828 results about "Robust control" patented technology

A control system simultaneously controls a multi-zone process with a self-adaptive model predictive controller (MPC), such as temperature control within a plastic injection molding system. The controller is initialized with basic system information. A pre-identification procedure determines a suggested system sampling rate, delays or “dead times” for each zone and initial system model matrix coefficients necessary for operation of the control predictions. The recursive least squares based system model update, control variable predictions and calculations of the control horizon values are preferably executed in real time by using matrix calculation basic functions implemented and optimized for being used in a S7 environment by a Siemens PLC. The number of predictions and the horizon of the control steps required to achieve the setpoint are significantly high to achieve smooth and robust control. Several matrix calculations, including an inverse matrix procedure performed at each sample pulse and for each individual zone determine the MPC gain matrices needed to bring the system with minimum control effort and variations to the final setpoint. Corrective signals, based on the predictive model and the minimization criteria explained above, are issued to adjust system heating / cooling outputs at the next sample time occurrence, so as to bring the system to the desired set point. The process is repeated continuously at each sample pulse.

A control panel having a touch sensitive position sensor and at least one mechanical switch located within a sensitive area of the position sensor is provided. The position sensor comprises a capacitive position sensing element coupled to position sensing circuitry operable to determine the position of a capacitive load, such as a finger, positioned adjacent to the sensitive area of the position sensing element. The mechanical switch has an open state and a closed state and is arranged such that a contact of the switch is selectively electrically coupled to or decoupled from the position sensing element depending on whether the switch is in the open or closed state. A compact and robust control panel can thus be provided in which the presence of the mechanical switch within the sensitive area of the position sensor does not significantly effect its sensitivity.

The present invention relates to methods for robust controlled auto-ignition and spark ignited combustion controls in gasoline direct-injection engines, including transients, using either exhaust re-breathing or a combination of exhaust re-compression and re-breathing valve strategy. These methods are capable of enabling engine operation with either lean of stoichiometric or stoichiometric air / fuel ratio for oxides of nitrogen (NOx) control, with varying exhaust gas recirculation (EGR) rates and throttle valve positions for knock control, and with a combination of homogeneous charge compression ignition (HCCI) and spark ignition (SI) combustion modes to optimize fuel economy over a wide range of engine operating conditions.

A method of dynamic model predictive control is presented in which both steady state optimization and dynamic moves calculation of the manipulated variables are determined together as part of one optimization solution (211). The method combines steady state optimization and dynamic move calculation such that the steady state optimal targets are determined consistent with the dynamic moves and the resulting dynamic response of the process so that the controlled variables do not violate their low / high limits in both steady state and dynamically. The method utilizes what is described as high limit dynamic violation variables and low limit dynamic violation variables corresponding to each of the controlled variables. The method offers a unique capability of mixing a part dynamic optimization with a part steady state optimization as it relates to application of a large model predictive control under varying situations, in particular at or near constraints violations that can be done dynamically in real time for improved and robust control performance without having to change the controller tuning.

A control panel having a touch sensitive position sensor and at least one mechanical switch located within a sensitive area of the position sensor is provided. The position sensor comprises a capacitive position sensing element coupled to position sensing circuitry operable to determine the position of a capacitive load, such as a finger, positioned adjacent to the sensitive area of the position sensing element. The mechanical switch has an open state and a closed state and is arranged such that a contact of the switch is selectively electrically coupled to or decoupled from the position sensing element depending on whether the switch is in the open or closed state. A compact and robust control panel can thus be provided in which the presence of the mechanical switch within the sensitive area of the position sensor does not significantly effect its sensitivity.

An integrated circuit provides a complete electronic ballast control with power factor correction for fluorescent lamps. The integrated circuit contains a simplified power factor correction (PFC) circuit to reduce component count and supply voltage requirements to reduce manufacturing costs while providing a robust control. The PFC circuit has a variable gain for fast response at high gain and optimized power factor control at low gain. An increased on time for the PFC switch when the input line voltage approaches zero dynamically reduces crossover distortion, thereby reducing total harmonic distortion. The integrated circuit incorporates a number of fault protections.

