186results about "Controllers with discontinuous output signal" patented technology

A relatively small, lightweight actuator includes a plurality of motors, an actuation element, a translation member, and a plurality of position sensors. The motors each supply a drive force to the actuation member, causing it to rotate. The translation member is configured, upon rotation of the actuator, to translate to a position. The position sensors sense the translational position of the translation member and the rotational position of each motor. The actuator is relatively small, lightweight, and can withstand the relatively severe environmental conditions and relatively significant levels of vibration and shock associated with many aerospace applications.

In a magnetic disk storage apparatus, when a drive current of the voice coil motor is small, the head drive control circuit executes the linear drive mode under which the voice coil motor is driven in a linear control manner, whereas when the drive current is large, the head drive control circuit executes the pulse drive mode under which the voice coil motor is driven in a pulse width control manner. Both modes are carried out by employing a commonly-used output amplifier that is arranged as a push-pull type output circuit made of both a push-driving output transistor and a pull-driving output transistor. An operation mode of this output amplifier is set to an AB-class operation during the linear drive mode, whereas the operation mode of this output amplifier is set to a B-class operation during the pulse drive mode.

In a press having a plunger supported so as to be movable linearly back and forth by drive means which include at least one servomotor in combination with a rotatably supported inertia structure connected for rotation with the servomotor, the inertia structure has an inertia moment which is small enough to permit reversal of the servomotor within a stroke length of the plunger so that the stroke of the plunger is adjustable under the control of a control device connected to the servomotor for controlling its operation.

In controlling a motor in a device which drives a mechanism using the motor as a power source, in executing driving, an ideal profile of the driving is generated in accordance with a target position and a preset initial parameter, driving of the motor is controlled in accordance with the profile, the value of the initial parameter is evaluated at the end of driving, and the value of the initial parameter is changed in accordance with the evaluation result. High-speed accurate position control can be achieved independently of the characteristic of an individual motor to be used.

The invention relates to a discrete sliding mode repetitive control method for a periodic servo system, which comprises the following steps: identifying a difference equation model of the current servo system, and converting the difference equation model into a state space model; selecting a linear switching function; forming a discrete reaching law, and constructing an ideal switching dynamic state according to the formed discrete reaching law; constructing a discrete sliding mode repetitive controller model according to the ideal switching dynamic state; and using current control variables as the control command for a controlled servo system to enable the servo system to change with reference signals. The invention can weaken the system chattering, and simultaneously inhibit the influence of periodic disturbance on the system, thereby improving the control quality and realizing the accurate control on periodic tracking tasks.

A method is specified for controlling a multiphase motor that is commutated by an inverter-side bridge circuit, in the course of which a particularly precise and technically simple detection of a control-relevant variable of a considered motor phase, in particular of a motor phase current and / or a back EMF voltage and / or a variable derived therefrom, takes place. It is provided here to determine the control-relevant variable with the aid of the current state of a freewheeling diode that is disposed in a phase half bridge, assigned to the respective motor phase, of the bridge circuit, the current state being detected during an on time in which a power switch, connected in parallel with the freewheeling diode, of the phase half bridge exhibits a conducting state, and a power switch connected in series with the freewheeling diode exhibits a blocking state.

A control apparatus is provided for eliminating a slippage in control timing between the input / output of a controlled object, even when the control object exhibits a relatively large dynamic characteristic such as a phase delay, a dead time, or the like, to improve the stability and the controllability of the control. The control apparatus comprises a state predictor for calculating a predicted value of a value indicative of an output of a controlled object based on a prediction algorithm, and a DSM controller for calculating a control input to the controlled object based on one modulation algorithm selected from a DELTA modulation algorithm, a DELTASIGMA modulation algorithm, and a SIGMADELTA modulation algorithm for controlling the output of the controlled object in accordance with the calculated predicted value.

For analytic-based control of energy consumption, an appliance module receives an appliance identifier of an appliance connected to a power outlet, a selection module selects a power model for the power outlet based on the appliance identifier, the power model designating times that the power outlet is to be powered and times that the power outlet is to be unpowered, a usage module receives energy usage data for a power outlet, a presence module receives user presence data for a locale containing the power outlet, a update module modifies a power model for the power outlet based on the energy usage data and the user presence data, and a power control module selectively provides electrical power to the power outlet according to the power schedule.

