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1.
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%.  相似文献   

2.
In this paper, active disturbance rejection control (ADRC) based on a neural network has been investigated for the attitude control of the hypersonic vehicle (HV) with uncertain disturbances, which are regarded as a strongly time-varying, nonlinear, and coupled system. The structure of nonlinear state error feedback (NLSEF) with an Extended State Observer (NLSEF+ESO) utilized in ADRC is considered to have good disturbance resistance ability in engineering applications with less dependence on the mathematical model of the system. However, the strong coupling of the HV makes it complicated to separately design ADRC for each channel. In addition, the bandwidth and parameters of the ESO can seriously affect the performance of the ADRC, while jitter occurs when they are not well matched. A cascade active-rejection control scheme is designed by introducing the Radial Basis Function (RBF) Neural Network to substitute the ESO in ADRC, which mitigates the shortcoming of ADRC in addressing the control problems of the MIMO system with coupling disturbances. The NNESO can adapt well to disturbance characteristics through online training and fitting and can effectively reduce the jitter of the control. The stability of the NNESO is proved by Lyapunov stability theory, and the numerical simulations are presented to demonstrate the effectiveness of our theoretical results. In summary, the proposed NNESO-based cascade ADRC is an effective method for solving the problem of HV control with better disturbance resistance.  相似文献   

3.
This paper investigates the fixed-time neural network adaptive (FNNA) tracking control of a quadrotor unmanned aerial vehicle (QUAV) to achieve flight safety and high efficiency. By combining radial basis function neural network (RBFNN) with fixed time adaptive sliding mode algorithm, a novel radial basis function neural network adaptive law is proposed. In addition, an extended state/disturbance observer (ESDO) is proposed to solve the problem of unmeasurable state and external interference, which can obtain reliable state feedback and interference input. Unlike most other ESO applications, this paper does not set the uncertainty model and external disturbances as total disturbances. Instead, the external disturbances are observed by extending the states and the observed states are fed back to the controller to cancel the disturbances. In view of the time-varying resistance coefficient and inertia torque in the QUAV model, the neural network is introduced so that the controller does not need to consider these nonlinear uncertainties. Finally, a numerical example is given to verify the effectiveness of the coupled non-simplified QUAV model.  相似文献   

4.
This paper concerns with the convergence of the discrete-time nonlinear extended state observer (ESO). Several kinds of discrete-time nonlinear ESO (NLESO) are proposed and then sufficient conditions based on linear matrix inequality (LMI) method are obtained to quantitatively reveal the relationship between the plant, the sampling interval, the parameter values of NLESO and its convergence. The theoretical results are verified by simulation using a motion control system. It shows that there may exist an optimal ωo for a certain fixed sampling interval, and a smaller sampling interval generally generates better performance. What’s more, the proposed digital implementations of NLESO improve its performance over traditional Euler approximation discretization method.  相似文献   

5.
This paper investigates spacecraft output feedback attitude control problem based on extended state observer (ESO) and adaptive dynamic programming (ADP) approach. For the plant described by the unit quaternion, an ESO is first presented in view of the property of the attitude motion, and the norm constraint on the unit quaternion can be satisfied theoretically. The practical convergence proof of the developed ESO is illustrated by change of coordinates. Then, the controller is designed with an involvement of two parts: the basic part and the supplementary part. For the basic part, a proportional-derivative control law is designed. For the supplementary part, an ADP method called action-dependent heuristic dynamic programming (ADHDP) is adopted, which provides a supplementary control action according to the differences between the actual and the desired system signals. Simulation studies validate the effectiveness of the proposed scheme.  相似文献   

6.
《Journal of The Franklin Institute》2022,359(18):10483-10509
In this paper, a fast fixed-time vertical plane motion controller is proposed for autonomous underwater gliders (AUGs) gliding in shallow water. The influence of speed-sensorless conditions, model uncertainties, unknown time-varying external disturbances, input saturations, and state delay are taken into account. To improve control performance, a fast fixed-time stable system is first presented. Based on the system, an adaptive extended state observer (ESO) is developed for estimating speed, model uncertainties, and external disturbances. A fast fixed-time controller is designed for improving the gliding efficiency and reducing the risk of hitting the ocean floor. Moreover, an input saturation auxiliary system and an advance compensation method are presented to cope with input saturations and state delay. According to Lyapunov theory, it is proved that the AUG states can converge into a small neighborhood within a fixed time. Finally, simulation results demonstrate the rapidity and effectiveness of the designed control method.  相似文献   