The invention discloses a near space vehicle robust control method with input saturation. According to the control method, controllers are designed for a slow loop and a fast loop in a near space vehicle attitude motion system respectively; for a slow loop system, compound disturbance in a self-adaptive processing system is adopted to design the controller based on a dynamic sliding mode method, and further the problem of buffeting of the controller is solved; for a fast loop system, considering that order of magnitude of external disturbance is far higher that that of uncertain items of the system, the compound disturbance is processed by the aid of a nonlinear disturbance observer technique, the controller is designed based on a normal sliding mode method of a double-power reaching law, meanwhile a compensator is constructed by the aid of radial basis function neural networks to perform saturation compensation on the designed controller, and further the problem of limitation to saturation of a control plane of a near space vehicle is solved.

The invention discloses a micro-grid system voltage stability control method based on robust control. The control structure of an intelligent micro-grid system is composed of a system control layer, a concentrated control layer and a local control layer, and energy optimization and voltage and frequency stability control of the micro-grid system are realized through multi-layer coordination control. According to the micro-grid system voltage stability control method based on robust control, a comprehensive load module of an induction motor is established, wherein dynamic loads are connected with static loads in parallel. On the premise that the constraint conditions of system performance and robust stability are met, a micro-grid voltage stability robust controller is designed by the adoption of a method of solving the problem of mixed sensitivity so as to improve the micro-grid voltage stability. The micro-grid system voltage stability control method based on robust control can be adapted to wide-range change of load parameters, has high robustness for the situations that due to the factors such as changes of running conditions, influences of external environment and frequency switching of the loads, perturbation is generated in model parameters of a micro-grid and uncertainty exists in the topologic part and the unmolded part and can better restrain parameter drift and noise interference, and meanwhile, the controller is simple in structure and easy to realize.

The invention relates to a method of realizing the visualization of track arm movement in fields such as immersion interactive game, dangerous industrial control, virtual reality, etc. The current method is not very much in line with human daily interaction habits. The method of the invention is: roughly locating the target window for arm position through analyzing the central logo color information of wrist and elbow in real-time image sequence; then carrying out central logo extraction and three-dimensional reconstruction of characteristic points for the rough target window from two synchronized camera; lastly carrying out robust control with the three-dimensional characteristic points of wrist and elbow based on fuzzy predictive control technology, and generating stable navigation control signals. The method of the invention can realize six degrees of freedom arm navigation operation, thus human arms and hands can be in a natural state when interacting, the operator can carry out human-computer interaction in a natural way, which is much more in line with human daily interaction habits.

A method for designing feedforward-feedback control system of interference and time lag unstable unit includes designing a two-freedom control structure to realize decoupling of set-value response and disturbance response based on augmented least square method and according transfer function matrix identification model and relevant requirements, designing two regulation factors of track control by utilizing robust control theory, designing feedforward controller according to anti-interference requirement and using particle filtering method to eliminate interference for realizing asymptotic track of system.

The invention discloses a robust control method of burden error of pitch concrete stirring device, which comprises first building an input / output artificial neutral network model of three-layer structure, while the input layer has one neuron, the middle layer has five neurons and the output layer has one neuron, processing dynamic prediction and learning. The invention builds the non-linear model of flux and fly ash amount to be compared with a linear model of fixed parameters via continuous learning and adjustment, to adapt the change of external parameters, thereby effectively controlling the burden error of pitch mixture stirring device, reaching +-2% burden error as maximum and improving the burden accuracy of pitch mixture stirring device.

The invention belongs to the field of spacecraft control and relates to a fuzzy singular perturbation modeling and robust attitude control method for complex flexible spacecraft, namely a robust combined control method for fusing static output feedback control and output integration. The method comprises the following steps of: establishing an uncertain continuous fuzzy singular perturbation model and a standard discrete fuzzy singular perturbation model according to a dynamic model and a kinematic model of the spacecraft in combination with fuzzy logic and singular perturbation technology; and designing a robust controller combined by a static output feedback controller and an output integrator by a spectral norm and linear matrix inequality (LMI) method and resolving a group of LMIs which are unrelated to a perturbation parameter so as to obtain a controller parameter and solve an ill-conditioned problem caused by the perturbation parameter and the problem of difficulty in selection of an initial value in an LMI resolving static output feedback controller gain method. Through the method, flexible vibration and external interference can be overcome effectively, and control effects such as high response speed, high attitude control accuracy, high anti-jamming capability and high robust performance are achieved.

