Active disturbance rejection control for electric power steering system with assist motor variable mode

The steering torque of automobile EPS steering system is significant for driving steering control and good driving feel. Servo motor control and external interference moment are the core factors affecting EPS steering system. With the advancement of automotive technology, the requirements of EPS control technology have been gradually improved, and the driving and handling of vehicles at high speed have become the key issues. For the current EPS steering system at high speed vibration and steering feel, active disturbance rejection EPS torque control method is proposed, EPS variable mode controller was developed. The control of the variable mode is verified by experiment and the vibration torque from the road is controlled, determine the control frequency of 30 KHz, the amount of current fluctuation is the smallest. The ADRC (active disturbance rejection controller) technology is used to suppress the interference of the road surface, finally, the validity of active immunity is verified by bench test. Steering wheel vibration torque can be reduced by an average of 28.5% to 33.3%.     

Integral predictor based prescribed performance control for multi-motor driving servo systems

An integral predictor-based dynamic surface control scheme is developed with prescribed performance (IPPDSC) for multi-motor driving servo systems in this paper. By employing a novel finite-time performance function and an improved error transformation, the tracking error is limited within a prescribed zone in any preset time without having the overrun and the singularity problem. Furthermore, integral state predictors are designed to update neural network weights to handle high-frequency oscillations under large adaptive gains. Different from the existing approaches, an integral term of prediction error is introduced to eliminate the steady-state error and avoid chattering. In addition, a synchronization controller based on the mean relative coupling structure is proposed to solve the coupling problem between synchronization and tracking. Finally, simulation and experimental results are presented to demonstrate the effectiveness of the designed approach.     

Dynamic modeling and neural network compensation for dual-flexible servo system with an underactuated hand

This paper investigates a difficult problem of nonlinear dynamics and motion control of a dual-flexible servo system with an underactuated hand (DFSS-UH). Variation in grasping mass and nonlinear factors of the DFSS-UH including complex flexible deformation and friction torque aggravate the output speed fluctuation, leading to modeling errors in the dynamics, which in turn affects the underactuated hand motion accuracy. A novel neural network sliding mode control (NNSMC) method is designed to control the DFSS-UH. The strategy utilizes neural networks to compensate for dynamics modeling errors, which takes into account neglected nonlinear factors and inaccurate friction torque. The reaching law with the hyperbolic tangent function is proposed to improve sliding mode control, thereby weakening the chattering phenomenon. First of all, the DFSS-UH mechanical model considering many nonlinear factors is established and a dynamic simplification model which ignores higher-order modes is proposed. Secondly, the adaptive law of weighted coefficients is proposed according to the stability of the DFSS-UH. Finally, the physical control platform of the DFSS-UH is built, and simulation and control experiments are conducted. Experimental results show that the improved NNSMC strategy decreases the tracking error of flexible load, thereby enhancing the control accuracy of the DFSS-UH.     

A rotary variable admittance device and its application in vehicle seat suspension vibration control

In this paper, a novel semi-active variable admittance (VA) concept is proposed, and a seat suspension prototype with a magnetorheological fluid damper based rotary VA device is designed, manufactured, and experimentally validated. The conventional inerter with a single flywheel has a constant inertance, which can effectively improve the suspension performance by being integrated into a mechanical network with springs and dampers. The proposed rotary VA device comprises a gear reducer, two flywheels and a variable damping (VD) device which is used to connect the two flywheels. With carefully designing, the rotary VA device is compacted and is similar with a VD device in size. The rotary VA device is installed in the centre of a seat suspension's scissors structure to form a VA seat suspension. According to the test results, the equivalent inertance of the seat suspension can vary from 11.3 Kg–76.6 Kg with a 3 Hz frequency and 5 mm amplitude sinusoidal movement by changing the current from 0 A–1 A. By analysing the system characteristics, a hybrid controller with two acceleration feedbacks is proposed. Thereafter, the seat suspension and controller are validated in experiments by comparing the performance with a conventional passive seat suspension. The random vibration test shows the excellent performance of the proposed seat suspension; the frequency weighted root mean square acceleration of the seat is reduced by 43.6%, which indicates a great improvement of the ride comfort. The VA device shows great prospect in the suspension application.     

交流伺服电动机自转现象的消除

伺服电动机又称执行电动机,在自动控制系统中,用作执行元件,把所收到的电信号转换成电动机轴上的角位移或角速度输出。交流伺服电动机要克服自转现象,可通过把转子电阻设计足够大,其目的就是使转子在转动时产生制动转矩,在控制绕组不加电压时,能及时制动,消除自转现象。     

伺服稳定平台隔离能力研究

通过对定轴轮系和行星轮系伺服稳定平台的运动分析,建立伺服稳定平台扰动运动模型和控制系统模型.得到了稳定平台对载体角扰动和力矩扰动隔离能力的公式,并得出结论:平台隔离能力低频下只和系统开环增益相关,高频下和驱动结构相关:增大电机驱动回路开环增益可以减小力矩扰动影响.     

