46results about How to "Improve control robustness" patented technology

A method of operating a vehicle powertrain system comprising an electric motor and transmission where the electric motor is operably and selectively coupled to the transmission and adapted to provide an output torque contribution thereto, and the electric motor has a predetermined maximum motor output torque and a predetermined minimum motor output torque which are used to determine a range of permissible control points for at least one transmission control parameter. The method includes establishing a motor torque reserve by performing at least one of decreasing the predetermined maximum motor output torque to a maximum reserved motor output torque and increasing the minimum motor output torque to a minimum reserved motor output torque, wherein the maximum reserved motor output torque and the minimum reserved motor output torque are used in place of the predetermined maximum motor output torque and the predetermined minimum motor output torque, respectively, to determine the range of permissible control points for the at least one transmission control parameter. The motor torque reserve may include a static motor torque reserve, a dynamic motor torque reserve, or a combination of both static and dynamic torque reserves. The dynamic torque reserve may include a predictive dynamic reserve, a reactive dynamic reserve, or a combination of a predictive reserve and a reactive reserve or reserves.

A control device for a vehicle is equipped with a vehicle model motion determining device for determining a motion of a vehicle (a vehicle model motion) on a vehicle model expressing the dynamic characteristics of a vehicle on the basis of drive manipulated variables, such as an angle of steering by a driver, and a state amount error reaction control device for determining control inputs to an actuator control device of the actual vehicle and the vehicle model motion determining device according to a feedback law on the basis of a difference between a state amount of a vehicle model motion (model state amounts, such as a position or a posture of a vehicle) and a state amount of a motion of the actual vehicle 1 (a state amount error). Based on a state amount error, not only a motion of an actual vehicle but also a vehicle model motion is manipulated, thereby enhancing robustness against disturbance factors or their changes while conducting actuator operation control that is suited to a behavior of the actual vehicle as much as possible.

A control device for a vehicle is equipped with a vehicle model motion determining device for determining a motion of a vehicle (a vehicle model motion) on a vehicle model expressing the dynamic characteristics of a vehicle on the basis of drive manipulated variables, such as an angle of steering by a driver, and a state amount error reaction control device for determining control inputs to an actuator control device of the actual vehicle and the vehicle model motion determining device according to a feedback law on the basis of a difference between a state amount of a vehicle model motion (model state amounts, such as a position or a posture of a vehicle) and a state amount of a motion of the actual vehicle 1 (a state amount error). Based on a state amount error, not only a motion of an actual vehicle but also a vehicle model motion is manipulated, thereby enhancing robustness against disturbance factors or their changes while conducting actuator operation control that is suited to a behavior of the actual vehicle as much as possible.

The invention discloses a creeping speed control method for an electric vehicle. The method aims at solving the problems that in the prior art, the calculation of the creeping target torque of electric vehicles is inaccurate, by additionally arranging slope sensors or acceleration sensors, the costs are increased, and the robustness is reduced; meanwhile, a dynamic coordination control method forthe creeping torque of the electric vehicle is proposed to ensure better running smoothness when the vehicle switches between a creeping mode and other running modes. The dynamic coordination controlmethod for the creeping torque of the electric vehicle comprises the following steps of 1, determination of a working mode, wherein a vehicle control unit selects the target working mode according todriver's operation and the state of the vehicle; 2, calculation of the creeping target torque, wherein the creeping target torque is calculated by means of a 'feedforward reference torque + feedback compensation torque + parameter estimation feedback correction' method; 3, dynamic coordination control over the creeping torque, wherein slope limiting and filtering processing are conducted on the target creeping target torque obtained in the step 2, the requirement for the creeping torque after coordination is output to a motor controller to control the torque output of a motor, and therefore creeping running of the vehicle is achieved.

