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Robust tracking controller for a class of uncertain nonlinear dynamical systems, which are linearizable by input-output feedback
with matching uncertainties, was investigated. In this study, uniform ultimate bound or uniformly asymptotic stability of
tracking errors were obtained by different choice of the control gain. A simulation to determine the effectiveness of the
proposed approach showed that the control performance was better than that of VSC (Variable Structure Control).
Project(69934030) supported by Natural Science Foundation of China. 相似文献
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《The Journal of educational research》2012,105(2):64-70
AbstractThe role of sensory feedback factors in determining learning and memory was investigated in terms of the effects of four different modes of movement control of sensory input on memory of stimulus patterns-i.e., (1) visual tracking of the pattern without manual control, (2) parallel pursuit tracking of the pattern with a hand-con- trolled visual cursor, (3) opposed pursuit tracking of the stimulus pattern with a hand-controlled visual cursor, and (4) compensatory negative feedback tracking in which the subject observed only the error of tracking the stimulus pattern. Results indicated that mode of sensory feedback control of sensed input of stimulus patterns during learning determined immediate memory, and that memory was superior for modes of feedback control in which the pattern of stimulation and of movement could be compared. The main conclusion was that the processes of active and passive learning and their role in determining learning and memory are specifiable and predictable as variable forms of movement-controlled sensory feedback. 相似文献
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研制了一种光电经纬仪的跟踪测量系统 .该系统可以在可见和红外波段对飞行目标进行跟踪测量 ,还可对测量结果实时输出 .利用误差跟踪控制和共轴跟踪控制技术的多模控制方式 ,可以提高系统自动跟踪的稳定性、跟踪精度和各工作方式间的平滑切换 ,使整个系统的综合性能得到完善 .仪器的速度、加速度分别超过 6 0deg/s、90deg/s2 .该跟踪控制测量系统目前已成功应用于光电经纬仪中 相似文献
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提出一种基于 AT89S52单片机的双轴太阳能自动跟踪机器人的设计方法,以跟踪传感器为跟踪元件,判断太阳能电池板是否与太阳光垂直,同时通过控制系统对双轴跟踪装置进行调整.实验表明该机器人运行稳定,跟踪效率高,具有较高的实用价值 相似文献
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针对塔式太阳能热发电系统中定日镜的逐日跟踪问题,开发了一套用于定日镜双轴运动控制的实验系统。采用STM32F407为主控单片机,实现Modbus-TCP通信、EEPROM非易失性参数存储、正交编码信号计数,基于STM32内部灵活的计数器结构,以硬件的方式实现了脉冲信号的可控输出,减轻了CPU的工作负载,提高了系统稳定性、响应速度和跟踪精度。实际应用表明,该系统运行稳定,跟踪精度高,结构精简,具有较高的可靠性,达到了预期的设计目的。 相似文献
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介绍了广东河源金太阳示范项目中容量为28.8 kWp单轴、双轴跟踪光伏系统的配置情况和控制原理,并对比了单轴跟踪系统、双轴跟踪系统与固定系统的发电量。统计结果表明单轴和双轴跟踪系统的发电量比固定系统分别提高了18.6%和38.9%,证明跟踪系统能够明显地提高光伏组件的单位发电量,具有很高的应用价值。 相似文献
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倍频程宽带功率放大器是宽带射频前端的关键部件,在无线电通信、雷达、电子对抗设备中有着广泛的用途.在对晶体管进行分析的基础上,选择InGaP／GaAs异质结双极晶体管TQP7M9105,该晶体管是高线性、高增益的输出功率1W的驱动级功率放大器.设计带宽为400MHz-800MHz,在电路设计中采用新的负载牵引、源牵引仿真方法,在输入激励为12dBm条件下,设计带宽内增益达到19dB,带内波动±1dB,实验结果和仿真结果非常吻合. 相似文献
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本文采用STC12C5A60S2单片机作为核心控制单元,设计了基于自动循迹小车的公交系统,主要包括单片机控制系统,驱动电路、循迹电路、指挥控制中心等.通过实验测试,完成了语音报站,红绿灯自动识别,车辆防止追尾、车辆跟踪等功能. 相似文献