The invention discloses a control method of an unmanned aircraft, which comprises the following steps that a system of the unmanned aircraft is electrified to start a remote control mode, so that the unmanned aircraft flies in accordance with a received control instruction; after flight stabilization, the control mode of the unmanned aircraft is switched into an independent control mode, and adaptive robust control and fuzzy PID (Proportion-Integral-Derivative) control are respectively adopted to control an inner loop and an outer loop of the unmanned aircraft; in the independent control mode, a communication system of the unmanned aircraft is continuously detected, and if problems of the communication system occur, the unmanned aircraft is controlled to return in accordance with an original route; and in the independent control mode, own position information of the unmanned aircraft is continuously detected, and if the unmanned aircraft flies to a destination, the unmanned aircraft is controlled to return in accordance with the original route. The control method of the unmanned aircraft can be applied to fixed-wing unmanned aircraft and unmanned helicopters, and the control method has good versatility. In addition, the control method has good noninterference, fault tolerance and control precision.

The invention discloses an ADRAC (active-disturbance-rejection adaptive control) method for a hydraulic motor position servo system. The control method is based on an LESO (linear extended state observer) and an ARC (adaptive robust control) method, and is obtained through mutually combining the LESO and the ARC method by a feedforward cancellation method. The control method has the advantages that the LESO is used for estimating the nonlinear uncertainty of the system, in addition, the compensation is carried out in the control design, meanwhile, the parameter uncertainty of an adaptive control processing system is adopted for improving the precision of the controller module compensation, and good tracking performance is obtained.

A computer method and apparatus of online automated model identification of multivariable processes is disclosed. The method and apparatus carries out automatically all the four basic steps of industrial process identification: 1) identification test signal design and generation, 2) identification plant test, 3) model identification and 4) model validation. During the automated plant test, process models will be automatically generated at a given time interval, for example, every hour, or on demand; the ongoing test can be automatically adjusted to meet the process constraints and to improve the data quality. Plant test can be in open loop operation, closed-loop operations or partly open loop and partly closed-loop. In a (partial) closed-loop plant test, any type of controller can be used which include proportional-integral-derivative (PID) controllers and any industrial model predictive controller (MPC). The obtained process models can be used as the model in advanced process controllers such as model predictive control (MPC) and linear robust control; they can also be used as inferential models or soft sensors in prediction product qualities. The apparatus can be used in new MPC controller commissioning as well as in MPC controller maintenance.

The invention relates to an inverse system robust control method of a feather wind power generation system, which belongs to the wind power generation technique field, the method comprises: the electromagnetic torque of a generator is calculated according to the values of the voltage, the current and the rotating speed of the generator; if the electromagnetic torque does not reach a rated value, the rotating speed of a fan and the output power of the system are limited by increasing the electromagnetic torque of the generator; if the electromagnetic torque reaches the rated value, the pitch angle of the fan is started for adjustment, the steps are as follows: a model of the wind power generation system is established, the model is the overlapping of a nominal model and a perturbation model which is the deviation of a fan model and the nominal model; the overlapped angle of the calculated pitch angle normalized by the inverse system and the calculated robust compensation pitch angle is used for adjusting the pitch angle, thus realizing the control of the fan rotating speed and the output power of the wind power generation system. The inverse system robust control method of a feather wind power generation system of the invention has simple realization and good portability, reduces the fatigue degree of a pitch angle adjusting device and prolongs the operating life of the fan under the same wind speed condition.

The invention discloses a robust controller of a permanent magnet synchronous motor based on a fuzzy-neural network generalized inverse and a construction method thereof. The construction method of the invention comprises the following steps of: combining an internal model controller and a fuzzy-neural network generalized inverse to form a compound controlled object; serially connecting two linear transfer functions and one integrator with the fuzzy-neural network with determined parameters and weight coefficients to form the fuzzy-neural network generalized inverse, serially connecting the fuzzy-neural network generalized inverse and the compound controlled object to form a generalized pseudo-linear system, linearizing a PMSM (permanent magnet synchronous motor), and decoupling and equalizing the linearized PMSM into a second-order speed pseudo-linear subsystem and a first-order current pseudo-linear subsystem; and respectively introducing an internal-model control method in the two pseudo-linear subsystems to construct the internal model controller. The robust controller of the invention has the advantages of overcoming the dependence and local convergence of the optimal gradient method on initial values and solving the problems of randomness and probability caused by using the simple genetic algorithm, obtaining the high performance control, anti-disturbance performance and adaptability of the motor and simplifying the control difficulty, along with simple structure and high system robustness.

