非线性网络控制系统的保性能控制

针对网络诱导时延小于一个采样周期的非线性网络控制系统,研究了系统的稳定性和保性能控制问题.对于T-S模糊模型描述的非线性被控对象,将时延的不确定性转化为系统参数的不确定性,从而将这一类非线性网络控制系统建模为具有参数不确定性的离散T-S模糊模型.基于建立的模型,提出了存在稳定保性能控制器的充分条件,并得出了相应的线性矩阵不等式(LMI)形式.最后通过对永磁同步电动机混沌系统进行控制和仿真研究,验证了所提出方法的有效性.     

多涡旋混沌同步和分数阶混沌同步

为探讨混沌同步现象和相应的动力学特性,研究了两类特殊的混沌系统即多涡旋混沌系统和分数阶混沌系统的同步.为此,设计了一种非线性反馈控制器,实现了多涡旋类Lorenz的混沌吸引子的投影同步;通过改变投影同步的比例系数,获得了与激励系统相对应的状态变量的任意比例输出.此设计还实现了分数阶超混沌系统的状态向量与任意信号的追踪同步,从而控制分数阶混沌信号趋于期望的周期轨道或平衡点,并实现分数阶混沌系统与整数阶混沌系统的异构追踪同步.最后设计了具有分数阶混沌特性的电路,借助仿真实验证实了分数阶超混沌系统的动力学行为.这些研究结果可以应用于许多领域,例如宏观经济系统的数据分析、保密通讯系统分析与设计等.     

永磁同步电动机的转速跟踪控制

研究永磁同步电动机的转速控制问题.对于参数不确定,输出受限的永磁同步电动机系统,提出转速跟踪控制方法.利用神经网络逼近电动机系统中的复杂非线性函数,采用自适应控制,动态面控制技术,设计控制器实现电动机的转速跟踪控制器.文中提出的控制策略不仅能够克服电机参数的不确定性和负载扰动,而且避免了传统反步设计方法存在的"复杂性爆炸"问题.基于Lyapunov稳定性理论,证明闭环系统具有半全局稳定性,转速跟踪误差收敛于原点的极小邻域内.仿真结果验证了所提控制方法的有效性.     

分数阶不确定多混沌系统的自适应滑模同步

研究分数阶不确定多混沌系统的自适应滑模同步,通过构造滑模面,设计控制器和适应规则,能够满足滑模面的稳定性与到达性,进而得到分数阶不确定多混沌系统取得自适应滑模同步的充分性条件,研究表明:分数阶不确定多混沌系统满足在一定条件下能够取得自适应滑模同步.     

一类不确定分数阶多混沌系统的终端滑模同步控制

根据分数阶系统理论利用终端滑模方法研究了分数阶不确定多混沌系统同步问题,获得了整数阶分数阶两种情形下多混沌系统取得滑模同步的充分性条件,最终结论说明设计合适的控制律和切换函数,分数阶多混沌系统取得滑模同步.     

Gauss白噪声激励下的永磁同步电动机模型的分岔分析北大核心CSCD

针对永磁同步电动机(PMSM)模型引入Gauss白噪声,根据极坐标变换和随机平均法得到系统It8随机微分方程,并计算出系统概率密度函数,通过数值模拟揭示了系统P-分岔的机理.此外,探讨了系统在双参数空间中的复杂动力学,仿真结果表明在参数空间中出现了大量的“鱼”形周期区域,并且这些“鱼”形周期区域不可避免地受到噪声的影响变得紊乱.值得注意的是,从数值模拟结果中发现了一个新的现象,一定的噪声强度下,可以诱导系统在周期振荡区域内的收敛行为,这也表明了噪声对系统影响的双面性.     

分数阶多涡卷混沌系统滑模同步的两种控制方案

研究了分数阶多涡卷混沌系统滑模同步的两种控制方案,根据分数阶微积分的相关理论给出了系统取得同步的充分性条件,结果表明:选取适当的控制律以及滑模面,分数阶多涡卷误差系统将取得混沌同步.     

一个新混沌系统及错位投影同步通讯方案

提出了一个新的混沌系统,该系统含有五个参数,每个状态方程均含有非线性乘积项.通过理论推导,数值仿真,Lyapunov指数、Lyapunov维数、分岔图研究其基本的动力学特性,并分析了改变参数时系统的动力学行为的变化.本文研究了该系统的错位投影同步,设计了非线性控制器,实现了两个初值不同的新系统的错位投影同步.另外,将该系统及错位投影同步方法应用到保密通信中,基于改进的混沌掩盖通讯原理,在发送端使用新系统信号对信息信号进行加密及传送,最后在同步后的接收端不失真地恢复出有用信号.数值仿真表明所设计的新的混沌系统具有复杂的动力学特性,适用于保密通讯.     