The present invention provides a control method of a four-wheel independent steering vehicle. The method comprises the following steps: A, preinstalling an ideal vehicle steering model, an interference boundary estimation link, a rear wheel turning angle sliding mode controller and a yawing moment sliding mode controller; B, measuring a front wheel turning angle, a side slip angle and a yaw velocity of the vehicle in real time by taking the straightly advancing state of the vehicle as the initial moment, and performing calculation to obtain a real-time side slip angle control error and a yaw velocity control error by combining the ideal vehicle steering model and the corresponding real-time side slip angle and the corresponding real-time yaw velocity; C, inputting the real-time side slip angle control error and the yaw velocity control error into the interference boundary estimation link, to obtain real-time interference boundary parameters; and D, performing calculation to obtain a real-time rear wheel turning angle and yawing moment by combining the real-time front wheel turning angle, the real-time interference boundary parameters and the control errors, and performing controlling over the vehicle. The method has the characteristics of good control effect and high stability.

The invention refers to a method for controlling the effector trajectory from a current state to a target state. First invariant control parameters of the trajectory are determined. The effector trajectory is then represented in a task description being void of the invariant control parameters. The effector trajectory is controlled on the basis of this task description. The invention further refers to a method for controlling the effector trajectory wherein the effector trajectory is calculated by mapping increments from a control parameter space on a configuration space. The dimensional difference between the configuration space and the control parameter space leaves redundant degrees of freedom of a Null space. The degrees of freedom of the Null space are increased using a task description being void of invariant control parameters. The invention further refers to a respective computer software program product, a manipulator, an actuated camera system, a robot comprising one or more manipulators and an automobile equipped with a driver support system.

The invention provides a control method for a four-wheel independent steering vehicle. The method comprises the steps that (A) an ideal vehicle steering model, a front wheel steering angle observer, an interference boundary estimation link, a rear wheel steering angle slide-mode controller and a yawing moment slide-mode controller are preset; (B) a mass center deflection angle and a yawing angular speed of the vehicle are measured in real time, and a front wheel steering angle estimated value at a corresponding moment is obtained through computation; (C) the front wheel steering angle estimated value is computed in real time, the real-time mass center deflection angle and the real-time yawing angular speed are computed, and a real-time control error between the mass center deflection angle and the yawing angular speed can be obtained through computation; (D) a real-time interference boundary parameter is obtained through computation in the interference boundary estimation link; and (E) in combination with the real-time front wheel steering angle estimated value, the real-time interference boundary parameter and the control error, a real-time rear wheel steering angle and yawing moment are obtained through computation, and the vehicle is controlled. The method has the advantages that the defect that vehicle stability is reduced due to sensor failures can be overcome; control effects are good; and the stability is high.

The invention discloses a large-power high-frequency switch eliminator power comprehensive control method which includes a front-stage three-phase voltage type rectifier control method and a back-stage high-frequency direct current / direct current (DC / DC) convertor control method. A parameter self-adaptation control dead beat control method based on power front feed is adopted in a front-stage three-phase voltage type rectifier, and quick response of a system and quick track of load change are achieved; and through parameter self-adaptation control, on-line dead beat controller parameter correction can be achieved, matching of control parameters and actual parameters can be achieved, bad influence on control performance because of parameter perturbation or drifting can be eliminated, and control robustness can be improved. A virtual impedance self-current-sharing control method based on output voltage feedback is adopted in a back-stage high-frequency DC / DC convertor, conflict between current-sharing control accuracy and load output voltage accuracy can be effectively solved, virtual impedance dereference can not influence output adjustment of load voltage, and adaptation capacity of the virtual impedance current-sharing method on occasions where accuracy demands on the output voltage are high is improved.

The invention discloses a novel mixing magnetic bearing which comprises a rotating shaft, a permanent magnet radial bearing, an auxiliary adjusting device, a protecting spring and a protecting pin, wherein the permanent magnet radial bearing is utilized to supply a bias magnetic field for generating a larger radial suspension force; the auxiliary adjusting device comprises an axial electromagnet bearing, a compression spring, a rolling bearing, a rolling bearing sleeve, a bearing penetrating cover and an isolating check ring; when the system normally works, the auxiliary adjusting device has the function of adjusting the radial position of a rotor; and when the power of the system is accidentally cut off, the auxiliary adjusting device has the function of auxiliary supporting. The novel mixing magnetic bearing has the advantages that the supporting performance and control reliability of the magnetic bearing are increased, the falling abrasion is reduced, the service life of the auxiliary bearing is prolonged, the magnetic bearing is compact in structure, the utility rate of space is increased and the cost is lowered.