A stage unit includes the following elements. A stator includes a first coil array in which first coils extending in the x direction are arranged in the y direction, a second coil array in which second coils extending in the x direction are arranged in the y direction and which is located next to the first coil array in the x direction, and a third coil array in which third coils extending in the y direction are arranged in the x direction and which covers the first and second coil arrays. A movable member moves above the stator. A controller controls driving of the movable member by allowing current amplifiers to supply current to the coils included in the first, second, and third coil arrays. A switch is capable of connecting the first coil to the second coil.

The invention discloses a discrete repetition control method based on the attraction law, and the method comprises the steps: generating a periodically symmetric reference signal through a given link; constructing a periodic feedback link; constructing an ideal error dynamic state based on a limited time inverse hyperbolic cosine attraction law; constructing an e / v signal conversion module according to the ideal error dynamic state, wherein an output signal is used for discretizing a correction amount of a repetition controller; calculating an output signal of the repetition controller, enabling the output signal to serve as the input of a servo object, and enabling a servo system to change along with a reference signal. The method employs a time domain design, is good in control precision, and completely inhibits a periodic interference signal.

A simplified self noise-immunity controller formation method of PMSM (permanent magnet synchronous motor) is applicable to the high performance control of PMSM. It constructs the expanding voltage-controlled inverter (2) by the voltage control voltage source inverter (1) and space vector pulse width modulation; it constructs a composite controlled object (10) by the expanding voltage-controlled inverter and current controller (3), the coordinate transformation (4), the permanent magnet synchronous motor (7), the workload (8) and the photoelectric encoder (9); it constructs the second-order state observer (52) by compositing the input and output signals of the controlled object; It constructs the composite speed feedback (54) by the weighted sum of the two speed measurement value; it constructs the composite controller (53) by the superposition of the generalized rate error square controller (51) and the compensation value of the system perturbation (-z2 / b); it series connects the composite controller before the composite controlled object, and finally, it constructs the simplified self noise-immunity controller (5) by the composite controller and the expanding second-order state observer.

The no-extrusion car window system includes one detection and control circuit and one electrode sensor mounted in the edge of car window glass. The detection and control circuit includes a microprocessor, a capacitance detecting chip connected to the electrode sensor, and a motor driving chip. In case of part of human body contacts the electrode sensor mounted in the edge of car window glass, the detected capacitance will change and the detection and control circuit will pause the window lifting motion to avoid extrusion to the human body. The no-extrusion car window system has low cost, reliable performance, quick response and other advantages.

In a press having a plunger supported so as to be movable linearly back and forth by drive means which include at least one servomotor in combination with a rotatably supported inertia structure connected for rotation with the servomotor, the inertia structure has an inertia moment which is small enough to permit reversal of the servomotor within a stroke length of the plunger so that the stroke of the plunger is adjustable under the control of a control device connected to the servomotor for controlling its operation.

Embodiments of the present invention include systems and methods for an online load of logic to a triple module redundant (TMR) control system using a cascading switch and designated controller. Application code having SFC logic may be first downloaded to a designated controller of the TMR system. After download to the designated controller, the other controllers of TMR system may be updated in a cascading (circular) pattern. After updating the second controller with the updated logic, the designated controller may provide correct state information to the second controller.

The invention relates to a repetitive controller of a position servo system. Reference signals with symmetrical periods are generated in a given link; a cycle feedback link is constructed; an ideal error dynamic state is formed based on the discrete time unit vector serialized attraction law; according to an error dynamic equation, a signal conversion mould is constructed, and an output signal of the signal conversion mould is applied to correction of the repetitive controller; and a signal obtained through the computation of a current controller is taken as input of a servo object. A specific controller parameter setting operation can be carried out according to indexes of convergence performance of a representation system, and a monotone decreasing area, an absolute attraction layer and a steady-state error band boundary of a representation trace error convergence process are provided. A closed-loop system can completely eliminate cyclically symmetric interference signals and realize that the position servo system follows the change of reference signals. The invention provides a cyclically repetitive controller capable of remarkably reducing the occupied space of a memory, effectively restraining the symmetric interference and improving the control precision.

