179 results about "Inverse control" patented technology

An irradiation apparatus for irradiating by scanning a target volume according to a predetermined dose profile with a scanning beam of charged particles forming an irradiation spot on said target volume, said apparatus comprising:a beam generating device,a reference generator for computing, from said predetermined dose profile, through a dynamic inverse control strategy, the time evolution of commanded variables, these variables being the beam current I(t), the spot position settings x(t),y(t) and the scanning speed settings vx(t), vy(t),a monitor device having means for detecting at each time (t), the actual spot position as a measured position defined by the values xm(t),ym(t) on the target volume,characterised in that said irradiation apparatus further comprises means for determining the differences ex(t), ey(t) between the measured values xm(t), ym(t) and the spot position settings x(t) and y(t), and means for applying a correction to the scanning speed settings vx(t) and vy(t) depending on said differences ex(t), ey(t). The present invention is also related to a monitor for determining beam position in real-time.

An internal combustion engine controller having at least one forward engine model, at least one inverse control model that employs at least one neural network, at least one physical engine sensor input, at least one predetermined control input and at least one output, wherein the inverse modeling determines and calculates the at least one control input.

An irradiation apparatus for irradiating by scanning a target volume according to a predetermined dose profile with a scanning beam of charged particles forming an irradiation spot on said target volume, said apparatus comprising: a beam generating device, a reference generator for computing, from said predetermined dose profile, through a dynamic inverse control strategy, the time evolution of commanded variables, these variables being the beam current I(t), the spot position settings x(t),y(t) and the scanning speed settings vx(t), vy(t), a monitor device having means for detecting at each time (t), the actual spot position as a measured position defined by the values xm(t),ym(t) on the target volume, characterised in that said irradiation apparatus further comprises means for determining the differences ex(t), ey(t) between the measured values xm(t), ym(t) and the spot position settings x(t) and y(t), and means for applying a correction to the scanning speed settings vx(t) and vy(t) depending on said differences ex(t), ey(t). The present invention is also related to a monitor for determining beam position in real-time.

The invention discloses an inversing global SMFC (sliding mode fuzzy control) method for a micro-gyroscope based on a neural network. An inversing global SMFC system based on the neural network consists of an inversing global sliding mode fuzzy controller, a neural network dynamic characteristic estimator, and a fuzzy uncertainty estimator. Global sliding-mode control can iron out a defect that an arrival mode in the conventional sliding-mode control does not have robustness, speeds up system response, and enables a system to have robustness in the whole process of response. The method enables a lyapunov function of the system and the design process of a controller to be systematic and structuralized through inverse design during the inversing control. Fuzzy control is used for approximating a switching function term, and a switching term in sliding-mode control is converted into continuous fuzzy control output, thereby weakening vibration in sliding-mode control, and achieving a stronger capability of adaptive tracking. Therefore, the method improves the transient performance and robustness of a sliding-mode control system, estimates the unknown dynamic characteristics of the micro-gyroscope, and reduces the vibration in the control of a sliding-mode control structure.

The invention discloses a consistency control method for a network formation of multiple unmanned aerial vehicles. The consistency control method for the network formation of the multiple unmanned aerial vehicles comprises the steps that pneumatic coupling parameters among the multiple unmanned aerial vehicles are obtained, a pneumatic coupling model among the multiple unmanned aerial vehicles is established based on the parameters, and a motion model of the network formation of the multiple unmanned aerial vehicles is established according to the pneumatic coupling model and a multi-vehicle kinetic model; based on a controlled variable of the motion model of the network formation of the multiple unmanned aerial vehicles, a controlled model of the motion model of the network formation of the multiple unmanned aerial vehicles is extracted, and the controlled model is simplified into a small-nonlinearity controlled model through a dynamic inverse controller; a consistency controller is established, and consistency control is carried out on the small-nonlinearity controlled model based on the consistency controller. By means of the consistency control method for the network formation of the multiple unmanned aerial vehicles, the influence of pneumatic coupling among the vehicles is taken into account when the model is established for the formation of the unmanned aerial vehicles, the formation model more accords with the practical situation, complexity and nonlinearity of the model are lowered through dynamic inversion and consistency control, and the requirement for consistency control is achieved.