一个四翼混沌系统的广义控制与同步

针对四翼混沌系统的控制和同步问题,采用反馈控制方法将系统的混沌运动控制到稳定态;根据Routh-Huriwtz准则获得了系统达到控制目标时反馈系数所满足的条件,通过设计控制器研究系统的广义控制与同步.在此基础上给出了响应系统同时含有控制变量时,系统的广义混合控制与同步运动行为,并从理论分析和Maple数值仿真验证了同步方法的可行性.     

基于线性控制的分数阶混沌系统的对偶投影同步

分数阶混沌系统的对偶同步是一个新的同步方法.有关分数阶混沌系统对偶投影同步的研究较少.基于分数阶系统的稳定性理论,通过设计线性控制器研究了分数阶混沌系统的对偶投影同步.给出了一个实现分数阶混沌系统对偶投影同步的一般方法,推广了现有对偶同步的研究结果,通过分数阶Van der Pol系统和分数阶Willis系统的数值仿真证实了该方法的有效性.     

Nonlinear chaos control in a permanent magnet reluctance machine

The dynamics of a permanent magnet synchronous machine (PMSM) is analyzed. The study shows that under certain conditions the PMSM is experiencing chaotic behavior. To control these unwanted chaotic oscillations, a nonlinear controller based on the backstepping nonlinear control theory is designed. The objective of the designed control is to stabilize the output chaotic trajectory by forcing it to the nearest constant solution in the basin of attraction. The result is compared with a nonlinear sliding mode controller. The designed controller that based on backstepping nonlinear control was able to eliminate the chaotic oscillations. Also the study shows that the designed controller is mush better than the sliding mode control.     

PMSM系统的参数稳定性分析和自适应控制

针对含未知参数的永磁同步电机(PMSM)系统,研究其参数稳定性和自适应控制问题.首先,分析了参数变化对PMSM系统平衡点的影响.然后,通过设计自适应控制器使得闭环系统具有耗散Hamiltonian结构,使闭环系统的能量分布随着未知参数的漂移而自动的改变,且能量函数总在未知参数对应的平衡点处取得极小值,从而实现自适应参数...     

Bounding a domain containing all compact invariant sets of the permanent-magnet motor system

In this paper we characterize a locus of compact invariant sets of the system describing dynamics of the permanent-magnet synchronous motor (PMSM). We establish that all compact invariant sets of this system are contained in the intersection of one-parameter set of ellipsoids and compute its parameters. In addition, localizations by using a parabolic cylinder, an elliptic paraboloid and a hyperbolic cylinder are obtained. Simple polytopic bounds are derived with help of these localizations. Most of localizations mentioned above remain valid for more specific motor systems; namely, for the interior magnet PMSM and for the surface magnet PMSM. Yet another localization set for the interior magnet PMSM is described. Examples of localization of chaotic attractors existing for some values of parameters of PMSMs are presented as well.     

System identification of a pick-and-place mechanism driven by a permanent magnet synchronous motor

The main objective of this study is to utilize two dynamic models: a mathematical model and a simple model, to identify a pick-and-place mechanism (PPM) which is driven by a permanent magnet synchronous motor (PMSM). In this paper, Hamilton’s principle is employed to derive the mathematical model, which is a nonlinear differential equation, while Newton’s second law is utilized to derive the simple linear model. In system identification, we adopt the real-coded genetic algorithm (RGA) to find not only the parameters of the PPM, but also the PMSM simultaneously. From the identification simulations and experimental results, it is demonstrated that the identification results of the mathematical model present the better matching with the experimental results of the system.     

Dynamic analysis and system identification of an LCD glass-handling robot driven by a PMSM

In this paper, Hamilton’s principle is employed to derive Lagrange’s equations of an liquid crystal display (LCD) glass-handling robot driven by a permanent magnet synchronous motor (PMSM). The robot has three arms driven by two timing belts. The dynamic formulations can be expressed by one and four independent variables, which are named as the rigid and flexible models, respectively. In order to verify the dynamic formulation is correct, we reduce the flexible model to the rigid one under some assumptions. In this paper, we adopt the real-coded genetic algorithm (RGA) to identify all the parameters of the robot and PMSM simultaneously. It is found that the RGA can identify system parameters which are difficult to be measured in practical problems, for examples, the inductance, stator resistance, motor torque constant, damping coefficient of the motor and timing belts. In numerical simulations, vibrations due to flexibility of the timing belts are investigated for the angular displacements, speeds, accelerations of arms, and the horizontal and vertical displacements of the robot. The angular displacements of the robot arm and the translational positions of the robot end are obtained in the numerical simulations and experimental results. From their comparisons, it is demonstrated that identification results of the dynamic model with four independent variables present the better matching with experimental results of the system.     

