30 results about "Input output linearization" patented technology

Input-output linearization (IOL) and extended state observer (ESO) techniques are applied to a Field Oriented Control (FOC) for Permanent Magnet Synchronous Motors (PMSM). In one such approach, at least one gain value is determined based at least in part on a given bandwidth value. Operating parameters for the motor are determined based on the at least one gain value and information from a current sensor regarding motor current. Control signals used to the control the motor are determined based on the determined operating parameters. Accordingly, automated control can be effected through setting a bandwidth value through the implementation of IOL and ESO techniques.

The present invention provides a system, method and apparatus for controlling any type of converter using input-output linearization and leading-edge modulation. The controller includes a summing circuit connected to the converter to create a third voltage representing a difference between the first voltage and the second voltage. A gain circuit is connected to the summing circuit to adjust the third voltage by a proportional gain. A modulating circuit is connected to the gain circuit, the converter, the second voltage and the second current to create a control signal based on the second voltage, the adjusted third voltage, the first current and the second current. The control signal is used to control the converter. Typically, the first voltage is an output voltage from the converter, the second voltage is a reference voltage, the first current is an inductor current from the converter and the second current is a reference current.

A system, method and apparatus for controlling boost and buck-boost converters using input-output linearization and leading-edge modulation is provided. The controller includes a summing circuit connected to the converter to create a third voltage representing a difference between the first voltage and the second voltage. A gain circuit is connected to the summing circuit to adjust the third voltage by an appropriate gain. A modulating circuit is connected to the gain circuit, the converter, the first voltage, the second voltage and the second current to create a control signal based on the first voltage, the second voltage, the adjusted third voltage, the fourth voltage and the first current. The control signal is used to control the converter. Typically, the first voltage is a converter output voltage, the second voltage is a reference voltage, the fourth voltage is a converter input voltage, and first current is a converter inductor current.

In a preferred embodiment, a voltage inverter comprises a voltage converter circuit and a controller. The voltage inverter produces a time-varying output voltage from an input voltage, which can be a DC input voltage or an AC input voltage. The controller provides a control signal at a duty ratio determined dynamically by a set of signals. The set of signals include the time-varying output voltage, a predetermined output voltage, a gain factor and an inductor current in the voltage converter circuit. The predetermined output voltage can have an AC waveform or an arbitrary time-varying waveform. The voltage inverter operates to match the time-varying output voltage to the predetermined output voltage. Input-output linearization is used to design a buck inverter, and input-output linearization with leading edge modulation is used to design boost and buck-boost inverters under conditions where left half plane zero effects are present.

The invention relates to a hypersonic aerocraft tracking control method with an interference observer. The problem that the fact that the observer is bounded in the interference process of an observing system cannot be proved in the prior art is solved. The method provided by the invention comprises the steps that 1 a second-order system model with system interference is established according to the longitudinal input and output linearization model of a hypersonic aerocraft; 2 according to the second-order system model with system interference in the step 1, a finite time terminal sliding mode controller is designed based on a sliding mode control theory; and 3 system stability proving is carried out on the finite time terminal sliding mode controller designed in the Step 2. According to the method provided by the invention, the finite time of the sliding surface of the system is stable, and the system state is asymptotically convergent. The method provided by the invention is applied to the field of hypersonic aerocraft control.

The invention relates to a method for designing a Terminal sliding mode controller of a hypersonic vehicle. The Terminal sliding mode control has an advantage that a system on a sliding mode surface can be converged within limited time. In order to keep the nonlinearity of a model and to facilitate the design of a control system, an input-output linearization method is used for processing the model in the paper, after that, state variables are reselected according to the design requirements of the Terminal sliding mode control, and a nonlinear sliding mode surface is designed; a sliding mode control law is designed for the designed Terminal nonlinear sliding mode surface, to ensure that the system can reach the sliding mode surface, and to prove the stability of the system; finally, the given control law is subjected to simulation verification, and the results show that the designed sliding mode controller can realize the effective control of the hypersonic vehicle.

In a preferred embodiment, a voltage converter comprises a voltage converter circuit, an output adjuster and a controller. The controller provides a control signal at a duty ratio determined dynamically by a set of input signals. The dynamic output adjuster determines the set of input signals by adjusting the ac component of an output voltage based on a gain Q. The dynamic output adjuster alleviates dependence on the value of Rc under leading edge modulation in either analog or digital converter systems. In addition to delivering the desired left half plane zero effects, dynamic output adjustment reduces the value of the output ripple. As a result, modern control methods such as input-output linearization can be used to design both boost and buck-boost PWM converters if only left half plane zero effects are present.