7.
详细介绍了一个新的大样本集合预报系统. 为了减小ENSO(厄尔尼诺-南方涛动)预报中的预报不确定性,该集合预报系统首先基于一个中等复杂程度的耦合模式,利用集合卡尔曼滤波资料同化方法同化有效的海洋观测资料为集合预报系统提供集合初始场;同时,一个发展的用于12个月预报的一阶线性马尔可夫(Markov)随机误差模式被嵌套到集合预报系统中来模拟模式不确定性. 基于1992年11月~2008年10月100个样本的集合回报试验,从确定性预报技巧和概率预报技巧2个方面对集合预报系统的预报水平进行了检验. 该集合预报方法能够很有效地将传统的确定性预报扩展到概率预报领域,且检验结果表明,预报样本均值的预报水平要优于单一的确定性预报. 对于概率预报而言,集合预报样本能够很好地跟随观测的变化,并且能够提供单纯确定性预报所不能够提供的额外信息.  相似文献   

8.
The bacteria-based microrobot (Bacteriobot) is one of the most effective vehicles for drug delivery systems. The bacteriobot consists of a microbead containing therapeutic drugs and bacteria as a sensor and an actuator that can target and guide the bacteriobot to its destination. Many researchers are developing bacteria-based microrobots and establishing the model. In spite of these efforts, a motility model for bacteriobots steered by chemotaxis remains elusive. Because bacterial movement is random and should be described using a stochastic model, bacterial response to the chemo-attractant is difficult to anticipate. In this research, we used a population-scale approach to overcome the main obstacle to the stochastic motion of single bacterium. Also known as Keller-Segel''s equation in chemotaxis research, the population-scale approach is not new. It is a well-designed model derived from transport theory and adaptable to any chemotaxis experiment. In addition, we have considered the self-propelled Brownian motion of the bacteriobot in order to represent its stochastic properties. From this perspective, we have proposed a new numerical modelling method combining chemotaxis and Brownian motion to create a bacteriobot model steered by chemotaxis. To obtain modeling parameters, we executed motility analyses of microbeads and bacteriobots without chemotactic steering as well as chemotactic steering analysis of the bacteriobots. The resulting proposed model shows sound agreement with experimental data with a confidence level <0.01.  相似文献   

9.
In this paper, we consider output tracking for a class of MIMO nonlinear systems which are composed of coupled subsystems with vast mismatched uncertainties. First, all uncertainties influencing the performance of controlled outputs, which include internal unmodelled dynamics, external disturbances, and uncertain nonlinear interactions between subsystems, are refined into the total disturbance in the control channels of subsystems. The total disturbance is shown to be sufficiently reflected in the measured output of each subsystem so that it can be estimated in real time by an extended state observer (ESO) in terms of the measured outputs. Second, we decouple approximately the MIMO systems by cancelling the total disturbance based on ESO estimation so that each subsystem becomes approximately independent linear time invariant one without uncertainty and interaction with other subsystems. Finally, we design an ESO based output feedback for each subsystem separately to ensure that the closed-loop state is bounded, and the closed-loop output of each subsystem tracks practically a given reference signal. This is completely in comply with the spirit of active disturbance rejection control (ADRC). Some numerical simulations are presented to demonstrate the effectiveness of the proposed output feedback control scheme.  相似文献   

10.
In this paper, a distributed, non-cooperative and dynamic load-balancing algorithm is proposed in the context of multi-commodity adversarial network equilibria with constrained providers’ capacities. The algorithm is proven to converge to a generalised Wardrop user-equilibrium, referred to as Beckmann equilibrium in the literature, in which, for each commodity, the latencies of the unsaturated providers are equalized. The algorithm is then used as a Multi-connectivity algorithm in the context of 5G heterogeneous networks, in which the user equipments are able to use different access networks simultaneously to increase the transmission capacity and/or to improve the transmission reliability. The proposed controller provides a solution for dynamic traffic steering by distributing the traffic load over the available heterogeneous access points, considered as capacity providers. Simulation results validate the approach. The developed network simulator is available as an open-source environment De Santis et al. (2020).  相似文献   

11.
一种改进的遥感热惯量模型初探   总被引：6，自引：0，他引：6  
本文改进了遥感热惯量模型 ,考虑到植被因素的影响 ,在植被覆盖区 ,使用双层模型中的土壤热能量平衡方程 ,同时在热传导方程的边界条件中引进显热通量和潜热通量 ,使热惯量模型的应用范围从裸土扩展到植被覆盖区 .通过顺义地区的MODIS影像数据和同步野外测量数据对此模型进行验证 ,所获得的热惯量值与实测热惯量值进行比较 ,结果表明改进模型的实用性和可行性 .  相似文献   