The invention discloses a bearing-free asynchronous motor RBF neural network self-adaptive inverse decoupling control and parameter identification method. An SVPWM module, a voltage inverter, a bearing-free asynchronous motor and a load of the bearing-free asynchronous motor form a whole serving as a composite controlled object. Two radial basis function neural networks are adopted to achieve inverse control and parameter identification conducted on the composite controlled object. A self-adaptive inverse controller is formed by using an RBF neural network through learning, and is serially connected in front of the composite controlled object, errors of a feedback signal and a given signal are input into an inverse controller, and accordingly closed-loop control is formed, then a self-adaptive parameter identifier is formed by using one RBF neural network through learning and identifies output quantity speed and displacement of the composite controlled object, speed-less and displacement-free sensor control is achieved, online learning of an estimation signal is aided by means of a learning algorithm, and non-linear dynamic decoupling control of the bearing-free asynchronous motor is achieved. The bearing-free asynchronous motor RBF neural network self-adaptive inverse decoupling control and parameter identification method is high in control speed and higher in identification accuracy, and a control system is excellent.

The invention discloses a hierarchical dynamic inverse control method for a flight vehicle based on a sliding mode interference observer. The hierarchical dynamic inverse control method comprises the steps of: 1, by considering multi-source interference suffered by the flight vehicle, building a multi-source interference system model based on an flight vehicle longitudinal dynamics model; 2, designing a sliding mode interference observer and estimating multi-source interference based on the multi-source interference system model built in the first step; the third step, constructing a hierarchical dynamic inverse composite controller based on the sliding mode interference observer in the second step, thus enabling speed and height of the flight vehicle to highly follow a reference instruction while compensating multi-source interference. The hierarchical dynamic inverse control method for the flight vehicle based on the sliding mode interference observer has the advantages of strong anti-interference capability, fast tracking speed, high control precision and the like, thus being applicable to tracking and controlling height and speed of the flight vehicle.

The invention relates to a Backlash self-adaptive filter and a method for modeling and compensating the hysteresis thereof, belonging to the technical field of modeling and control of hysteresis non-linear systems. The filter comprises a summator module, an error calculating module, a plurality of self-adaptive weighting modules and a plurality of Backlash operator modules with the same width. The whole designing scheme avoids using a hysteresis item and is only related with current inputs, meanwhile, the hysteresis non-linearity can be reflected, and the modeling effect is more precise; and the self-adaptive inverse control of the filter can effectively compensate the hysteresis non-linearity of a piezoelectric ceramic actuator. The self-adaptive filter and the modeling and self-adaptive inverse control method based on the filter can be applied to systems having the characteristics of hysteresis non-linearity, such as intelligent materials of magnetostrictive materials, excitation motors, piezoelectric chips, piezoelectric ceramics, and the like.

The invention discloses a four-rotor aircraft attitude and position hybrid control method based on DIC-PID. The method comprises the steps that 1 a four-rotor aircraft is used as a single rigid body, and the nonlinear dynamics model is acquired through a Newton-Euler equation to determine in-out relation of a system; 2 attitude control is carried out on the internal loop of the four-rotor aircraft based on a DIC dynamic inverse control theory to form an inner ring attitude controller; 3 position control is carried out on the external loop of the four-rotor aircraft based on a PID theory to form an outer ring position controller, and decoupling control of attitude and position channels is realized; and 4 in a simulation environment, the proposed control method is tested through step response and a tracking rising spiral line. The hybrid control method provided by the invention has better ability to suppress external disturbance and unmodeled dynamics, and can meet the requirements of attitude control and position control of the four-rotor aircraft.

