In this paper, the incremental harmonic balance method is employed to solve the periodic solution that a vibration active control system with double time delays generates, and the stability analysis of which is achiev...In this paper, the incremental harmonic balance method is employed to solve the periodic solution that a vibration active control system with double time delays generates, and the stability analysis of which is achieved by the Poincare theorem. The system stability regions can be obtained in view of time delay and feedback gain, the variation of which is also studied. It turns out that along with the increase of time delay, the active control system is not always from stable to unstable, and the system can be from stable to unstable state, whereas the system can be from unstable to stable state. The extent that the two times delays impact to the relative magnitude of the two feedback gains. the condition of the well-matched feedback gains. control strategy of time-delayed feedback.展开更多
This paper proposes an augmented reduced-order active disturbance rejection control(ARADRC)to address the control challenges in nonlinear systems with unknown disturbances.An augmented reduced-order extended state obs...This paper proposes an augmented reduced-order active disturbance rejection control(ARADRC)to address the control challenges in nonlinear systems with unknown disturbances.An augmented reduced-order extended state observer(ARESO)is constructed to estimate the unmeasured states,the total disturbance,and its derivatives.Compared to conventional ESOs,the proposed ARESO can enhance the estimation performance by actively estimating the derivatives of the total disturbance.In the time domain,by an inductive decoupling-based bound analysis method,this paper rigorously investigates the closed-loop transient performance without the prior assumption on the boundedness of derivatives of nonlinear uncertainties.In the frequency domain,a comparative analysis demonstrates the superiority of ARADRC in both disturbance estimation and rejection.Finally,the magnetic levitation experiments validate the effectiveness of the proposed method.展开更多
This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relativ...This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.展开更多
Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibra...Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibration.An active damping device(ADD)is used to the vibration of the pump valve pipeline system to apply the control force,to achieve the active control of the pipeline vibration.A pump-valve pipeline vibration test bench was built to compare the control effect of active damping device on pipeline vibration under different pump valve working conditions,and the results show that applying ADD control could effectively suppress the vibration of the pump valve pipeline and enhance the stability of the equipment during operation.At different pump operating rotation frequencies,the vibration amplitude of the pump valve pipeline in working frequency and its multiple frequencies are also effectively suppressed,with the maximum amplitude reduction of more than 60%.For the valve vibration caused by different operating openings,the vibration of the highest reduction of 68%,and the centrifugal pump drive shaft vi-bration reduced by up to 73%,which provides a new idea for vibration control of pump valve pipeline system.展开更多
The conventional feedforward hybrid active noise control(FFHANC)system combines the advantages of the feedforward narrowband active noise control(FFNANC)system and the feedforward broadband active noise control(FFBANC...The conventional feedforward hybrid active noise control(FFHANC)system combines the advantages of the feedforward narrowband active noise control(FFNANC)system and the feedforward broadband active noise control(FFBANC)system.To enhance its adaptive adjustment capability under frequency mismatch(FM)conditions,this paper introduces a narrowband frequency adaptive estimation module into the conventional FFHANC system.This module integrates an autoregressive(AR)model and a linear cascaded adaptive notch filter(LCANF),enabling accurate reference signal frequency estimation even under significant FM.Furthermore,in order to improve the coherence between narrowband and broadband components in the system’s error signal and its corresponding control filter for the conventional FFHANC system,this paper proposes an algorithm based on autoregressive bandpass filter bank(AR-BPFB)for error separation.Simulation results demonstrate that the proposed FFHANC system maintains robust performance under high FM conditions and effectively suppresses hybrid-band noise.The AR-BPFB algorithm significantly elevates the convergence speed of the FFHANC system.展开更多