A modified adaptive backstepping method for shaft deflection tracking control of magnetically suspended momentum wheel with nonlinear magnetic torque

A modified adaptive backstepping tracking method is proposed to improve the tracking performance of the magnetic bearing system with nonlinear magnetic toque. For a magnetically suspended momentum wheel, two dimensional gyroscopic torque can be produced when the rotor shaft is actively deflected by the active magnetic bearing. High precision rapid tracking control of shaft deflection is desiderated to provide high precision and wide bandwidth outputting torque. The nonlinearity of magnetic bearing is analyzed initially, and the stiffness coefficients of magnetic bearing can be treated as bounded continuous functions with respect to deflection angles. A fuzzy function based adaptive law is proposed to estimate the stiffness coefficients. Combining with a modified backstepping method, the proposed control strategy can deal with the nonlinearity efficiently when the shaft deflects rapidly, and its stability is proved by Lyapunov stability theory. To validate the effectiveness of this method, numerous simulations are performed and the results indicate that this method improves the tracking precision when tracking high frequency reference deflection angles.     

串级型迭代学习交叉耦合轮廓误差控制方法

针对两轴伺服系统的研究轮廓误差控制问题,提出了一种串级型迭代学习交叉耦合轮廓误差控制方法,设计了控制器结构并且给出了两轴迭代学习交叉耦合控制算法的收敛条件.仿真结果表明此方法可以实现跟踪误差和轮廓误差的有效补偿.     

新型三级变速电动轮毂的研制

针对现有电动车不能适应复杂路况和动力轮转矩不够大的问题,通过在原有电动轮毂上加装机械变速箱来实现轮毂的三级变速,使新型轮毂获得更好的路况适应能力,并且可以根据需要换挡获得更快的速度或更大的转矩。本产品将机械变速箱集成在电动轮毂内,减小了新型三级变速电动轮毂的体积;单向飞轮的使用省去了离合器的使用,使变速过程变得简单易行,新型三级变速电动轮毂的动力性能得到了提高。     

Experimental validation of a practical nonlinear control method for hydraulic flight motion simulator

The hydraulic flight motion simulator (HFMS), as a key equipment for hardware-in-the-loop (HWIL) simulation in the field of aerospace, is required to have the ability to accurately simulate the aircraft attitude in the laboratory. However, three model uncertainties including nonlinear friction torque, unbalanced gravity torque and time-varying inertia existing in the outer frame of the HFMS at the same time become a main obstacle to achieving its high-precision position control effect. In this paper, according to identification results of friction torque and gravity torque from experiments, combining with simulation result of time-varying inertia of the outer frame from virtual prototype, a disturbance-observer-based nonlinear robust controller with the model compensation was designed on the basis of the mathematical model. Here, since the model compensation has eliminated the main mismatched uncertainties, dual disturbance observers are only necessary to suppress unmodeled mismatched uncertainties and matched uncertainties. Furthermore, the zero bias of the servo valve was also considered to help controller implementation. Finally, the effectiveness and the practicability of the proposed control method were validated by comparative experiments, which demonstrates that the proposed control method is promising and can be applied in the high-precision position control for the HFMS.     

Novel model reference adaptive control laws for improved transient dynamics and guaranteed saturation constraints

In classical model reference adaptive control (MRAC), the adaptive rates must be tuned to meet multiple competing objectives. Large adaptive rates guarantee rapid convergence of the trajectory tracking error to zero. However, large adaptive rates may also induce saturation of the actuators and excessive overshoots of the closed-loop system’s trajectory tracking error. Conversely, low adaptive rates may produce unsatisfactory trajectory tracking performances. To overcome these limitations, in the classical MRAC framework, the adaptive rates must be tuned through an iterative process. Alternative approaches require to modify the plant’s reference model or the reference command input. This paper presents the first MRAC laws for nonlinear dynamical systems affected by matched and parametric uncertainties that constrain both the closed-loop system’s trajectory tracking error and the control input at all times within user-defined bounds, and enforce a user-defined rate of convergence on the trajectory tracking error. By applying the proposed MRAC laws, the adaptive rates can be set arbitrarily large and both the plant’s reference model and the reference command input can be chosen arbitrarily. The user-defined rate of convergence of the closed-loop plant’s trajectory is enforced by introducing a user-defined auxiliary reference model, which converges to the trajectory tracking error obtained by applying the classical MRAC laws before its transient dynamics has decayed, and steering the trajectory tracking error to the auxiliary reference model at a rate of convergence that is higher than the rate of convergence of the plant’s reference model. The ability of the proposed MRAC laws to prescribe the performance of the closed-loop system’s trajectory tracking error and control input is guaranteed by barrier Lyapunov functions. Numerical simulations illustrate both the applicability of our theoretical results and their effectiveness compared to other techniques such as prescribed performance control, which allows to constrain both the rate of convergence and the maximum overshoot on the trajectory tracking error of uncertain systems.     