The invention relates to a dynamic control reallocation based unmanned aerial vehicle attitude fault-tolerance control method. According to the method, dynamic inversion control is adopted, an attitude angle rate loop dynamic equation corresponding to a near-space vehicle is given firstly, further a control surface stuck and damage model is established, then an adaptive sliding mode observer is designed according to the control surface stuck and damage model of an attitude angle rate loop, the attitude angle rate loop and a designed observer dynamic equation are simultaneous, an angle loop controller and an angle rate loop controller are designed, a designed fault-tolerance control system does not need accurate damage information, interference information and the like which are all implied in the designed adaptive sliding mode observer, the implicit information is fed back to a pseudocontrol control law and an online reallocation algorithm LMI in real time so as to realize robust fault-tolerance control, the designed method is applied to attitude stabilization control and tracking control of the near-space vehicle under the condition of control surface faults, and flight attitude robust fault-tolerance control is realized.

The invention discloses a nonlinear inverse control method used for dynamic hysteresis compensation of a piezoelectric actuator. Nonlinear inverse control of the piezoelectric actuator is performed based on a Prandtl-Ishlinskii model by aiming at the problem that most models cannot perform accurate inverse analysis for the modeling difficulty of a dynamic hysteresis system; a dynamic critical value related to the input frequency is established to obtain a rate-dependent play operator, and the rate-dependent play operator is combined with a density function so as to obtain a rate-dependent Prandtl-Ishlinskii model; a hysteresis main ring is measured under different input frequencies so as to determine model parameters; the inverse parameters of the model are inversely solved by solving an initial load curve so as to obtain a rate-dependent Prandtl-Ishlinskii inverse model; and the Prandtl-Ishlinskii model and the inverse model thereof are used for an open-loop control system so as to compensate the hysteresis nonlinear property of the piezoelectric actuator. The experiment proves that the rate-dependent Prandtl-Ishlinskii model can accurately describe the hysteresis nonlinearity of the piezoelectric actuator and the rate-dependent Prandtl-Ishlinskii inverse model enhances the positioning and control precision of a hysteresis nonlinear system.

The invention discloses a non-linear self-adaptive filter for dynamic hysteretic system modeling and compensation. The filter comprises a plurality of delay modules, a plurality of general play operator modules with different threshold values, a plurality of self-adaptive weighting modules, an adder module, and an error calculation module. Through the adoption of the non-linear self-adaptive filter disclosed by the invention, the high-precision modeling of a dynamic hysteretic non-linear system under a wide band can be realized, and the self-adaptive inverse control based on the filter is capable of effectively compensating dynamic hysteretic non-linearity of actuators such as piezoelectric ceramics and magnetostriction.

The invention provides a method for integral realization of wireless touch control and a wireless touch control all-in-one machine. The wireless touch control all-in-one machine comprises a wireless screen projection module, an inverse control module, an electronic whiteboard module and a recording and playing module. The wireless screen projection module is operated at the steps that a screen projection frame displayed by a wireless touch control screen is re-arranged when a new wireless screen projection request from a new wireless screen projection client side is received, and the wireless touch control screen is divided into (M+1) areas according to screen projection setting rules, wherein the M areas are used for wireless screen projection of original M wireless screen projection client sides respectively; and the other area is used for wireless screen projection of the new wireless screen projection client side. The method and the machine have the advantages that application experience of seamless switching of multiple types of equipment can be achieved by each functional module at any time according to demands during a meeting course; and a meeting presenter does not need to walk among the multiple pieces of equipment, and meeting participants can concentrate on the screen, so that meeting efficiency and meeting experience can be enhanced.

The utility model discloses a vibration control apparatus based on self adaptive inverse control and the corresponding vibration control method which increases the control speed of the controller and realizes multi-point vibration control and waveform reproduction. The vibration control apparatus comprises a display and control unit, a calculation processing unit, a data acquisition unit, a vibration signal generating unit and a control object connected with the output signal of the vibration signal generating unit, wherein the calculation processing unit takes the DSP processor as the kernel and is in bidirectional signal connection with a field programmable gate array FPGA. The output of the control object is connected with the input of the data acquisition unit. The calculation processing unit comprises two self-adaptive filters for establishing and modifying the vibration signal respectively. The positive model P(Z) and the inverse model C(Z) of the control object are constructed off-line by utilizing the AP-NLMDF-CD algorithm through the two self-adaptive filters and then are modified on-line with the minimum iterative error as the evaluation criterion to make the output of the control object to approach to the referenced time domain input signal continuously.

