The invention provides a motor servo system jitter-free sliding mode position control method based on disturbance compensation According to the method, the nonlinear friction characteristic, external disturbance and other modeling uncertainty of a system are considered, continuous and smooth friction compensation is made for nonlinear friction, and the low-speed servo performance of the motor position servo system is further improved; uncertainty such as non-modeling disturbance is estimated through an extended state observer, feedforward compensation is made when a controller is designed, and the robustness of the actual motor position servo system to external disturbance is improved; jitter and singularity will not be caused to voltage output of the designed terminal sliding mode controller, the controller can guarantee that the state of the system tends to be balanced in a limited time, and the tracking performance of the system is greatly improved; the designed terminal sliding mode controller is simple, has certain robustness to system parameter variation and is more favorable for being applied to engineering practice

Motor servo system jitter-free sliding mode position control method based on disturbance compensation

The invention provides a robust self-adaptive track tracking control system for a dynamic positioning vessel. A position and angle sensor acquires and then sends actual positions and course angles, and reference positions and reference course angle information, which are generated by a reference path generator, to a neural network estimator and a second-order sliding mode observer and obtains a model unknown non-linear function estimation value and state estimation value and then transmits the state estimation value to a disturbance estimator and a diffeomorphism convertor at the same time and obtains an interference estimation value and a new state variant respectively. All of information obtained by the neural network estimator, the second-order sliding mode observer, the interference estimator, the diffeomorphism convertor and the position and angle sensor is transmitted to a controller and a control instruction is resolved to drive an execution mechanism and realize track tracking of a water-surface vessel. The robust self-adaptive track tracking control system for the dynamic positioning vessel does not need known precise hydrodynamic-force parameters of the water-surface vessel or precise identification of inertial mass parameters and realizes track tracking of the dynamic positioning vessel under a condition that interferences from an unknown environment exist.

Robust self-adaptive track tracking control system for dynamic positioning vessel

The invention discloses an under-actuated surface vehicle trajectory tracking control system based on a self-adaptive fuzzy observer. A sensor module collects position and course information y of a surface vehicle and outputs the position and course information y to the self-adaptive fuzzy observer; the self-adaptive fuzzy observer receives output of a controller, obtains position and heading estimation, speed estimation, slow varying disturbance force estimation and unknown nonlinear term estimation (please see the expressions in the specification) and respectively transmits the position and heading estimation, the speed estimation, the slow varying disturbance force estimation and the unknown nonlinear term estimation to a trajectory tracking error generator and the controller; a guide system obtains expected speed and accelerated speed information in a hull coordinate system through calculation and respectively transmits the expected speed and accelerated speed information to the trajectory tracking error generator and the controller; the trajectory tracking error generator obtains error information of all states of trajectory tracking and transmits the error information to the controller; the controller calculates a longitudinal thrust and course changing torque control instruction of the current moment and transmits the control instruction to a thrust system, and the thrust system executes the control instruction. The under-actuated surface vehicle trajectory tracking control system can perform fast tracking under the conditions that only the position and the heading angle are measurable and a model has indeterminacy.

Under-actuated surface vehicle trajectory tracking control system based on self-adaptive fuzzy observer

The invention relates to a synchronous virtual inference device for underwater unmanned vehicle observation tasks. The synchronous virtual inference device for the underwater unmanned vehicle observation tasks is applied to observation tasks and comprises a water surface monitoring computer 1, a multi-channel communication device 2, a virtual vehicle system task management computer 3, a virtual vehicle system motion control computer 4, a virtual display computer 5, an external measuring positioning device 6, a real vehicle system 7 and a virtual vehicle system 8. The synchronous virtual inference device can accurately and synchronously predict the positions of the vehicles and the postures of the vehicles when the vehicles execute tasks, displays sailing tracks of the vehicles in real time, avoids unsafe actions which cannot be monitored manually and are caused by underwater communication obstacles, provides a visual estimation method for testers and users, and has great importance in improvement of the safety and the reliability of the underwater unmanned vehicles.

Synchronous virtual inference device for underwater unmanned vehicle observation tasks

Disclosed in the invention is a global consistent asymptotic type path tracking guiding control method. The method is characterized in that the method comprises: a current ship attitude, a current way point, and a next way point are read; whether a ship arrives at the next way point is determined; if so, a guiding system module algorithm is invoked, a way point coordinate and a target path are updated, and a real-time expected course angle is calculated; if not, a guiding system module algorithm is invoked, a current target path is maintained, and a real-time expected course angle is calculated; and a control system module algorithm is invoked and a corresponding course change moment and longitudinal force of the ship are calculated. According to the invention, the method has the following beneficial effects: on the basis of combination of a controller method and a guiding system method, gradual expected course tracking by the ship and external disturbance estimation can be carried out based on series connection combination; and high-precision positioning of the target route kept by the ship can be realized.

Global consistent asymptotic type path tracking guiding control method

Dynamic positioning simulation test platform and position control method

Non-linear ship motion control method based on robust observer

The invention provides a networked servomotor control method based on a disturbance observer. According to the method, a measuring element acquires the angular displacement and angular velocity of a servomotor and sends the angular displacement and the angular velocity to the disturbance observer and a sliding mode controller through a network, the disturbance observer simultaneously reads historical control quantity values, stored in a control quantity buffer, and estimates a disturbance size and sends the disturbance size to the sliding mode controller, and the sliding mode controller obtains a control voltage signal through solving and sends the control voltage signal to the servomotor through the network so as to form closed-loop network control on the servomotor. The method is applied to a servomotor system with external disturbance, and the networked control is realized through network connection, so that the interoperability, flexibility and the like of the system are improved; through selecting a sliding mode function with historical control input, the network-induced time delay is compensated, and the stability of the system is improved; and through designing the disturbance observer, the disturbance suppression is realized, the buffeting of the system is reduced, and the dynamic performance of the system is improved.

Zhao Ang

Papers

Dynamic positioning simulation test platform and position control method

Non-linear ship motion control method based on robust observer

Networked servomotor control method based on disturbance observer