12.
Two different bond-graph schemes for the modeling of circulating fluids are discussed and compared. The first uses a heuristic approach wherein the flow path is broken into segments. Each segment has separate hydraulic and thermal submodels which are linked with active bonds. The model is general enough to handle natural convective flows, heat storage, conduction, forced convective heat transfer and heat energy sources. The second method, applicable to pumped flows, uses a modal analysis approach to derive state equations for the modal temperatures, the time varying coefficients of the spatially varying mode shapes in a separation of variables solution for the temperature partial differential equation. Two examples are worked to illustrate the models. Numerical simulation results are presented using the first method and a simple analytic solution given to illustrate the second.  相似文献   

13.
In this paper, the optimal driving torques of four wheels in an electric vehicle (EV) are obtained by minimizing the losses of four in-wheel motors. In order to slightly change these optimal torques for vehicle stability recovery, a new constrained active front steering (AFS) system is analytically designed and integrated with the torque vectoring (TV) system in a novel decentralized structure. In the proposed structure, the required external yaw moment is applied by the TV controller only when the constrained AFS is filled to capacity determined by a stability index extracted from the nonlinear phase plane analysis. As a result of this integration strategy, the external yaw moment is used as low as possible. Consequently, the torques in electrical motors are used near the optimal values consistent with optimal energy consumption. Comparative simulation studies with the standalone TV are conducted in the CarSim software environment to show the efficiency of the proposed decentralized control structure in terms of energy consumption and stability. Moreover, the suitability of the constrained control method used in the integration structure is shown in comparison with the well-known nonlinear model predictive control method in terms of practical implementation.  相似文献   

14.
This paper simultaneously addresses the parameter/state uncertainties, external disturbances, input saturations, and actuator faults in the handling and stability control for four-wheel independently actuated (FWIA) electric ground vehicles (EGVs). Considering the high cost of the available sensors for vehicle lateral velocity measurement, a robust H∞ dynamic output-feedback controller is designed to control the vehicle motion without using the lateral velocity information. The investigated parameter/state uncertainties include the tire cornering stiffness, vehicle mass, and vehicle longitudinal velocity. The unmodeled terms in the vehicle lateral dynamics model are dealt as the external disturbances. Faults of the active steering system and in-wheel motors can cause dangerous consequences for driving, and are considered in the control design. Input saturation issues for the tire forces can deteriorate the control effects, and are handled by the proposed strategy. Integrated control with active front steering (AFS) and direct yaw moment (DYC) is adopted to control the vehicle yaw rate and sideslip angle simultaneously. Simulation results based on a high-fidelity and full-car model via CarSim-Simulink show the effectiveness of the proposed control approach.  相似文献   

15.
《Research Policy》2022,51(2):104438
Sustainable development startups (SDSs) are important to help overcome societal challenges. However, starting an SDS or investing in them is a high-risk endeavor. Hence, policymakers are trying to make entrepreneurial ecosystems (EEs) more favorable for SDSs. A critical component of any EE is a financial support network, through which startups receive investments and business knowledge most importantly from private venture capitalists (VCs), among other finance providers. To be successful, SDSs thus need to become embedded in the financial support network. This embeddedness also allows SDSs to serve as network brokers between VCs and other startups, which is beneficial for the entire EE. Entrepreneurial support organizations (ESOs) can help build a sufficiently dense financial support network by introducing startups to other actors. However, there are often not enough promising SDSs in an EE to meaningfully influence the financial support network. This places ESOs that promote SDSs in the dilemma of which startups to admit: they can either focus their efforts exclusively on SDSs or give their unfilled spots to non-SDSs, with the latter facilitating network brokering among startups. Therefore, this paper answers the following research question: What is the effect from ESOs’ support mechanisms and admission regimes on the number of investments in SDSs? Using an agent-based model, I demonstrate that ESOs are a necessity for EEs with many constrained SDSs, particularly when the constraints are technology-based. Without ESOs, the presence of such SDSs negatively influences the entire EE due to a loss of brokering in the financial support network. ESOs can help repair this damage by having the right admission regimes and helping tenant SDSs overcome some of their constraints. Ultimately, the most effective way to do this is to have an admission regime under which only SDSs are accepted and receive twice as much support from the ESO.  相似文献   