Aiming at the sensitivity of linear active disturbance rejection control(LADRC)to measurement noise,an improved anti-saturation cascaded LADRC is proposed.This approach employs the system output as the control input o...Aiming at the sensitivity of linear active disturbance rejection control(LADRC)to measurement noise,an improved anti-saturation cascaded LADRC is proposed.This approach employs the system output as the control input of the filtering subsystem,which is then fed back to the secondary LADRC to mitigate measurement noise and uncertain disturbances.While preserving the benefits of precise and stable tracking inherent to traditional cascaded LADRC closed-loop systems,this design omits the outer loop tracking differentiator,thereby simplifying the structure and reducing the number of tunable parameters.Additionally,an error compensation strategy is introduced to address input saturation constraints,thereby equipping the controller with anti-saturation capabilities.Under multi-track surface switching conditions,the effectiveness of the new cascaded active disturbance rejection method is verified by simulation of the optimal adhesion control of the railway train.The results show that the improved cascaded LADRC has stronger rapidity and robustness.展开更多
Dear Editor,Active magnetic bearings(AMBs)are of considerable interest and significance in smart manufacturing due to their zero-friction and adaptivity to noncontact rotor rotations.This paper proposes an active levi...Dear Editor,Active magnetic bearings(AMBs)are of considerable interest and significance in smart manufacturing due to their zero-friction and adaptivity to noncontact rotor rotations.This paper proposes an active levitation control algorithm based on adaptive sliding mode control(ASMC)equipped with linear extended state observer(LESO).Sufficient conditions are derived to guarantee the asymptotical stability of the associated closed-loop system.Experiments are conducted on a real AMB-rotor platform to demonstrate the effectiveness and superiority of the proposed algorithm.展开更多
This paper investigates the high-performance control issues of systems affected by time-varying disturbances and measurement noise.Conventionally,active disturbance rejection control(ADRC)is a favorable control strate...This paper investigates the high-performance control issues of systems affected by time-varying disturbances and measurement noise.Conventionally,active disturbance rejection control(ADRC)is a favorable control strategy to reject unknown disturbances and uncertainties.However,its control performance is limited because standard extended state observer(ESO)struggles to effectively estimate time-varying disturbances.The emergence of high-order ESO(HESO)alleviates the limitation.Unfortunately,it deteriorates the noise suppression capability when the disturbance rejection is enhanced.To tackle this challenge,an improved ADRC with cascade HESO(CHESO)is proposed.A comprehensive theoretical analysis associated with the performance of HESO is given for the first time.The presented analyses provide an intuitive understanding of the performance of HESO.Then,a novel CHESO is developed.The convergence of CHESO is proved via input-to-state stable theory.Extensive frequency domain analyses indicate that CHESO has stronger disturbance rejection and high-frequency noise attenuation performance than ESO and HESO without increasing the observer bandwidth.Comparative simulations conducted on a servo control system validate the effectiveness and preponderance of the proposed method.展开更多
This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller fo...This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.展开更多
In this paper, the characteristics of forces in active control systems connected to adjacent levels of a building are analyzed. The following characteristics are observed： （1） active control can provide significant...In this paper, the characteristics of forces in active control systems connected to adjacent levels of a building are analyzed. The following characteristics are observed： （1） active control can provide significantly superior supplemental damping to a building, but causes a small frequency shift; （2） the linear quadratic regulator （LQR）-based control force is composed of an elastic restoring force component and a damping force component, where the damping force is almost identical to the total control force, however, the elastic restoring force is very small; and （3） the active control forces prevent mction most of the time during the entire control process. These three characteristics imply that active control systems connected to adjacent levels of a building behave like passive damping devices with adjustable parameters, namely damping characteristics in an active control, which is the mechanism used by semi-active control devices to reach similar performance as active control systems. Two indices are defined to quantify the damping characteristics of control forces in active control systems. These two indices can also be used to quantify the capacity of semi-active control to achieve the perfonrlance of active control. Based on the above observations, two principles are founded for optimization of parameters of semi-active control devices and passive dampers. The first is that the maximum output force of a semi-active or passive device to be designed is identical to an active device, called ＂design principle＂. The other is the response equivalent principle, which states that the response of a building with semi-active or passive devices is the same as with active devices when the same maximum output force is applied. The design procedure for semi-active control devices and passive dampers is described in detail. Finally, numerical simulations of two benchmark problems is conducted to demonstrate the damping characteristics of active control and investigate the capacity of semi-active control to achieve the same performance as active control.展开更多