The invention discloses a method for controlling the rotating speed of a steam turbine on the basis of self-adaptive inverse control, which aims at the characteristics of time lag, nonlinearity and obvious variation of dynamic characteristics along with the working conditions, difficulty in accurately modeling and the like of a steam turbine speed regulating system, adopts a self-adaptive inverse control theory and combines a neural network technology. According to the scheme, an object model, an inverse model and a disturbance canceling controller are obtained by utilizing RBF (Radial Basis Function) neural network on-line identification, a given rotating speed signal and external disturbance are respectively controlled to simultaneously achieve the optimal control effect and compromise does not need to be carried out between the given rotating speed signal and the external disturbance; compared with a steam turbine rotating speed PID (Proportion Integration Differentiation) cascade control method in the prior art, the self-adaptive inverse control method provided by the invention can well adapt to variation of the characteristics of a steam turbine speed regulation object, effectively overcomes the inertness and nonlinearity of the object, effectively inhibits the external disturbance and can obviously improve control quality of the steam turbine speed regulating system.

The invention discloses an adaptive inverse control system for a chemical-mechanical polishing machine, which comprises a target pressure input device used for inputting target pressure of a polishing head chamber to a compound control device, a neural network identification device used for identifying a control model of a system based on the input pressure of the polishing head chamber input by the compound control device and the pressure output by the polishing head chamber, and the compound control device used for outputting the input pressure of the polishing head chamber based on the target pressure, the pressure output by the polishing head chamber and the control model. Each compound control unit comprises a neural network controller used for calculating neural network controlled quantity, a proportional integral controller used for generating proportional integral controlled quantity and a weighting device used for generating the input pressure of the polishing head chamber for the neural network controlled quantity and the proportional integral controlled quantity with the subsection variable-parameter control strategy. The adaptive inverse control system for the chemical-mechanical polishing machine is capable of reducing coupling among areas of the polishing head chamber through dynamic on-line decoupling of neurons.

The invention discloses an adaptive output feedback inverse control method for a piezoelectric precision position platform. An adaptive output feedback inverse control scheme based on a neural network can be achieved and is firstly designed according to nonlinear hysteresis systems. The inverse control method is characterized by including the steps: estimating states of a system by a designed high-gain state observer, and processing uncertain items in system and environment disturbance; testing on the piezoelectric precision position platform through the control scheme; adjusting the state observer and the initial conditions of adaptive laws of unknown parameters to achieve arbitrarily small L norms of following errors. The piezoelectric precision position platform is a three-level system, has system output and can be measured.

This invention discloses a method for synchronizing clocks in a packet exchange network including: the NE of a sending end sends data messages at a rate in terms of the necessary transmitted clocks and the NE of the receiving end receives data messages in terms of the rate to resume the local clock based on the frequency for receiving said data messages. This invention discloses a device for realizing clock synchronization in a packet exchange network composed of an operation module, an inverse control module and a frequency generation module connected orderly, in which, the operation module is connected with the FIFO used in sending and receiving and storing the packet exchange network data messages, besides, the device can be composed of a clock resuming module, a phase discriminating module and a frequency generating module.

The invention relates to a method for designing a self-adaptive PID controller based on an inverse dynamics model, and the method inputs vectors by selecting the proper inverse dynamics model of a control object, realizes the organic combination of PID control and self-adaptive inverse control, obtains PID control characteristic parameters which are matched with the control object by online identification of the inverse dynamics model of the control object, and forms the self-adaptive PID controller which adapts to the characteristics of the control object. Compared with the prior self-adaptive inverse control method, the method belongs to the closed-loop control, significantly reduces the dependence of the control performance on the precision of the inverse dynamics model and improves the robustness of a control system; and compared with the prior self-adaptive PID control algorithm, the method summarizes the self-adaptive PID control algorithm as the identification problem of the inverse dynamics fuzzy rule model of the control object and adopts the RLS algorithm for carrying out the online identification on the parameters and the vectors of a back piece of the inverse dynamics fuzzy rule model of the control object, thereby improving the self-adaptive capacity of the control process.

