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Defence Technology（防务技术） 2024年第2期32卷 144-158页

作者： Shusen Yuan Wenxiang Deng Jianyong Yao Guolai Yang School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China

Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.

关键词： Bidirectional stabilization system Robust control Adaptive control Backlash inverse disturbance estimation

Demagnetization Analysis and Velocity Tracking Control of In-wheel Motor

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Journal of Harbin Institute of Technology(New Series) 2024年第2期31卷 1-11页

作者： Haihong Li Junjie Chen Zhiqi Liu School of Mechanical Engineering Taiyuan University of Science and TechnologyTaiyuan Shanxi 030024China

The error caused by irreversible demagnetization damages the accurate velocity tracking of an in-wheel motor in a mobile robot.A current feedforward vector control system based on ESO is proposed to compensate it for the demagnetization motor.A demagnetization mathematical model is established to describe a permanent magnet synchronous motor,which took the change of permanent magnet flux linkage parameters as a factor to count the demagnetization error in velocity tracking.The uncertain disturbance estimation model of the control system is built based on ESO,which eliminates the system error by the feedforward current compensation.It is compared with the vector control method in terms of control accuracy.The simulation results show that the current feedforward vector control method based on ESO reduces the velocity tracking error greatly in conditions of motor demagnetization less than 30%.It is effective to improve the operation accuracy of the mobile robot.

关键词： mobile robot velocity tracking disturbance estimation vector control

Adaptive control of permanent magnet synchronous machines with disturbance estimation

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控制理论与应用（英文版） 2012年第3期10卷 337-343页

作者： Hicham CHAOUI Pierre SICARD Industrial Electronics Research Group School of EngineeringUniversite du Quebec a Trois-RivieresTrois-RivieresQuebecCanada

In this paper, an adaptive control scheme is introduced for permanent magnet synchronous machines （PMSMs） as an alternative to classical control techniques. The adaptive control strategy capitalizes on the machine＇s inverse dynamics to achieve accurate tracking by using an observer to approximate disturbance in the form of friction and load torque. The controller＇s output is then fed to a space vector pulse width modulation （SVPWM） algorithm to produce duty cycles for the inverter. The control scheme is validated through a set of simulations on an experimentally validated PMSM model. Results for different situations highlight its high speed tracking accuracy and high performance in compensating for friction and load disturbances of various magnitudes.

关键词： Adaptive control Speed control Observer disturbance estimation Synchronous machine

Correlation integral optimization and application based on adaptive disturbance estimation

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Correlation integral optimization and application based on a...

第36届中国控制会议

作者： Jie Chen Zhong Zhao College of Information Science and Technology Beijing University of Chemical Technology

ISBN: (纸本)9781538629185

In view of the traditional correlation integral optimization method,when the system disturbances are correlative with the decision variables,objective function does not converge to the optimal value in the process of iterative optimization.In this work,an improved method of correlation integral optimization is proposed.Based on the steady data driven model,an adaptive disturbance estimator is constructed to estimate the mean values of the disturbances and compensate the gradient values obtained by the traditional least square method.Based on the correlation integral optimization method,the modified decision variables can be obtained to ensure the convergence to the optimal value in the process of iterative optimization.The simulation and industrial application results have verified the feasibility and effectiveness of the proposed method.

关键词： Steady-state optimization Correlation integration Gradient estimation disturbance estimation Adaption

Output Tracking for One-Dimensional Wave Equation with Non-Collocated Control and Output Configuration

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Journal of Systems Science & Complexity 2020年第5期33卷 1469-1484页

作者： WEI Jing FENG Hongyinping School of Mathematical Sciences Shanxi UniversityTaiyuan 030006China

This paper considers output tracking for a one-dimensional wave equation with general disturbance which includes both internal nonlinear uncertainty and external disturbance.The performance output is non-collocated to the control.The disturbance is estimated by an essentially extended state observer from active disturbance rejection control and the difficulty caused by the non-collocated configuration of control and output is overcome by a proper trajectory planning.An output feedback law is proposed to make the tracking error be convergent to zero exponentially as time goes to infinity.At the same time,all states of the closed-loop system are shown to be uniformly bounded.Numerical simulation is also presented to validate the theoretical results.