A method of operating a vehicle powertrain system comprising an electric motor and transmission where the electric motor is operably and selectively coupled to the transmission and adapted to provide an output torque contribution thereto, and the electric motor has a predetermined maximum motor output torque and a predetermined minimum motor output torque which are used to determine a range of permissible control points for at least one transmission control parameter. The method includes establishing a motor torque reserve by performing at least one of decreasing the predetermined maximum motor output torque to a maximum reserved motor output torque and increasing the minimum motor output torque to a minimum reserved motor output torque, wherein the maximum reserved motor output torque and the minimum reserved motor output torque are used in place of the predetermined maximum motor output torque and the predetermined minimum motor output torque, respectively, to determine the range of permissible control points for the at least one transmission control parameter.

This invention exploits the concept of Staged Heat and Mass Transfer (SHMT) to enhance operability, control robustness and intrinsic safety in preventing corrosion while recovering material, and energy if desirable, in process waste streams. Two applications illustrating the improvements based on the SHMT concept are given. One application illustrates novel design features to recover vent from a steam boiler deaeration system, positively eliminating the risk of oxygen and carbon dioxide accumulation in deaerator. The other application illustrates process adaptations of the same SHMT concept to recover steam, steam condensate, and fugitive emissions involving particulate materials if desirable, from any process vents from vessels that are opened to the atmosphere. Again, without the risk of corrosion by atmospheric oxygen.

According to a preferred aspect of the instant invention, there is provided a system and method of robust control profile generation which suppresses one or some resonant modes in a flexible dynamic system. This robust control profile is a smooth function which can be used as a velocity profile, or as a shape filter to an arbitrary control command. The robustness can be arbitrarily improved. The robustness brings about a smoother profile. The technique can be applied to both open-loop and closed-loop systems. As a consequence of the use of the instant invention, the movement of a flexible arm that is performed according to this sort of function will be one that has minimal or reduced residual vibration after it has reached its destination.

An electronic control unit is mounted on a vehicle including an internal combustion engine and electric motors, each of which is connected to a driving shaft to be capable of transmitting power. The electronic control unit is configured to compute compensation torque reducing a pulsation component of engine torque of the internal combustion engine and command a value in which required torque of the electric motor is combined with the computed compensation torque to the electric motor as a torque command value of the electric motor. The electronic control unit is configured to correct the torque command value so that the value opposite in sign to an average torque command value is not commanded to the electric motor when the average torque command value is smaller than an amplitude of the torque command value.

The invention provides a disturbance compensation control method for a missile pilot, and relates to the field of guidance control. The method comprises the following steps: modeling by taking a missile as a controlled object, and designing a corresponding traditional attitude pilot; establishing a nonlinear kinetic equation set of the controlled object; considering the comprehensive interferencez3 to establish a state space standard form; obtaining an input and output result of the controlled object through a nonlinear kinematics equation set, and designing an extended state observer; feeding back the comprehensive interference z3 and the control gain b0 to the control output position of the traditional attitude driving instrument through the extended state observer to obtain the active-disturbance-rejection three-loop attitude driving instrument; and performing disturbance compensation control on the missile. The beneficial effects of the method are that: the structure and design parameters of the existing driving instrument are inherited, unmodeled disturbance and uncertain disturbance generated by parameter solidification and small disturbance hypothesis in the missile modeling process are estimated and compensated through the active disturbance rejection extended state observer, and comprehensive disturbance is fed back to the control output position through the extendedstate observer, so that attitude driverscope decoupling design is achieved.

The invention provides a control method of an approximately-discrete fate terminal sliding mode of a PMSM speed regulating system. The control method comprises the steps of firstly receiving the main command of angular rate, extracting the motor angular velocity feedback, and calculating the first-order derivative of speed error; secondly calculating the fast terminal sliding mode surface of a speed ring and the electric current loop command of a speed regulating system; thirdly calculating the electric current loop controlled variable by means of angular acceleration feedback, collecting line current and calculating the A-axis and D-axis current of PMSM under dq coordinate and the first-order variable quantity of the error, and calculating the fast terminal sliding mode surface of the dq coordinate electric current loop; lastly completing motor control by using the calculated electric current loop dq coordinate voltage controlled variable as the input of adverse park transformation of PMSM. The invention is advantageous in that the control robustness of the servo-actuated speed regulating system is improved, the control method is not sensitive to the change of the motor parametric and external moment interference, and the system's adaptive capacity to environment is enhanced; the speed ring and the electric current loop control item both adopt integration to conduct smoothing on sliding mode variable structure switching phase, and the control chattering of conventional linear sliding mode can be prevented.