The invention relates to a self-adaptive inverse control method of a piezoelectric driver. The method includes the following steps: establishing a non-linear mathematic model of output displacements and input voltages of a piezoelectric driver off-line according to a hysteretic non-linear relationship of the piezoelectric driver; according to the established non-linear mathematic model, calculating an inverse model of the piezoelectric driver and taking the inverse model as an initial inverse controller to drive the piezoelectric driver; calculating actual output displacements and input voltages of the piezoelectric driver when the piezoelectric driver is running on-line; identifying model parameters on-line through a self-adaptive algorithm, and obtaining a model during on-line running of the driver and calculating the inverse model of the driver; and according to the calculated parameters of the inverse model, replacing original parameters in a controller of the piezoelectric driver and updating the parameters on-line. The influence of parameter uncertainty of the model, unknown interference and other reasons is effectively overcome. Compared with a pure inverse model, the inverse model of the invention has the advantages that the control precision is greatly increased, and the inverse model is suitable for piezoelectric drivers with different models and different specifications.

The invention relates to an adaptive inverse controller construction method for a bearingless permanent magnetic synchronous motor radial position nerve network. The method comprises steps that: 1), a composite controlled object is constructed; 2), the nerve network is utilized to construct a horizontal displacement object model, a horizontal displacement inverse control model, a vertical displacement object model and a vertical displacement inverse control model of the composite controlled object; 3), the horizontal displacement inverse control model and the vertical displacement inverse control model are connected in series before the composite controlled object as two paths of feedforward controllers of the composite controlled object; 4), on-line adjustment on weight parameters of the horizontal displacement object model, the horizontal displacement inverse control model, the vertical displacement object model and the vertical displacement inverse control model is carried out in real time; and 5), a horizontal displacement nerve network adaptive inverse controller and a vertical displacement nerve network adaptive inverse controller are constructed and commonly form a nerve network adaptive inverse controller which controls the composite controlled object.

The present invention discloses a SGCMG (Single Gimbal Control Moment Gyroscope) fault in-orbit plan design method based on a robustness pseudo-inverse control rate when a satellite employs the SGCMG as an attitude control execution mechanism. The method comprises: determining the angular momentum H and the moment matrix C of a gyroscope group according to the configuration of a control moment gyroscope group and the direction arrangement of each single-frame control moment gyroscope frame shaft; designing a robustness pseudo-inverse control rate; and based on a robustness pseudo-inverse algorithm, basically ensuring the normal ground control of the satellite attitude in the condition of n-3 SGCMG faults (n is the number of SGCMGs in the control moment gyroscope group) through satellite autonomous diagnosis and planning design aiming at the faults easily happening in orbit of the control moment gyroscope, wherein the faults comprise the on-off fault, the unstable rotor speed fault, the communication fault, the external frame blocking and the external frame rotate speed unchanging fault. The SGCMG fault in-orbit plan design method based on the robustness pseudo-inverse control rate can improve the satellite in-orbit real-time autonomous diagnosis capability, reduce the dependence on the ground, avoid the delay of ground solution measures, enhance safety and reduce the whole-spacecraft risk.

The invention provides a data transmitting and processing method and device and an equipment interface. The method comprises the following steps of: verifying data returned after being processed through a level switch chip and data received from a processor; carrying out switching or inverse control processing on a data path according to a verified result; and transmitting the data through the data path subjected to control processing. The device comprises a signal comparison unit and a data path selection unit, wherein the signal comparison unit is used for verifying the data returned after being processed by the level switch chip and the data received from the processor; and the data path selection unit is used for carrying out control processing on the data path according to the verified result and transmitting the data through the data path subjected to control processing. The embodiment of the invention also provides the equipment interface. According to the invention, the troubles brought to users due to difference of network cables are reduced.