The embodiment of the invention discloses a neural network adaptive robust trajectory tracking method and a controller applied to the technical field of robot trajectory tracking control, so as to solve the problems of poor stability and poor control effects of the prior robot trajectory tracking control technology. The method comprises steps: a proportion-derivative (PD) controller is acquired, and according to the acquired PD controller, a nominal part of the trajectory tracking system is acquired; on the basis of a radial basis function neural network, uncertain items of the trajectory tracking system are acquired; an adaptive robust controller is acquired, and the uncertain items of the trajectory tracking system are adjusted via the adaptive robust controller; and according to the nominal part, the uncertain items and an uncertain upper limit value of the uncertain items, total control input is acquired, and according to the total control input, an actual output trajectory is acquired.

A controller (236) for an uninterruptible power supply (UPS) compensates for harmonic distortion in the output current (224,26,228). The controller also provides a control vector (230) also with input from the adaptation processor (234).

The invention relates to a spacecraft fault tolerant control method based on an angular speed observer. The method comprises a step of considering an actuator fault and external disturbance borne by a spacecraft, and establishing a spacecraft attitude control system dynamics and kinematics model, a step of designing a finite time observer to estimate the attitude angular velocity information of a spacecraft, and a step of constructing a robust controller based on the obtained angular velocity information, and at the same time considering control amount input saturation and designing an auxiliary system such that the spacecraft has robustness for the actuator fault without angular velocity information. According to the method, the stability of an attitude control system is ensured when an on-orbit working spacecraft has the actuator fault and even the attitude angular velocity information is unknown, and the method has high control precision, high fault tolerance ability and robustness to external disturbance.

The invention relates to a high-efficiency voltage stabilization comprehensive control method of an induction power transmission system, belonging to the technical field of radio energy transmission.The system consists of two closed-loop circuits: an optimal efficiency tracking control loop and a robust constant pressure control loop. The optimal efficiency tracking control loop calculates the efficiency expression by establishing an AC impedance model for the system circuit, obtains the optimal equivalent load, adds an impedance matching network at a secondary side, and adjusts the duty cycle of a converter so that the equivalent resistance of the rectified output reaches the optimal load value to realize optimal efficiency tracking. The robust constant voltage control loop sends a difference between a load acquisition voltage and an input reference voltage into a robust controller by establishing a parameter perturbation model of the system to obtain a constant voltage of a high-frequency full-bridge inverter of a phase-shifted angle control primary side. The optimal efficiency tracking control and closed-loop robust control of an active impedance matching network can meet the multi-performance requirements of optimal efficiency and constant output voltage.

The invention relates to a flexible spacecraft attitude control system and a flexible spacecraft attitude control method in allusion to flywheel low-speed friction. The system comprises six modules which are a flexible spacecraft dynamics real-time simulation module with actuating mechanism characteristics, a flexible spacecraft kinematics real-time simulation module, an attitude measurement module, an attitude determination module, an attitude control module and an executing mechanism module, wherein the flexible spacecraft dynamics real-time simulation module with the executing mechanism characteristics comprises a spacecraft body, a flywheel and flexible appendage dynamics; the flexible spacecraft kinematics real-time simulation module can select different types of attitude description modes according to task requirements; the attitude measurement module can select different real sensors and sensor simulators according to the task requirements; the attitude control module comprises a conventional PID control method, a robust control method and the flexible spacecraft attitude control method in allusion to flywheel low-speed friction, and switching can be carried out according to the task requirements of the system; and the executing mechanism module comprises a real flywheel and a thruster simulator.