The invention discloses an M-estimation impulsive noise active control method. According to the M-estimation impulsive noise active control method, a mean square value of robust M-estimation of error signals is adopted as a cost function, and a threshold value is led into a reference signal channel to limit influence of an impulsive sample on the iterative process of the algorithm, and therefore, steady update of an coefficient of an adaptive filter can be ensured so as to achieve noise reduction. The M-estimation impulsive noise active control method includes the following steps that: (1) initializing the coefficient W (n) of the adaptive filter; (2) obtaining secondary waveform and the error e (n) of main noises; and (3) updating the coefficient of the filter: W(n=1)=W(n)+uq{e(n)}e(n)[S<^>(n)*Xc(n)], wherein n is a sampling time sequence, u is a convergence coefficient, q{e (n)} is M-estimation of the error signals, Xc(n) is a reference signal vector which has been subjected to threshold value processing, and S<^>(n) is an estimation model of a secondary channel transfer function. The M-estimation impulsive noise active control method provided by the invention can eliminate the influence of the impulsive sample on an adaptive filtering algorithm maximally, effectively improve the robustness to impulsive noises and noise reduction performance, and has a great practical value.

The invention provides an axial split-phase magnetic suspension flywheel rotor gyroscopic effect inhibition method, and belongs to the technical field of magnetic suspension transmission. The method comprises the following steps: firstly, constructing an axial split-phase magnetic suspension rotor dynamic model on the basis of translational and rotational coordinate systems, and thereby realizingtranslational modal and rotational modal decoupling by adopting decentralized control; secondly, realizing nutation modal and precession modal decoupling based on centralized control of inverse systemdecoupling; and finally, performing system closed-loop integration on a decoupled nonlinear system through a robust servo regulator and a dynamic compensator. According to the axial split-phase magnetic suspension flywheel rotor gyroscopic effect inhibition method provided by the invention, the decentralized control and the centralized control are combined to complete a magnetic suspension flywheel rotor gyroscopic effect inhibition algorithm based on modal decoupling, thus a control algorithm can be simplified, and meanwhile, the control precision and the robustness are improved.

By a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value and a desired value of a secondary power imparted to a secondary element (3) from a primary element (2) via an elastic deformation member (4), and a second variable component which is a temporal change rate of the deviation, so as to sequentially determine a control input to control an actuator (5) to converge the first variable component to zero on a switching hyperplane. A gradient of the switching hyperplane is set such that a time constant corresponding to the gradient of the switching hyperplane is equal to or larger than a given specific time constant.

The embodiment of the invention discloses a sensorless control device and method for a permanent magnet synchronous motor of an electronic water pump. The device comprises a current sampling module, a flux linkage observation module, a phase-locked loop module, an SVPWM module, a pre-positioning module, an IF speed open-loop module, and a sensorless speed closed-loop module. The pre-positioning module obtains a direct current component under a synchronous rotating coordinate system through current coordinate transformation, and inputs a difference value into a PI controller for adjustment to obtain a reference voltage signal. According to the IF speed open-loop module, the current is kept unchanged at a pre-positioning current, the current is controlled by a PI controller in a closed-loop mode, and parameters are enhanced. The sensorless speed closed-loop module is used for obtaining current and voltage components under a rotating coordinate system through coordinate transformation, obtaining a rotor angle through arc tangent calculation and estimating the rotating speed of the motor and the position of the rotor in real time. According to the invention, an electronic water pump can be reliably started without a sensor, the low-speed stability and the anti-interference capability are strong, the high-speed dynamic performance is good, the method is not sensitive to motor parameters, and the motor control robustness is improved.