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A dynamic velocity feed-forward compensation control (DVFCC) approach with RBF neural network (RBF-NN) dynamic model identification was presented for the adaptive trajectory tracking of industrial robots.The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model.The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accuracy.The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can convert torque signal into velocity in the standard industrial controller.Then,the need for a torque control interface was avoided in the real-time dynamic control of industrial robot.The simulations and experiments were carried out on a gas cutting manipulator.The results show that the proposed control approach can reduce steady-state error,suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space,especially under highspeed condition. 相似文献
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针对多种武器系统对稳定跟踪平台的要求,对两轴卫星天线稳定跟踪平台进行了研究与设计。分析了天线稳定跟踪的基本原理,给出了控制方案,完成了平台的模块化设计和工作流程设计,经实验,该平台具有较好的跟踪能力。 相似文献
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On maximum power point tracking control strategy for variable speed constant frequency wind power generation 总被引：1，自引：0，他引：1
WU Guo-qing NI Hong-jun WU Guo-xiang ZHOU Jing-ling Zhu Wei-nan MAO Jing-feng CAO Yang 《重庆大学学报(英文版)》2010,9(1):21-28
Based on the characteristic of AC-excited variable speed constant frequency （VSCF） wind power generation, the vector control technique was applied in a doubly fed induction generator （DFIG）. Maximum wind energy or maximum output power point can be tracked by decoupling control of active power and reactive power. The research result shows that the net power of generation system delivered to grid in maximum wind energy tracking mode is not the most. We presented a novel maximum power point tracking （MPPT） control strategy by analyzing the DFIG mathematic model and power relations which delivered the maximum power to the grid. The maximum power point could be tracked automatically without measuring wind speed in the control strategy and the control was independent of optimal turbine power curve, which had excellent dynamic and static performances and robustness. Simulation and experimental results testify the accuracy and validity of the control strategy. 相似文献
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传统的太阳跟踪方式多采用光电跟踪或视日跟踪,跟踪精度低,存在累积误差。为了改进对太阳的跟踪精度和消除累积误差,计算各种太阳角,提出以光电跟踪为主要的跟踪方式,同时设置视日跟踪控制,通过两种跟踪方式互补,可以让光伏阵列在昼夜更替以及任何气候条件下得到稳定而可靠的跟踪控制,完成光伏阵列跟踪控制过程的设计。 相似文献
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姜飞 《安徽科技学院学报》2015,(2):53-56
针对弹丸应变实验系统温度8控制过程中具有非线性、大时滞及温度难以精确控制等问题,引入变论域思想,利用变论域思想的伸缩因子改变控制系统模糊规则的论域,结合PID控制和模糊PID控制的优点,从而形成变论域模糊PID自适应温度控制系统,设计了变论域模糊PID的温度控制方法。利用MATLAB仿真结果标明:与模糊PID算法比较,变论域模糊PID温度控制算法在超调量、鲁棒性和动态响应速度方面均具有明显优势。 相似文献
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有源电力滤波器（active power filter, APF）补偿电流跟踪控制要求具有较高的稳态精度和较快的动态响应速度。文章将自适应预测滤波算法应用于无差拍控制,实现APF补偿电流精确控制。根据APF时域数学模型,推导滤波系统的无差拍控制离散方程;通过自适应(finite impulse response filter, FIR)预测滤波算法实现基波电流预测,消除控制系统的计算延迟,给无差拍控制提供所需的指令电流预测值。对预测算法进行MATLAB仿真,验证预测算法的稳态精度和动态跟踪快速性;实验室样机验证控制实验结果证明所提出的控制策略有效的,具有一定的实用性。 相似文献
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宋武 《黄冈职业技术学院学报》2010,12(3):13-15,24
本悬挂控制系统采用TI公司的MSP430F169单片机作为核心控制芯片,实现系统的坐标参数设定、自由运动控制、圆周运动、物体坐标位置显示物体循迹运动等功能。采用两个步进电机带动悬挂物体运动,采用PWM驱动芯片L298控制电机,反射式红外传感器检测黑线,实现物体的循迹运动。 相似文献