Multilayer-neural-network observer with compensator and command-filter-based adaptive backstepping tracking control of switched nonlinear systems

This study presents an output backstepping control architecture based on command filter via Multilayer-Neural-Network Pre-Observer with compensator to realise the reference signal tracking of an arbitrarily switching nonlinear systems with nonseperated parameter. First, a multilayer neural network pre-observer is designed before backstepping procedures to servo reconstruct the system states which can not be obtained directly. The pre-observer has superior performance in neutralizing the states abrupt chattering caused by the arbitrarily switching parameter entered in the nonlinear structure. Next, observer error compensation mechanism is designed to compensate the state estimation and shrink the approximation error domain further. Then, the backstepping controller with compensation signal based on command filter is presented to realise the stable reference signal tracking. Last, the proposed control scheme guarantees the states of the closed-loop system bounded. This mechanism makes up the shortcoming of the traditional state observer and give more flexibility in reconstructing the systems states timely, then overcomes the obstacle of the arbitrarily switching parameterized system. Furthermore, compared with the existing traditional uniform robust uncertain controller, the developed backstepping control method combining with the pre-observer not only guarantees the states servo reconstruction and servo control of the switched system, but also improves the tracking performance. Finally, a low-velocity servo turnable switched system is extensively simulated to demonstrate the effectiveness of the developed controller.     

A novel direct torque control method for brushless DC motors based on duty ratio control

Conventional direct torque control (DTC) suffers from large torque ripple and nonconstant switching frequency, which are caused by the hysteresis band amplitude and the motor speed. Many methods have been proposed to tackle these problems. However, these methods are usually complicated and parameter dependent. A novel DTC method for brushless DC motors based on duty ratio control is proposed to reduce torque ripple and maintain a constant switching frequency. During each switching period, an active voltage vector and a zero voltage vector are applied. A simple and effective method implemented to calculate the duty ratio relies only on the torque error, reducing the parameter dependence. The proposed method has the advantages of conventional DTC and effectively reduces torque ripple, which improves the performance of conventional DTC. Simulation and experimental results are given to confirm the method’s validity.     

Minimal energy maneuvering control of a rigid spacecraft with momentum transfer

The main goal of this study is to investigate a minimal energy rest-to-rest maneuvering control problem with open final time of a rigid spacecraft actuated by three orthogonal momentum wheels. Different from conventional shooting methods, this control problem is formulated and solved as a constrained nonlinear programming (NLP) one by utilizing an iterative procedure. In this novel method, the count of control steps is fixed initially and the sampling period is treated as a variable in the optimization process. An approach to find the initial feasible solutions of the NLP problem is also proposed. Since initial feasible solutions can be found easily, the optimization process of the NLP problem can be started from different points to find the minimal energy rest-to-rest maneuver of the rigid spacecraft between two attitudes. To show the feasibility of the proposed method, simulation results are included for illustration.     

Automobile EPS temperature observation method based on extended state observer

The swing temperature usually leads to the parameter drift and even failure in Electric power steering (EPS), which is a potential threat for safe driving of automobiles. Power Metal-Oxide-Semiconductor Field Effect Transistors (MOSFET) are a primary heat source in EPS and, therefore, can directly represent the temperature fluctuation of EPS. Existing technologies that observe the temperatures of MOSFETs are restricted by operating conditions, cost and implementation difficulty for application in automotive EPS systems. To address this issue, a novel real-time junction temperature observation method is proposed by combining a Foster network with an Extended State Observer (ESO) technique. Transfer paths of thermal resistance in EPS converters are analyzed, and the thermal state space model is established by the Foster network. The temperature ESO of the EPS controller is then developed based on this thermal model to estimate the temperature and perturbation. Confirmation tests that introduce a simulated driving steering method measure the MOSFET temperature and verify the validity of the temperature ESO. The test results demonstrate that the proposed temperature ESO can be used to monitor junction temperatures of MOSFETs in EPS.     

The time-delay digital tanlock loop: performance analysis in additive Gaussian noise

Recently, a new non-uniform sampling digital phase-locked loop, the time-delay digital tanlock loop (TDTL), has been proposed. We have analyzed in a previous work the first- and second-order TDTLs under noise-free conditions. In this work, we analyze the performance of the TDTL in the presence of additive Gaussian noise for different values of the loop parameters. It is shown that the expected value of the steady-state phase errors at the input and the output of the phase error detector are equal to the noise-free steady-state values, while the variance is significantly reduced when the signal-to-noise ratio is increased or the phase shift introduced by the time-delay approaches 90°. The locking ranges of the TDTL parameters under noise-free conditions are unchanged by the presence of noise.     