The invention discloses a robust sliding mode adaptive control method for a manipulator system with progressive tracking performance, which belongs to the field of manipulator control. The control method takes into account structural uncertainties such as parameters of the manipulator system and non-structural uncertainties such as external disturbances, and a parameter estimator is designed for the structural uncertainties such as the parameters; and a continuous robust controller is designed for an upper bound of the non-structural uncertainties such as the external disturbances. The robustadaptive controller designed in the method has good effects on the manipulator system with the structural uncertainties such as the parameters and the non-structural uncertainties such as the external disturbances at the same time, and the position tracking performance of the manipulator system can be ensured. The robust sliding mode adaptive controller is simple and continuous in control outputand is applicable in engineering practice.

The invention relates to a method for controlling the structural modal vibration of a dual-frame magnetic levitation control moment gyroscope (CMG). On the basis of establishing a nominal model of an electromagnet rotor system, a sine-swept excitation mode is adopted to perform the identification of frequency domains on an electromagnet rotor and measure the disturbance of system parameters, the properties of structural vibration modality and the high-frequency unmodeled dynamics of an electromagnet rotor model; and a comprehensive robust control method of a structural singular value mu is utilized to select a weighting function and inhibit the structural modal vibration. The method belongs to the technical field of aerospace control, and can be used for inhibiting the structural modal vibration of the dual-frame magnetic levitation CMG.

The invention provides a motion carrier photoelectric stable platform control system with strong robustness. The system comprises the following steps of: using an integrated stable method; designing a high bandwidth current ring; establishing an object mathematical model, testing object frequency characteristics by using a dynamic signal analysis meter and obtaining an object transmission function Gm(s) through fitting; designing an internal model controller Gimc(s) by using a two-step method according to the established object model; enabling the system to obtain high bandwidth through adjusting a parameter Epsilon of the internal model controller Gimc(s); adding a robustness control circuit on the basis of internal model control; designing a robustness controller Gc2(s); and improving the robustness performance of the system through adjusting the parameter gamma of the robustness controller Gc2(s). According to the invention, the modeling error and the carrier disturbance are softly measured through control structure design without need of an additional sensor. The method provided by the invention has the advantages of simple control structure, distinct parameter meaning, convenience for realizing engineering; and the accuracy in stabilizing the photoelectric tracking stable platform is largely improved.

The invention discloses a self-adaptive robust control method for a nonlinear bilateral teleoperation system. For a communication time delay problem of the bilateral teleoperation system, by online estimating a non-power environmental parameter of a slave end via a radial basis function neural network model and transmitting the non-power environmental parameter back to a master end to reconstructan environmental force, the passivity of the teleoperation system as well as the balancing problems of stability and transparency is prevented. For problems of nonlinearity and uncertainty of the bilateral teleoperation system, a track generator, and a nonlinear self-adaptive robust controller based on a radial basis function neural network are respectively provided at the master and slave ends, and based on a Lyapunov theory, a self-adaptive rate for online adjusting a neural network parameter is designed, so that the system is guaranteed to have good asymptotic stability and convergence. Theself-adaptive robust control method can guarantee the global robust stability of the nonlinear bilateral teleoperation system well, implements the position tracking of a robot at the slave end, and provides a vivid force feedback for an operator.

Advanced combustion modes, such as PCCI, operate near the system stability limits. In PCCI, the combustion event begins without a direct combustion trigger in contrast to traditional spark-ignited gasoline engines and direct-injected diesel engines. The lack of a direct combustion trigger encourages the usage of model-based controls to provide robust control of the combustion phasing. The nonlinear relationships between the control inputs and the combustion system response often limit the effectiveness of traditional, non-model-based controllers. Accurate knowledge of the system states and inputs is helpful for implementation of an effective nonlinear controller. A nonlinear controller is developed and implemented to control the engine combustion timing during diesel PCCI operation by targeting desired values of the in-cylinder oxygen concentration, pressure, and temperature during early fuel injection.

Disclosed is a sliding-mode synchronization control method of a double-permanent-magnet synchronous motor chaos system. The sliding-mode synchronization control method includes: establishing a chaos model of a permanent magnet synchronous motor system as shown in the form, and initializing system state and relevant control parameters; at each sampling instant, calculating synchronization errors, sliding model surfaces and a first-order derivative of the permanent magnetic synchronous motor chaos system; designing a robust controller by adopting an active sliding-mode control method and finally realizing quick synchronization of the chaos state of the double-permanent-magnet synchronous motor chaos system with two different initial conditions and uncertain parameters.