The invention discloses a path tracking control method of a wave glider, two tail vane angles are putted through two PID control of an inner ring and an outer ring to finish path tracking control of the wave glider. The inner ring PID control comprises the steps that the side edge distance between the current position of the wave glider and the expected track serves as deviation to be inputted into a PID course controller, and a tail vane angle is outputted. According to outer ring PID control, the deviation between the current course returned by the compass and the expected course is inputted into a PID course controller, meanwhile, inner ring control output (a rudder angle) serves as outer ring control input, and a tail rudder angle is outputted. The angles of the two tail vanes jointly act on the wave glider, and tracking of the current path by the wave glider is completed. The path tracking control method of the wave glider has the advantages of being convenient to control and simple in process, and the wave glider can accurately complete path tracking by reasonably adjusting PID parameters.

The invention discloses a large-power high-frequency switch eliminator power comprehensive control method which includes a front-stage three-phase voltage type rectifier control method and a back-stage high-frequency direct current / direct current (DC / DC) convertor control method. A parameter self-adaptation control dead beat control method based on power front feed is adopted in a front-stage three-phase voltage type rectifier, and quick response of a system and quick track of load change are achieved; and through parameter self-adaptation control, on-line dead beat controller parameter correction can be achieved, matching of control parameters and actual parameters can be achieved, bad influence on control performance because of parameter perturbation or drifting can be eliminated, and control robustness can be improved. A virtual impedance self-current-sharing control method based on output voltage feedback is adopted in a back-stage high-frequency DC / DC convertor, conflict between current-sharing control accuracy and load output voltage accuracy can be effectively solved, virtual impedance dereference can not influence output adjustment of load voltage, and adaptation capacity of the virtual impedance current-sharing method on occasions where accuracy demands on the output voltage are high is improved.

An integrated circuit 2 includes processing circuitry that includes a plurality of critical path circuits 4, 6, 8, 10. These critical path circuits include variable delay circuits 16 which add an additional delay in to the path delay through the critical paths so as to adjust the path delay to match a target path delay. Variable delay circuit 18 includes a tank capacitor 22 which is charged or discharged to generate a control voltage. This control voltage serves to control a power supply voltage fed to an inverter chain 28. Variation in the power supply voltage of the inverter chain 28 adjust the propagation speed of a processing signal through the inverter chain 28 and accordingly adjusts the additional delay imposed by the variable delay circuit.

The invention provides a finite time sliding mode control system and method for a bridge crane system under a limited control input. The method comprises the following steps: 1, determining a controltarget of a two-dimensional under-actuated bridge crane system; step 2, according to the control target obtained in the step 1, constructing a total sliding mode surface of the system in combination with a hierarchical sliding mode theory; 3, constructing a total control law of the system according to the total sliding mode surface of the system obtained in the step 2; and 4, constructing a control-limited fast terminal sliding mode controller according to the total control law of the system obtained in the step 3. The method provided by the invention has two control effects, can provide a basis for rapid anti-swing and accurate and effective positioning control of the bridge crane system under various complex conditions, and enables the bridge crane system to be better applied to variousindustrial fields.

The invention belongs to the field of underwater bionic robot control, particularly relates to an object searching and grabbing control method of an underwater bionic robot in a turbulent flow environment, and aims to solve the problem that an existing underwater bionic robot difficultly achieves object searching and autonomous grabbing in the turbulent flow environment. The method comprises the steps of extracting the position and contour of an obstacle; obtaining and detecting whether a visual image contains an object to be grabbed or not, if yes, solving an expected motion angle of each joint of a mechanical arm, calculating disturbing force of the mechanical arm in the grabbing process, and compensating the disturbing force to underwater bionic robot body control to obtain total control input force / torque; otherwise, obtaining an external turbulent flow estimated value, and further obtaining a control input force / torque at a t+1-t+N moment; and acquiring the control quantity of bionic webs at the two sides, and controlling the underwater bionic robot to realize object searching or grabbing control. According to the method, object searching and autonomous grabbing of the underwater bionic robot in the turbulent flow environment are achieved, and the control robustness is improved.