New approach to visual servo control using terminal constraints

A large class of visual servo controllers relies on an a priori obtained reference image, captured at the desired position and orientation (i.e., pose) of a camera, to yield control signals to regulate the camera from its current pose to a desired pose. In many applications, accessibility and economics of the operation may prohibit acquisition of such a reference image. This paper introduces a new visual servo control paradigm that enables control of the camera in the absence of reference image using a set of terminal constraints. Specifically, the desired pose is encoded using the angle of obliquity of the optical axis with respect to the object plane and its direction of arrival at the plane. A constrained convex optimization problem is formulated over a conic section defined by the terminal constraints to yield an error system for the control problem. Subsequently, this work introduces continuous terminal sliding mode visual servo controllers to regulate the camera to the desired pose. Lyapunov-based stability analysis guarantees that the origin is a finite-time-stable equilibrium of the system. Numerical simulation results are provided to verify the performance of the proposed visual servo controller.     

Giant magnetic field from moiré induced Berry phase in homobilayer semiconductors

When quasiparticles move in condensed matters, the texture of their internal quantum structure as a function of position and momentum can give rise to Berry phases that have profound effects on the material’s properties. Seminal examples include the anomalous Hall and spin Hall effects from the momentum-space Berry phases in homogeneous crystals. Here, we explore a conjugate form of the electron Berry phase arising from the moiré pattern: the texture of atomic configurations in real space. In homobilayer transition metal dichalcogenides, we show that the real-space Berry phase from moiré patterns manifests as a periodic magnetic field with magnitudes of up to hundreds of Tesla. This quantity distinguishes moiré patterns from different origins, which can have an identical potential landscape, but opposite quantized magnetic flux per supercell. For low-energy carriers, the homobilayer moirés realize topological flux lattices for the quantum-spin Hall effect. An interlayer bias can continuously tune the spatial profile of the moiré magnetic field, whereas the flux per supercell is a topological quantity that can only have a quantized jump observable at a moderate bias. We also reveal the important role of the non-Abelian Berry phase in shaping the energy landscape in small moiré patterns. Our work points to new possibilities to access ultra-high magnetic fields that can be tailored to the nanoscale by electrical and mechanical controls.     

Optimal dive recovery maneuvers of a supermaneuvering jet fighter aircraft

This paper describes an investigation of dive recovery maneuvers of a jet fighter aircraft capable of flying at angles of attack in the post-stall region. In a dive recovery maneuver, the pilot attempts to return the aircraft to level flight at an airspeed such that level flight can be maintained afterward. This maneuver is needed after either an intentional dive or an unintentional dive, or as the terminal recovery stage from some unusual attitude, namely, combination of extremely low airspeed and very high flight path angle. The optimization criterion is the minimization of the maximum loss of altitude during the dive recovery; hence, the optimization problem is a minimax problem of optimal control. The flight dynamics model accounts for all of the factors necessary to accurately characterize the aircraft motion.The results show that the optimal dive recovery trajectories consist of one to three segments, depending on the initial speed and flight path angle. For relatively high initial speed, the optimal trajectory consists of a single segment: a pitch-up at the limiting load factor. For very low initial speed, the optimal trajectory consists of two segments: a supermaneuver flown at very large angles of attack, followed by a pitch-up at the limiting load factor. For unusual attitude recovery from the combination of very low initial speed and very high initial flight path angle, the optimal trajectory consists of three segments: a dive initiation segment, followed by a supermaneuver at very large angles of attack, followed by a pitch-up at the limiting load factor. For aircraft without supermaneuver capability, the supermaneuver segment is to be replaced by a maximum angle of attack segment. The paper concludes with a discussion of the design benefits accrued via supermaneuver capability as well as the operational benefits accrued via afterburner usage.     

燃料油期货市场的多重分形消除趋势波动分析

分形市场理论从动力学和几何学的角度探讨金融系统的复杂非线性特征,突破传统金融整数维的概念引入了分数维,成为研究金融市场特征的有效分析工具。本文运用多重分形消除趋势波动分析方法(MF-DFA),对上海和新加坡的燃料油价格序列进行多重分形特征对比分析,研究发现燃料油价格收益率不符合传统金融理论的随机游走特征,市场具有显著的长期记忆性,广义Hurst指数随波动函数的阶数变化而变化;燃料油期货市场不是一个有效资本市场,并不遵循传统的随机游走特征,是一个典型的多重分形市场。此外,多重分形谱研究表明上海燃料油期货市场的多重分形谱更宽,其分形波动特征更显著,不能采用单一标度指标描述。