关键词： disturbance estimation output feedback output tracking wave equation

Adaptive actuator failure compensation and disturbance rejection scheme for spacecraft

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Journal of Systems Engineering and Electronics 2014年第4期25卷 648-659页

作者： Xuelian Yao Gang Tao Ruiyun Qi College of Automation Engineering Nanjing University of Aeronautics and Astronautics Department of Electrical and Computer Engineering University of Virginia

An adaptive actuator failure compensation scheme is proposed for attitude tracking control of spacecraft with unknown disturbances and uncertain actuator failures. A new feature of this adaptive control scheme is the adaptation of the failure pattern parameter estimates, as well as the failure signal parameter estimates, for direct adaptive actuator failure compensation. Based on an adaptive backstepping control design, the estimates of the disturbance parameters are used to solve the disturbance rejection problem. The unknown disturbances are compensated completely with the stability of the whole closed-loop system. The scheme is not only able to accommodate uncertain actuator failures, but also robust against unknown external disturbances. Simulation results verify the desired adaptive actuator failure compensation performance.

关键词： actuator failure compensation adaptive control failurepattern disturbance estimation spacecraft stability and tracking.

Design of equivalent-input-disturbance estimator using a generalized state observer

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控制理论与应用（英文版） 2013年第1期11卷 74-79页

作者： Min WU Kunpeng LOU Fangchun XIAO Ruijuan LIU Yong HE Jinhua SHE School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation School of Computer Science Tokyo University of Technology

In this paper, we present a design method based on the concept of equivalent input disturbance （EID） to reject disturbances for a linear time-invariant system. A generalized state observer （GSO） is used to estimate an EID of the external disturbances, and the pole-assignment algorithm is employed to select the matrices of the GSO. Simulation and experimental results of a rotational speed control system demonstrate the validity of our method.

关键词： disturbance estimation disturbance rejection Equivalent input disturbance Generalized state observer Pole assignment Rotational speed control

Output disturbance Decoupling via disturbance-Dependent State Transformation

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Output Disturbance Decoupling via Disturbance-Dependent Stat...

第36届中国控制会议

作者： Ma Kemao Wang Qing Wang Jianhui Wang Jie Control and Simulation Center Harbin Institute of Technology School of Mechanical and Electric Engineering Guangzhou University Shanghai Radio Equipment Research Institute

ISBN: (纸本)9781538629185

For a class of linear systems with external smooth disturbances, control design is considered to attenuate the effect of the disturbances on the outputs of the systems. To deal with the unmatched disturbances, a disturbance-dependent state transformation is introduced, so that the transformed disturbances satisfy the matching condition in the new state coordinates,and therefore we design controllers to compensate for the disturbances. The controller implementation is also considered. An simple example is given to demonstrate the design procedure and the effectiveness of the design.

关键词： disturbance Decoupling Output Control disturbance estimation High-gain Observer

Generalized Extended State Observer based Speed Control for DC Motor Servo System

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Generalized Extended State Observer based Speed Control for ...

第37届中国控制会议

作者： Lan Zhou Lei Cheng Changzhong Pan Zhuang Jiang School of Information and Electrical Engineering Hunan University of Science and Technology

This paper presents a speed control method for a DC motor servo system（DCMSS） based on a generalized extended state observer（GESO）.First,the model of the DCMSS and a preliminary-standard ESO based control method are described.Next,a GESO based control method is proposed for the non-integral-chain DCMSS to estimate and compensate the lumped disturbance in real time.By appropriately choosing a disturbance compensation gain,the effects of the parameter variations and the load disturbance are removed from the output channel of the system.Then,a stability criterion and a design algorithm for the GESO-based DCMSS have been developed.Finally,simulation results demonstrate the validity of the method.

关键词： disturbance estimation disturbance Rejection DC Servo Motor Generalized Extended State Observer

Equivalent-Input-disturbance Method Improves disturbance Rejection Performance: The MIMO Case

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Equivalent-Input-Disturbance Method Improves Disturbance Rej...

第二十六届中国控制会议

作者： She Jinhua1,Xin Xin2 1.School of Bionics,Tokyo University of Technology,1404-1 Katakura,Hachioji,Tokyo 192-0982,Japan2.Department of Communication Engineering,Faculty of Computer Science and System Engineering,Okayama Prefectural University,111 Kuboki,Soja,Okayama 719-1197,Japan

This paper extends the equivalent-input-disturbance method to disturbance rejection in an MIMO servo system.It explains the configuration of a control system with a disturbance estimator and a design method based on the concept of perfect regulation.Simulations on the tracking control of a dual-stage system demonstrated the validity of the method.

关键词： disturbance estimation disturbance rejection Equivalent input disturbance Servo system Dual-stage feed drive