16.
The interferences and drivers' maloperations are important factors affecting vehicle driving safety. This paper investigates the problem of authority allocation to weaken the impact of interferences and drivers’ maloperations on the shared steering control system. Based on the parallel framework of the shared steering control system, an extended framework including the upper level and the lower lever is proposed. The lower lever is used to realize the shared steering control, which includes the driver model, trajectory tracking controller and vehicle model. To improve the robustness of the system, the uncertainty of vehicle dynamics parameters is considered in the trajectory tracking controller, including tire cornering stiffness and longitudinal velocity. The upper level is used to calculate the authority level of the driver and controller required by the lower lever, which consists of an authority dynamic allocation model and an authority allocation decision strategy. The role of the authority dynamic allocation model is to calculate the reference allocation level of the driver and controller dynamically. When the driver's operation and vehicle working states are trustworthy, the reference allocation levels of the driver and controller will be followed. Conversely, a decision result will be gained by the authority allocation decision strategy to replace the reference allocation levels, and the sum of the authority levels of the driver and the automation will not be fixed as 1. The simulation results show that the proposed approach can effectively improve vehicle driving safety, anti-interference and reliability, and can effectively reduce the impact of crosswind and driver's maloperation on vehicle safety, and alleviate the driver's operation load.  相似文献   

17.
In this paper, thermal mixing characteristics of two miscible fluids in a T-shaped microchannel are investigated theoretically, experimentally, and numerically. Thermal mixing processes in a T-shaped microchannel are divided into two zones, consisting of a T-junction and a mixing channel. An analytical two-dimensional model was first built to describe the heat transfer processes in the mixing channel. In the experiments, de-ionized water was employed as the working fluid. Laser induced fluorescence method was used to measure the fluid temperature field in the microchannel. Different combinations of flow rate ratios were studied to investigate the thermal mixing characteristics in the microchannel. At the T-junction, thermal diffusion is found to be dominant in this area due to the striation in the temperature contours. In the mixing channel, heat transfer processes are found to be controlled by thermal diffusion and convection. Measured temperature profiles at the T-junction and mixing channel are compared with analytical model and numerical simulation, respectively.  相似文献   

18.
肖向东  赵定涛 《预测》2004,23(2):52-55,40
本文对ESO重新定价行为正反两方面的效应进行了分析，提出了公司可以进行ESO重新定价的两个前提条件，在此基础上，初步讨论了对ESO进行重新定价时需要注意的几个问题，比如股东和监管环境；最后，考虑到ESO重新定价的负面影响，论文还提出了避免ESO重新定价行为的一些措施(如指数期权等)。  相似文献   

19.
Studies on the effects of variations in temperature and mild temperature gradients on cells, gels, and scaffolds are important from the viewpoint of biological function. Small differences in temperature are known to elicit significant variations in cell behavior and individual protein reactivity. For the study of thermal effects and gradients in vitro, it is important to develop microfluidic platforms which are capable of controlling temperature gradients in an environment which mimics the range of physiological conditions. In the present paper, such a microfluidic thermal gradient system (μTGS) system is proposed which can create and maintain a thermal gradient throughout a cell-seeded gel matrix using the hot and cold water supply integrated in the system in the form of a countercurrent heat exchanger. It is found that a uniform temperature gradient can be created and maintained in the device even inside a high temperature and high humidity environment of an incubator. With the help of a hot and cold circuit controlled from outside the incubator the temperature gradient can be regulated. A numerical simulation of the device demonstrates the thermal feature of the chip. Cell viability and activity under a thermal gradient are examined by placing human breast cancer cells in the device.  相似文献   

20.
In the variable speed control momentum gyroscopes (VSCMG), the output torque of the VSCMG can be supported by the gyroscopic torque by a large margin with low resolution. The output torque of the VSCMG can be only supported by the reaction torque of the flywheels with high resolution when the gimbals are locking. Consequently, the torque error that is determined by the low spin rate fluctuation or servo tracking error of the gimbals can be vanished, and the VSCMG can be suitable for large maneuver and high accuracy attitude pointing as the actuator. Unfortunately, the singularity of the flywheel torque co-plane may be encountered. In this paper, the singularity of the flywheel torque co-plane is visualized based on geometry method. The singularity can be effectively avoided by locking gimbals. The locking gimbals positions are optimized with the maximum angular momentum. The steering laws with two phases are proposed to operate the task of the large angle maneuver and high accuracy control for a spacecraft. In the phase 1, a large margin torque can be achieved by the new designed steering law, and the gimbals can be steered to the optimization gimbals positions at the final stage of the phase 1. In the phase 2, the high precision torque can be achieved by only steering the flywheels and the locking the gimbals. Consequently, the torque error that is caused by the spin rate fluctuation or servo tracking error of the gimbals can be effectively eliminated.  相似文献   

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