The problem of guaranteed cost active fault-tolerant controller （AFTC） design for networked control systems （NCSs） with both packet dropout and transmission delay is studied in this paper. Considering the packet d...The problem of guaranteed cost active fault-tolerant controller （AFTC） design for networked control systems （NCSs） with both packet dropout and transmission delay is studied in this paper. Considering the packet dropout and transmission delay, a piecewise constant controller is adopted. With a guaranteed cost function, optimal controllers whose number is equal to the number of actuators are designed, and the design process is formulated as a convex optimal problem that can be solved by existing software. The control strategy is proposed as follows： when actuator failures appear, the fault detection and isolation unit sends out the information to the controller choosing strategy, and then the optimal stabilizing controller with the smallest guaranteed cost value is chosen. Two illustrative examples are given to demonstrate the effectiveness of the proposed approach. By comparing with the existing methods, it can be seen that our method has a better performance.展开更多
Feedforward active noise control(ANC)system are widely used to reduce the wide-band noise in different application.In feedforward ANC systems,when the noise source is unknown,the misplacement of the reference micropho...Feedforward active noise control(ANC)system are widely used to reduce the wide-band noise in different application.In feedforward ANC systems,when the noise source is unknown,the misplacement of the reference microphone may violate the causality constraint.We present a performance analysis of the feedforward ANC system under a noncausal condition.The ANC system performance degrades when the degree of noncausality increases.This research applies the microphone array technique to feedforward ANC systems to solve the unknown noise source problem.The generalized cross-correlation(GCC)and steering response power(SRP)methods based on microphone array are used to estimate the noise source location.Then,the ANC system selects the proper reference microphone for a noise control algorithm.The simulation and experiment results show that the SRP method can estimate the noise source direction with 84%accuracy.The proposed microphone array integrated ANC system can dramatically improve the system performance.展开更多
Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical...Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.展开更多
On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine...On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.展开更多
A general model of flexible isolation systems which involves both the passive and active control factors is established by inserting actuators into an passive isolation system. And the power flow transmission function...A general model of flexible isolation systems which involves both the passive and active control factors is established by inserting actuators into an passive isolation system. And the power flow transmission function in such a system as with multi disturbance, multi mounts, passive isolators and actuators is deduced. By means of the numerical simulation method, the influence of actuators on power flow transmission characteristic is studied. And as a conclusion, the passive active synthetic control strategy of power flow is summarized.展开更多
In this paper,a hybrid passive/active vibration(HPAV)controller of a loosely connected spacecraft consisting of a servicing satellite,a target and an X-shape structure isolator is first proposed to suppress vibrations...In this paper,a hybrid passive/active vibration(HPAV)controller of a loosely connected spacecraft consisting of a servicing satellite,a target and an X-shape structure isolator is first proposed to suppress vibrations of the system when subjected to the impulsive external excitations during the on-orbit missions.The passive dynamic response of the combined system can be adjusted appropriately to achieve the desired vibration isolation performance by tuning the structural parameters of the bio-inspired X-shape structure.Moreover,the adaptive control design through dynamic scaling technique is selected as the active component to maintain high vibration isolation performance in the presence of parameter uncertainties such as mass of the satellite platform,the damping and rotation friction coefficients of the X-shape structure.Compared with the pure passive system and the traditional spring-mass-damper(SMD)isolator,the HPAV strategy witnesses lower transmissibility,smaller vibration amplitude and higher convergence rate when subjected to the post-capture impact.Numerical simulations demonstrate the feasibility and validity of the proposed hybrid control scheme in suppressing vibrations of the free-floating spacecraft.展开更多
