电液力伺服系统的降维状态观测器CAD

分析了降维状态观测器及用于电液力伺服系统的设计特点，研制了计算机辅助设计程序，为系统实施状态反馈创造了前景。同时指出为了避免引起更大的噪声且又要使状态估值的误差尽快衰减，把观测器在Ｓ平面的一对复极点置于系统３个极点（其中一对复极点离虚轴最近）中间，且靠近那对复极点是可行的     

走径相同的送电线路档中风偏放电故障分析

通过一起山区不同电压等级平行线路风偏放电的分析,提出今后选线、测量及定位施工中应考虑的因素,供山区送电线路设计、施工及运行人员参考。     

Adaptive task-space synchronisation of networked robotic agents without task-space velocity measurements

In this paper, we investigate the problem of task-space synchronisation of multiple robotic agents in the presence of uncertain kinematics and dynamics. Our control objective is to realise synchronisation without the measurements of task-space velocity. The communication topology is assumed to be directed graphs containing a spanning tree. A decentralised task-space observer with kinematic parameter updating is proposed to avoid the reliance of task-space velocity. Based on the observer, we propose the distributed adaptive synchronisation controller for two cases: (1) the leaderless consensus case and (2) the leader-follower case, where all the followers track the convex hull spanned by the virtual leaders and for each follower, it is required that there exists at least one leader that has a directed path to the follower. The asymptotic synchronisation is proved with Lyapunov analysis and input–output stability analysis tools. Simulations with multiple robotic agents are performed to show the effectiveness of the proposed schemes.     

Stochastic contraction-based observer and controller design algorithm with application to a flight vehicle

This paper focuses on a stochastic version of contraction theory to construct observer-controller structure for a flight dynamic system with noisy velocity measurement. A nonlinear stochastic observer is designed to estimate the pitch rate, the pitch angle, and the velocity of an aircraft example model using stochastic contraction theory. Estimated states are used to compute feedback control for solving a tracking problem. The structure and gain selection of the observer is carried out using Itô's stochastic differential equations and the contraction theory. The contraction property of integrated observer-controller structure is derived to ensure the exponential convergence of the trajectories of closed-loop nonlinear system. The upper bound of the state estimation error is explicitly derived and the efficacy of the proposed observer-controller structure has been shown through the numerical simulations.     

A fault tolerant control framework for periodic switched non-linear systems

An observer-based fault tolerant control (FTC) framework is proposed for a class of periodic switched non-linear systems (PSNS) without full state measurements. Two kinds of faults are considered: continuous faults that affect each mode during its dwell period; and discrete faults that affect the switching sequence. Under the average dwell time scheme, the proposed FTC framework can maintain the stability of overall PSNS in spite of these two kinds of fault. A switched reluctance motor example is taken to illustrate the efficiency of the proposed method.     

台面球X-Y轨迹气动控制系统设计

介绍了台面球气动控制系统的总体结构及其控制原理,并在MATLAB仿真环境下对简化模型进行仿真实验,实验结果证明,通过状态观测器的引入,PD型模糊控制算法的应用在台面球装置中能取得较好的控制效果,系统容易达到稳定状态,且能够准确实现小球的定点稳定、轨迹跟踪等各种控制要求.且其动态特性和稳态特性都表现良好.     

跟踪问题控制器设计的一种新方法及应用

本文提出一种模型跟踪控制器设计方法使得线性时不变装置输出对参考模型系统输出具有良对好的跟踪特性。根据这种设计方法形成的控制器由参考模型系统状态(或估计状态)的前馈和受控装置状态(或估计状态)的反馈两部分组成。前馈增益和反馈增益计算简单且设计过程高度程序化。使用这种方法设计BTT导弹自动驾驶仪获得了满意的结果。     

基于广义系统观测器的电池荷电状态估计

提出了一种新的电池荷电状态(SOC)的估计方法。电池的开路电压(OCV)与SOC之间是一种分段线性的关系,为了避开这类非线性问题,观测器设计时的通行做法是将输出电压的方程式对时间进行求导。文中分析表明这种对电压方程求导的做法是不正确的。指出可以将分段线性关系看做是广义系统中的一种线性约束,从而提出用广义系统观点来处理电池的这个分段线性约束,并且设计了广义系统观测器。仿真结果表明所提出的观测器的有效性。