Trajectory planning based on minimum absolute input energy for an LCD glass-handling robot

The main idea of this paper is to design a novel point-to-point (PTP) trajectory based on minimum absolute input energy (MAIE) for an LCD glass-handing robot, which is driven by a permanent magnet synchronous motor (PMSM). The mechatronic system is described by a mathematical model of electrical and mechanical coupling equations. To generate the MAIE PTP trajectory, we employ a high-degree polynomial and compare with the trapezoidal, cycloidal and zero-jerk trajectories for various constraint conditions, which satisfy their corresponding desired constraints of angular displacement, speed, acceleration and jerk at the start and end times. The real-coded genetic algorithm (RGA) is used to search for the coefficients of high-degree polynomials for the PTP trajectories, and the inverse of absolute input electrical energy is adopted as a fitness function. From numerical simulations, it is found that either increasing the degree number of polynomials or decreasing the constraints at the start and end times will decrease the absolute input electrical energy. The proposed methodology for designing the MAIE PTP trajectory can also be applied to any mechatronic system driven by a PMSM.     

Adaptive fuzzy tracking control for the chaotic permanent magnet synchronous motor drive system via backstepping

An adaptive fuzzy control method is developed to suppress chaos in the permanent magnet synchronous motor drive system via backstepping technology. Fuzzy logic systems are used to approximate unknown nonlinearities and an adaptive backstepping technique is employed to construct controllers. Compared with the conventional backstepping, the designed fuzzy controllers’ structure is very simple. The simulation results indicate that the proposed control scheme can suppress the chaos of PMSM drive systems and track the reference signal successfully even under the parameter uncertainties.     

Design,modelling and simulation of a new nonlinear and full adaptive backstepping speed tracking controller for uncertain PMSM

In this study, a new nonlinear and full adaptive backstepping speed tracking control scheme is developed for an uncertain permanent magnet synchronous motor (PMSM). Except for the number of pole pairs, all the other parameters in both PMSM and load dynamics are assumed unknown. Three phase currents and rotor speed are supposed to be measurable and available for feedback in the controller design. By designing virtual control inputs and choosing appropriate Lyapunov functions, the final control and parameter estimation laws are derived. The overall control system possesses global asymptotic stability; all the signals in the closed loop system remain bounded, according to stability analysis results based on Lyapunov stability theory. Further, the proposed controller does not require computation of regression matrices, with the result that take the nonlinearities in quite general. Simulation results clearly exhibit that the controller guarantees tracking of a time varying desired reference speed trajectory under all the uncertainties in both PMSM and load dynamics without singularity and overparameterization. The results also show that all the parameter estimates converge to their true values on account of the fact that reference speed signal chosen to be sufficiently rich ensures persistency of excitation condition. Consequently, the proposed controller ensures strong robustness against all the parameter uncertainties and unknown bounded load torque disturbance in the PMSM drive system. Numerical simulations demonstrate the performance and feasibility of the proposed controller.     

Dynamic modelling and input-energy comparison for the elevator system

The elevator system driven by a permanent magnet synchronous motor (PMSM) is studied in this paper. The mathematical model of the elevator system includes the electrical and mechanical equations, and the dimensionless forms are derived for the purpose of practicable upward and downward movement. In this paper, the trapezoidal, cycloidal, five-degree (5-D) and seven-degree (7-D) polynomial and industry trajectories are designed and compared numerically in various motion and the absolute input energies. From numerical simulations, it is found that the trapezoidal trajectory consumes the minimum energy; the 7-D polynomial trajectory consumes the maximum one. The less end-point constraints are required, the less energy is consumed. Finally, the proposed sliding mode controller (SMC) is employed to demonstrate the robustness and well tracking control performance numerically.     

A new impulsive synchronization criterion for T–S fuzzy model and its applications

This paper focuses on the problem of impulsive synchronization of T–S fuzzy systems. A new synchronization criterion is derived for T–S fuzzy systems by utilizing the concept of average impulsive interval. The proposed impulsive control scheme has a simple control structure, and is theoretically and numerically proved to be less conservative than some existing results. The method is also illustrated by applying to Lorenz system, Rössler’s system as well as permanent magnet synchronous motors system.