In order to meet the precision requirements and tracking performance of the continuous rotary motor electro-hydraulic servo system under unknown strong non-linear and uncertain strong disturbance factors,such as dynam...In order to meet the precision requirements and tracking performance of the continuous rotary motor electro-hydraulic servo system under unknown strong non-linear and uncertain strong disturbance factors,such as dynamic uncertainty and parameter perturbation,an improved active disturbance rejection control(ADRC)strategy was proposed.The state space model of the fifth order closed-loop system was established based on the principle of valve-controlled hydraulic motor.Then the three parts of ADRC were improved by parameter perturbation and external disturbance;the fast tracking differentiator was introduced into linear and non-linear combinations;the nonlinear state error feedback was proposed using synovial control;the extended state observer was determined by nonlinear compensation.In addition,the grey wolf algorithm was used to set the parameters of the three parts.The simulation and experimental results show that the improved ADRC can realize the system frequency 12 Hz when the tracking accuracy and response speed meet the requirements of double ten indexes,which lay foundation for the motor application.展开更多
According to the theoretical analysis and calculation on the base ofcontinuous mass system, the simulation experimental investigation on active control of torsionalvibration in a turbogenerator shaft system is conduct...According to the theoretical analysis and calculation on the base ofcontinuous mass system, the simulation experimental investigation on active control of torsionalvibration in a turbogenerator shaft system is conducted. A test installation with the excitation ofgenerator motor and multi-stepped shaft system is established to simulate the torsional vibration ofa turbogenerator rotor shaft system, and to examine the active control strategy presented. Someuseful results are reached in the experimental study.展开更多
In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, t...In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.展开更多
This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade ...This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade form consisting of a continuous time estimator,a continuous observation error predictor,and a reset compensator.The proposed ESO estimates not only the system state but also the total uncertainty,which may include the effects of the external perturbation,the parametric uncertainty,and the unknown nonlinear dynamics.Such a reset compensator,whose state is reset to zero whenever a new measurement arrives,is used to calibrate the predictor.Due to the cascade structure,the resulting error dynamics system is presented in a non-hybrid form,and accordingly,analyzed in a general sampled-data system framework.Based on the output of the ESO,a continuous ADRC law is then developed.The convergence of the resulting closed-loop system is proved under given conditions.Two numerical simulations demonstrate the effectiveness of the proposed control method.展开更多
基金supported by the National Natural Science Foundation of China(11172226)
文摘In this paper, the incremental harmonic balance method is employed to solve the periodic solution that a vibration active control system with double time delays generates, and the stability analysis of which is achieved by the Poincare theorem. The system stability regions can be obtained in view of time delay and feedback gain, the variation of which is also studied. It turns out that along with the increase of time delay, the active control system is not always from stable to unstable, and the system can be from stable to unstable state, whereas the system can be from unstable to stable state. The extent that the two times delays impact to the relative magnitude of the two feedback gains. the condition of the well-matched feedback gains. control strategy of time-delayed feedback.
基金supported by the National Natural Science Foundation of China(Grant Nos.62473344,92471204)the Natural Science Basic Research Program of Shaanxi(Grant No.2025JC-YBQN035)Ministry of Education's Industry School Cooperation Collaborative Education Project(Grant No.240704701190619)。
文摘This paper proposes an augmented reduced-order active disturbance rejection control(ARADRC)to address the control challenges in nonlinear systems with unknown disturbances.An augmented reduced-order extended state observer(ARESO)is constructed to estimate the unmeasured states,the total disturbance,and its derivatives.Compared to conventional ESOs,the proposed ARESO can enhance the estimation performance by actively estimating the derivatives of the total disturbance.In the time domain,by an inductive decoupling-based bound analysis method,this paper rigorously investigates the closed-loop transient performance without the prior assumption on the boundedness of derivatives of nonlinear uncertainties.In the frequency domain,a comparative analysis demonstrates the superiority of ARADRC in both disturbance estimation and rejection.Finally,the magnetic levitation experiments validate the effectiveness of the proposed method.
文摘This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.