An electronic control unit is mounted on a vehicle including an internal combustion engine and electric motors, each of which is connected to a driving shaft to be capable of transmitting power. The electronic control unit is configured to compute compensation torque reducing a pulsation component of engine torque of the internal combustion engine and command a value in which required torque of the electric motor is combined with the computed compensation torque to the electric motor as a torque command value of the electric motor. The electronic control unit is configured to correct the torque command value so that the value opposite in sign to an average torque command value is not commanded to the electric motor when the average torque command value is smaller than an amplitude of the torque command value.

A Radio Network Node (RNN) and a method therein for providing improved robustness of a radio link between the RNN and a wireless device. The RNN and the wireless device operate in a communications network. The RNN transmits, towards the wireless device, a transmission with a first transmission mode associated with a first level of coverage extension. When a first period of time has elapsed, the RNN transmits, towards the wireless device, the transmission using a second transmission mode associated with a second level of coverage extension. The second level of coverage extension is higher than the first level of coverage extension.

The invention relates to a flow valve, a position control method of the flow valve, and a control device, and can improve the system stability, security and robustness and save energy. The flow valvecomprises a valve sleeve and a valve core; first and second oil return holes, an oil supply hole and first and second control holes are sequentially arranged on the valve sleeve at intervals; the valve core has first and second functional positions and first and second working positions; when the flow valve is powered off and the valve core is at the first functional position, the two control holes are respectively communicated with the corresponding oil return holes; the oil supply hole is not communicated with both the two control holes; when the flow valve is powered on and the valve core moves to the first working position, the second control hole keeps communication with the second oil return hole; the oil supply hole is communicated with the first control hole; when the flow valve ispowered on and the valve core moves to the second functional position, the condition is the same as the condition at the first functional position; when the flow valve is powered on and the valve core moves to the second working position, the first control hole keeps communication with the first oil return hole; and the oil supply hole is communicated with the second control hole.

An electrical wheel brake actuator for motor vehicles, designed to move a brake pad in the direction of a brake rotor and having an electric motor-gear assembly with a rotation-translation converter assembly that includes a nut-spindle arrangement, and an elastic element which is associated with a release end stop of the spindle arrangement in order, together with a control unit, to allow the electric motor to be automatically electrically switched off. The elastic element includes at least two disc springs which are able to form an expanded segmented force-travel spring curve formed from multiple force-travel spring curve portions.

The invention discloses a fault-tolerant control method for an active front wheel steering system of an automobile, comprising the following steps: Step 1, based on an ideal vehicle front wheel steering system dynamics model, using it as a reference model during the operation of the automobile for use in Output the actual motion state information of the car, including the car's lateral velocity, yaw rate, center of mass side slip angle and lateral tire force; step 2, because the mass of the vehicle changes with the number of passengers, its value fluctuates within a certain range, so Uncertain parameters existing in the vehicle model are processed by Takagi-Sugeno, i.e. T-S fuzzy method; the control method of the present invention has the advantages of simple structure, small amount of calculation, and easy realization; and, the front wheel steering angle The combination of control and yaw moment control makes the control effect of the present invention superior to that of a single control method. On the one hand, the compound control can ensure better corner accuracy, and on the other hand, it can obtain better control effect.

The invention provides a control method for a four-wheel independent steering vehicle. The method comprises the steps that (A) an ideal vehicle steering model, a front wheel steering angle observer, an interference boundary estimation link, a rear wheel steering angle slide-mode controller and a yawing moment slide-mode controller are preset; (B) a mass center deflection angle and a yawing angular speed of the vehicle are measured in real time, and a front wheel steering angle estimated value at a corresponding moment is obtained through computation; (C) the front wheel steering angle estimated value is computed in real time, the real-time mass center deflection angle and the real-time yawing angular speed are computed, and a real-time control error between the mass center deflection angle and the yawing angular speed can be obtained through computation; (D) a real-time interference boundary parameter is obtained through computation in the interference boundary estimation link; and (E) in combination with the real-time front wheel steering angle estimated value, the real-time interference boundary parameter and the control error, a real-time rear wheel steering angle and yawing moment are obtained through computation, and the vehicle is controlled. The method has the advantages that the defect that vehicle stability is reduced due to sensor failures can be overcome; control effects are good; and the stability is high.