The present invention provides an aircraft robustness non-linear control method and a robustness controller system. The method comprises the steps of: designing a nominal control system according to features of an aircraft model, and combining an nth control input instruction to obtain nth error state information, wherein the nth error state information comprises a linear error system and equivalent disturbance; designing a state feedback controller to configure system poles, improving system dynamic response, and obtaining state feedback control input; designing a robustness compensation output control law to inhibit the equivalent disturbance, and obtaining robustness compensation input; employing a dynamic inverse control law to inhibit the nth error state information according to the state feedback control input and the robustness compensation input, and obtaining an (n+1)th control input instruction; and repeatedly executing the steps to obtain (n+1) error state information satisfying an error threshold. The aircraft robustness non-linear control method and the robustness controller system can reduce system conversion, can achieve integrated consideration for a plurality of nondeterminacys, can shorten convergence time of tracking errors and can inhibit the nondeterminacy influences in the whole frequency range.

The invention provides a compensation circuit of a liquid crystal display panel, comprising a plurality of source scanning lines, a plurality of grid scanning lines, a plurality of inverse grid scanning lines, a plurality of pixel units and a plurality of compensation units. Each of the source scanning lines is used for outputting a data voltage, each of the grid scanning lines is used for outputting a control signal, and each of the inverse grid scanning lines is used for outputting an inverse control signal; a pixel unit of the plurality of pixel units is discharged to a corresponding gray scale voltage according to the corresponding control signal and the corresponding data voltage, and a corresponding compensation unit is used for supplying a compensation voltage to compensate the voltage of the corresponding the gray scale according to the inverse control signal.

The invention discloses an aircraft control allocation method based on the direct allocation method and a null space. The method has the advantages that the maximum achievable torque in an expected torque direction is obtained through the direct allocation method, and control allocation is carried out on the obtained maximum achievable torque through the null space control allocation method, so that an actual output torque obtained through the control allocation is as close to the maximum achievable torque as possible, premature saturation of an aircraft control surface is avoided, and the application range of a pseudo-inverse control allocation algorithm based on the null space is further extended.

The invention provides a power transformer noise control method based on an inverse control technology. The power transformer noise control method based on the inverse control technology comprises the steps that noise signals generated by a noise source of a power transformer are collected through a primary sensor and are regarded as reference signals of a control system; error signals generated through the superposition of noise reduction signals and the noise signals are collected through an error sensor; the control system establishes a secondary sound channel model for a secondary sound channel through an adaptive modeler according to the error signals, simulates the process that the noise reduction signals generated by a secondary noise reduction source are transmitted in space and obtains sound signals of a simulation secondary sound source; the control system carries out inverse modeling on the secondary sound channel through the adaptive modeler according to the error signals, and the secondary sound channel is connected with the secondary sound channel model in series in the control system; the sound signals equal to the reference signals in amplitude are obtained through calculation, and inverting processing is carried out on the sound signals to obtain control signals controlling the secondary noise reduction source; the noise reduction signals are output according to the control signals. The power transformer noise control method based on the inverse control technology can effectively control low-frequency noise of power transformers.

The invention relates to a variant aircraft control method based on composite intelligent learning. The method enables a longitudinal channel model of a variant aircraft to be decoupled into a speed subsystem and a height subsystem, employs dynamic inverse control for the speed subsystem, and employs backstepping control for the height subsystem. A neural network is used to estimate an unknown nonlinear function, a parallel estimation model is designed to evaluate the approximation performance of the neural network, a prediction error is further established based on evaluation information, andan adaptive weight updating law is designed in combination with a tracking error. The proposed composite learning strategy can effectively improve the estimation precision of unknown dynamics and ensure the control performance of the system.

A display apparatus includes a display panel, a data driving part, and a timing control part. The display panel includes gate lines extending in a first direction, data lines extending in a second direction crossing the first direction, and first and second pixel groups. The first and second pixel groups are disposed at opposing sides of a data line and are alternately connected to the data line. The data driving part includes channels connected to the data lines. The channels output a data signal to the data lines, the data signal has a first polarity or a second polarity, and the second polarity has an inversed phase to the first polarity. The timing control part outputs a data inverse control signal and first and second polarity control signal, which control the polarity of the data signal based on the data inverse control signal.