基金The Fundamental Research Funds for the Central Universities(JD2423)。
文摘Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibration.An active damping device(ADD)is used to the vibration of the pump valve pipeline system to apply the control force,to achieve the active control of the pipeline vibration.A pump-valve pipeline vibration test bench was built to compare the control effect of active damping device on pipeline vibration under different pump valve working conditions,and the results show that applying ADD control could effectively suppress the vibration of the pump valve pipeline and enhance the stability of the equipment during operation.At different pump operating rotation frequencies,the vibration amplitude of the pump valve pipeline in working frequency and its multiple frequencies are also effectively suppressed,with the maximum amplitude reduction of more than 60%.For the valve vibration caused by different operating openings,the vibration of the highest reduction of 68%,and the centrifugal pump drive shaft vi-bration reduced by up to 73%,which provides a new idea for vibration control of pump valve pipeline system.
基金supported in part by the Postgraduate Research&Practice Innovation Program of Nanjing University of Aeronautics and Astronautics(No.xcxjh20240326).
文摘The conventional feedforward hybrid active noise control(FFHANC)system combines the advantages of the feedforward narrowband active noise control(FFNANC)system and the feedforward broadband active noise control(FFBANC)system.To enhance its adaptive adjustment capability under frequency mismatch(FM)conditions,this paper introduces a narrowband frequency adaptive estimation module into the conventional FFHANC system.This module integrates an autoregressive(AR)model and a linear cascaded adaptive notch filter(LCANF),enabling accurate reference signal frequency estimation even under significant FM.Furthermore,in order to improve the coherence between narrowband and broadband components in the system’s error signal and its corresponding control filter for the conventional FFHANC system,this paper proposes an algorithm based on autoregressive bandpass filter bank(AR-BPFB)for error separation.Simulation results demonstrate that the proposed FFHANC system maintains robust performance under high FM conditions and effectively suppresses hybrid-band noise.The AR-BPFB algorithm significantly elevates the convergence speed of the FFHANC system.
基金supported by the State Key Laboratory of Heavy-duty and Express High-power Electric Locomotive open project(Grant No.QZKFKT2023-012).
文摘Aiming at the sensitivity of linear active disturbance rejection control(LADRC)to measurement noise,an improved anti-saturation cascaded LADRC is proposed.This approach employs the system output as the control input of the filtering subsystem,which is then fed back to the secondary LADRC to mitigate measurement noise and uncertain disturbances.While preserving the benefits of precise and stable tracking inherent to traditional cascaded LADRC closed-loop systems,this design omits the outer loop tracking differentiator,thereby simplifying the structure and reducing the number of tunable parameters.Additionally,an error compensation strategy is introduced to address input saturation constraints,thereby equipping the controller with anti-saturation capabilities.Under multi-track surface switching conditions,the effectiveness of the new cascaded active disturbance rejection method is verified by simulation of the optimal adhesion control of the railway train.The results show that the improved cascaded LADRC has stronger rapidity and robustness.
基金supported in part by the National Natural Science Foundation of China(62225306,U2141235,52188102).
文摘Dear Editor,Active magnetic bearings(AMBs)are of considerable interest and significance in smart manufacturing due to their zero-friction and adaptivity to noncontact rotor rotations.This paper proposes an active levitation control algorithm based on adaptive sliding mode control(ASMC)equipped with linear extended state observer(LESO).Sufficient conditions are derived to guarantee the asymptotical stability of the associated closed-loop system.Experiments are conducted on a real AMB-rotor platform to demonstrate the effectiveness and superiority of the proposed algorithm.
基金supported by the National Natural Science Foundation of China(62203222)the Science and Technology Major Project of Jiangsu Province(BG2024041)the Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX24_0676).
文摘This paper investigates the high-performance control issues of systems affected by time-varying disturbances and measurement noise.Conventionally,active disturbance rejection control(ADRC)is a favorable control strategy to reject unknown disturbances and uncertainties.However,its control performance is limited because standard extended state observer(ESO)struggles to effectively estimate time-varying disturbances.The emergence of high-order ESO(HESO)alleviates the limitation.Unfortunately,it deteriorates the noise suppression capability when the disturbance rejection is enhanced.To tackle this challenge,an improved ADRC with cascade HESO(CHESO)is proposed.A comprehensive theoretical analysis associated with the performance of HESO is given for the first time.The presented analyses provide an intuitive understanding of the performance of HESO.Then,a novel CHESO is developed.The convergence of CHESO is proved via input-to-state stable theory.Extensive frequency domain analyses indicate that CHESO has stronger disturbance rejection and high-frequency noise attenuation performance than ESO and HESO without increasing the observer bandwidth.Comparative simulations conducted on a servo control system validate the effectiveness and preponderance of the proposed method.