A voltage converter for converting an input voltage to an output voltage is disclosed. The voltage converter includes a voltage converter circuit having a set of switches, a switch driver connected to the voltage converter circuit, a controller connected to the switch driver and the output voltage, a target output voltage connected to the controller, a control signal generated by the controller for the switch driver that includes a duty ratio based on the target output voltage and the output voltage. The switch driver is configured to apply the control signal to the set of switches and the voltage converter circuit generates the output voltage based on the duty ratio to match the target output voltage.

The trajectory tracking control method of reconfigurable modular flexible manipulator based on parameter optimization relates to the control field of reconfigurable modular flexible manipulator. It establishes a single-joint intelligent body flexible manipulator system model, and uses the idea of ​​redefining the output to change the joint motor rotation angle And the linear combination of flexible modal variables is used as the output of the flexible manipulator system. Through input-output linearization, the single-joint flexible manipulator system is decomposed into two parts: the input-output subsystem and the zero-dynamic subsystem. The present invention adopts the self-adaptive dynamic terminal sliding mode control to make the input and output subsystem track the desired reference trajectory in a limited time, and the design parameter λ is adjusted by adopting the NSGA-II algorithm 0i ,λ 1i Multi-objective optimization design is carried out to make the zero dynamic subsystem of the flexible manipulator system asymptotically stable near the equilibrium point, thereby ensuring the tracking requirements of the entire flexible manipulator system to the expected trajectory; the present invention has better nonlinear uncertainty of the system robustness.

The trajectory tracking control method based on multi-agent reconfigurable modular flexible manipulator relates to the control field of reconfigurable modular flexible manipulator, which describes the dynamic model of reconfigurable modular flexible manipulator as a cross-linked joint agent A collection of systems to realize the modeling of a single-joint intelligent body flexible manipulator system; using the idea of ​​redefining the output, the linear combination of the joint motor rotation angle and the flexible modal variable is used as the output of the flexible manipulator system, and through input and output linearization, The single-joint flexible manipulator system is decomposed into two parts, the input-output subsystem and the zero-dynamic subsystem. The invention approximates the linearization of the zero dynamic subsystem at the balance point, and makes the zero dynamic subsystem of the flexible manipulator system asymptotically stable near the balance point by rationally selecting and redefining the design parameters of the system output, thereby ensuring the stability of the entire flexible manipulator system Asymptotically stable, in order to meet the tracking requirements of the robotic arm subsystem on the desired trajectory.

The invention relates to a control method for simultaneous tracking of movement speed and movement trajectory of a rehabilitation training robot, which belongs to the control field of wheeled rehabilitation robots, and in particular relates to a control method for simultaneous tracking of movement speed and movement trajectory of a rehabilitation training robot. The present invention aims at the above problems and provides a control method for simultaneously tracking the movement speed and trajectory of a rehabilitation training robot that can effectively improve the safety and rehabilitation effect of trainers. The present invention is based on the kinematics model and dynamics model of rehabilitation walking training robot, redundant degree of freedom feature, nonlinear input-output linearization theory, establishes the decoupling state equation between each drive wheel rotational speed and driving force; Design driving force The controller, based on the decoupling state equation, enables the motion speed of the rehabilitation walking training robot to achieve asymptotic tracking; further, the driving force controller combines the nonlinear feedback control law, based on the dynamic model of the rehabilitation walking training robot, to realize the asymptotic motion trajectory track.

The invention discloses a non-minimum phase system output redefinition method, comprising the following steps: S1. Establishing a non-minimum phase system linear model, calculating the relative order of the system, and selecting the corresponding internal dynamic and external dynamic conversion non-minimum phase model , and then establish the equivalent control model after input and output linearization; S2, for the original non-minimum phase output, design the output redefinition method to find the optimal equivalent minimum phase output; S3, design a linear controller, use the equivalent minimum phase output The phase output controls the equivalent control model, and the original output is obtained according to the method of model conversion in S1. The invention proposes a non-minimum phase system output redefinition method based on the output redefinition technology combined with optimization parameter calculation, which solves the problems of complex design of the non-minimum phase system controller and negative adjustment of the control response.