基金support through his Master scholarshipThe Vicerrectoría de Investigación y Estudios de Posgrado(VIEP-BUAP)partially funded this work under grant number 00593-PV/2025.
文摘This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.
基金National Fundamental Research Program (973) Under Grant No. 2007CB714204the R & D Program Under Grant No. 2006BAJ03B06NSFC Under Grant No. 90815027
文摘In this paper, the characteristics of forces in active control systems connected to adjacent levels of a building are analyzed. The following characteristics are observed： （1） active control can provide significantly superior supplemental damping to a building, but causes a small frequency shift; （2） the linear quadratic regulator （LQR）-based control force is composed of an elastic restoring force component and a damping force component, where the damping force is almost identical to the total control force, however, the elastic restoring force is very small; and （3） the active control forces prevent mction most of the time during the entire control process. These three characteristics imply that active control systems connected to adjacent levels of a building behave like passive damping devices with adjustable parameters, namely damping characteristics in an active control, which is the mechanism used by semi-active control devices to reach similar performance as active control systems. Two indices are defined to quantify the damping characteristics of control forces in active control systems. These two indices can also be used to quantify the capacity of semi-active control to achieve the perfonrlance of active control. Based on the above observations, two principles are founded for optimization of parameters of semi-active control devices and passive dampers. The first is that the maximum output force of a semi-active or passive device to be designed is identical to an active device, called ＂design principle＂. The other is the response equivalent principle, which states that the response of a building with semi-active or passive devices is the same as with active devices when the same maximum output force is applied. The design procedure for semi-active control devices and passive dampers is described in detail. Finally, numerical simulations of two benchmark problems is conducted to demonstrate the damping characteristics of active control and investigate the capacity of semi-active control to achieve the same performance as active control.
基金supported by National Outstanding Youth Foundation (No. 60525303)National Natural Science Foundation of China(No. 60704009)+1 种基金Key Project for Natural Science Research of Hebei Education Department (No. ZD200908)the Doctor Fund of YanShan University (No. B203)
文摘The problem of guaranteed cost active fault-tolerant controller （AFTC） design for networked control systems （NCSs） with both packet dropout and transmission delay is studied in this paper. Considering the packet dropout and transmission delay, a piecewise constant controller is adopted. With a guaranteed cost function, optimal controllers whose number is equal to the number of actuators are designed, and the design process is formulated as a convex optimal problem that can be solved by existing software. The control strategy is proposed as follows： when actuator failures appear, the fault detection and isolation unit sends out the information to the controller choosing strategy, and then the optimal stabilizing controller with the smallest guaranteed cost value is chosen. Two illustrative examples are given to demonstrate the effectiveness of the proposed approach. By comparing with the existing methods, it can be seen that our method has a better performance.
文摘Feedforward active noise control(ANC)system are widely used to reduce the wide-band noise in different application.In feedforward ANC systems,when the noise source is unknown,the misplacement of the reference microphone may violate the causality constraint.We present a performance analysis of the feedforward ANC system under a noncausal condition.The ANC system performance degrades when the degree of noncausality increases.This research applies the microphone array technique to feedforward ANC systems to solve the unknown noise source problem.The generalized cross-correlation(GCC)and steering response power(SRP)methods based on microphone array are used to estimate the noise source location.Then,the ANC system selects the proper reference microphone for a noise control algorithm.The simulation and experiment results show that the SRP method can estimate the noise source direction with 84%accuracy.The proposed microphone array integrated ANC system can dramatically improve the system performance.
基金supported by the National Natural Science Foundation of China(Nos.52177059 and 52407064).
文摘Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.
文摘On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.
文摘A general model of flexible isolation systems which involves both the passive and active control factors is established by inserting actuators into an passive isolation system. And the power flow transmission function in such a system as with multi disturbance, multi mounts, passive isolators and actuators is deduced. By means of the numerical simulation method, the influence of actuators on power flow transmission characteristic is studied. And as a conclusion, the passive active synthetic control strategy of power flow is summarized.
文摘In this paper,a hybrid passive/active vibration(HPAV)controller of a loosely connected spacecraft consisting of a servicing satellite,a target and an X-shape structure isolator is first proposed to suppress vibrations of the system when subjected to the impulsive external excitations during the on-orbit missions.The passive dynamic response of the combined system can be adjusted appropriately to achieve the desired vibration isolation performance by tuning the structural parameters of the bio-inspired X-shape structure.Moreover,the adaptive control design through dynamic scaling technique is selected as the active component to maintain high vibration isolation performance in the presence of parameter uncertainties such as mass of the satellite platform,the damping and rotation friction coefficients of the X-shape structure.Compared with the pure passive system and the traditional spring-mass-damper(SMD)isolator,the HPAV strategy witnesses lower transmissibility,smaller vibration amplitude and higher convergence rate when subjected to the post-capture impact.Numerical simulations demonstrate the feasibility and validity of the proposed hybrid control scheme in suppressing vibrations of the free-floating spacecraft.
基金Project(51975164)supported by the National Natural Science Foundation of ChinaProject(2019-KYYWF-0205)supported by the Fundamental Research Foundation for Universities of Heilongjiang Province,China。
文摘In order to meet the precision requirements and tracking performance of the continuous rotary motor electro-hydraulic servo system under unknown strong non-linear and uncertain strong disturbance factors,such as dynamic uncertainty and parameter perturbation,an improved active disturbance rejection control(ADRC)strategy was proposed.The state space model of the fifth order closed-loop system was established based on the principle of valve-controlled hydraulic motor.Then the three parts of ADRC were improved by parameter perturbation and external disturbance;the fast tracking differentiator was introduced into linear and non-linear combinations;the nonlinear state error feedback was proposed using synovial control;the extended state observer was determined by nonlinear compensation.In addition,the grey wolf algorithm was used to set the parameters of the three parts.The simulation and experimental results show that the improved ADRC can realize the system frequency 12 Hz when the tracking accuracy and response speed meet the requirements of double ten indexes,which lay foundation for the motor application.
基金This project is supported by National Natural Science Foundation of China (No.59575015) Education Ministry of China.
文摘According to the theoretical analysis and calculation on the base ofcontinuous mass system, the simulation experimental investigation on active control of torsionalvibration in a turbogenerator shaft system is conducted. A test installation with the excitation ofgenerator motor and multi-stepped shaft system is established to simulate the torsional vibration ofa turbogenerator rotor shaft system, and to examine the active control strategy presented. Someuseful results are reached in the experimental study.
基金supported in part by the Fundamental Research Funds for the Central Universities (No. 201964012)the Open Foundation of Henan Key Laboratory of Underwater Intelligent Equipment (No. KL02A1802)+1 种基金the National Natural Science Foundations of China (Nos. 61603361 and 51979256)the Shandong Provincial Natural Science Foundation (No. ZR2017MEE015)。
文摘In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.
基金supported by the National Natural Science Foundation of China(61833016,61873295).
文摘This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade form consisting of a continuous time estimator,a continuous observation error predictor,and a reset compensator.The proposed ESO estimates not only the system state but also the total uncertainty,which may include the effects of the external perturbation,the parametric uncertainty,and the unknown nonlinear dynamics.Such a reset compensator,whose state is reset to zero whenever a new measurement arrives,is used to calibrate the predictor.Due to the cascade structure,the resulting error dynamics system is presented in a non-hybrid form,and accordingly,analyzed in a general sampled-data system framework.Based on the output of the ESO,a continuous ADRC law is then developed.The convergence of the resulting closed-loop system is proved under given conditions.Two numerical simulations demonstrate the effectiveness of the proposed control method.