In a magnetic disk storage apparatus, when a drive current of the voice coil motor is small, the head drive control means executes the linear drive mode under which the voice coil motor is driven in a linear control manner, whereas when the drive current is large, the head drive control means executes the pulse drive mode under which the voice coil motor is driven in a pulse width control manner. Both modes are carried out by employing a commonly-used output amplifier that is arranged as a push-pull type output circuit made of both a push-driving output transistor and a pull-driving output transistor. An operation mode of this output amplifier is set to an AB-class operation during the linear drive mode, whereas the operation mode of this output amplifier is set to a B-class operation during the pulse drive mode.

The invention provides a discrete repetition control method for a motor servo system, wherein a setting link, a period feedback link, an e / v signal conversion module and a subtraction / addition ring are involved. The discrete repetition control method comprises the steps of generating a reference signal with a symmetrical period by the setting link; constructing the period feedback link; constructing the e / v signal conversion module according to an antitangent attraction law, wherein the output signal of the e / v signal conversion module is used for correction amount of a repetition controller; and furthermore calculating out the output signal of the repetition controller as controlling signal input of a controlled object. The invention provides influence of value of a controller parameter to a system tracking error convergence process. Specific controller parameter turning can be performed according to a representation system convergence performance index. Furthermore the invention provides a calculating method which represents a monotonic decreasing area of the error convergence process, an absolute attraction layer and a steady state error band boundary. The discrete repetition control method for the motor servo system has advantages of quick convergence performance, effective interference inhibition acceleration and high control precision.

A positioning stage assembly having a coarse stage which includes a planar motor driveable in at least two degrees of freedom, and a fine stage positioned on the coarse stage which is driveable in at least three degrees of freedom with respect to the coarse stage. More preferably, the fine stage is driveable in six degrees of freedom and includes variable reluctance actuators for positioning in three degrees of freedom.

The invention belongs to the field of fire extinguishing and rescue equipment and provides an automatic control clutch type water mist fire extinguishing device. The automatic control clutch type water mist fire extinguishing device comprises an engine, a water pump, a pressure adjusting valve, a hose reel and a water mist spray gun and is characterized by also comprising a clutch type reduction box, an automatic control system and a foam adding system, wherein the engine is connected with the water pump through the clutch type reduction box; the pressure adjusting valve is arranged at a water outlet of the water pump; the hose reel is connected with the pressure adjusting valve; the water mist spray gun is connected with the hose reel; the automatic control system controls the engine and the foam adding system; and the foam adding system is connected with an inlet of the water pump. The automatic control clutch type water mist fire extinguishing device realizes automatic control of a machine set so as to realize unmanned management after the device is started, save unnecessary waste of fuel oil and water, effectively prolong service life of equipment and save labor.

An actuator apparatus includes a pair of substrates facing each other; a plurality of bias actuators that each vary a gap dimension of a gap between the pair of substrates; a gap detection portion that detects the gap dimension; and a voltage control unit that controls driving of each of the bias actuators on the basis of the detected gap dimension. The bias actuators are located asymmetric relative to a driving central axis and are mutually independently driven; and the voltage control unit derives driving parameters for use in driving the bias actuators, on the basis of voltages and gap dimensions obtained by sequentially switching and driving the bias actuators on by one.

A power supply programmable for a constant current mode and a constant voltage mode and selectively operable in either mode. Respective circuits associated with each of a constant voltage loop and a constant current loop track a control voltage of the other loop when the other loop is operating closed loop and maintains a control voltage of the open loop at a tracking offset value from the control voltage of the closed loop, allowing the open loop to rapidly assume control of the power supply during a mode transition. The tracking offset value is briefly increased during a mode transition to interrupt oscillation tendencies, resulting in faster mode cross-over and reduced overshoots, while maintaining stability.

A control system is disclosed that includes a room controller transmitting signals to both a shade control network and a light control network, directing that motorized roller shades and dimmable lights be set to desired intensity levels. The control system further includes an intelligent hub that provides a trickle-charge re-charge current via power-over-Ethernet cables to batteries associated with each of the motorized roller shades for re-charging the batteries, thereby eliminating power supplies being installed within walls. The intelligent hub provides for communication with the room controller based on streaming protocol and with the shade control network based on event-based protocol. A computer running user-interface software can be connected to the system to facilitate programming.

A self-diagnosing system for an encoder. The system includes an encoder circuit for outputting information detected by an encoder; a data preparing section provided in the encoder circuit and preparing data representing a state of an abnormal-state judgment factor in connection with at least one of the encoder and an electric motor combined with the encoder; a signal generating section provided in the encoder circuit and generating an abnormal-state signal when the data prepared in the data preparing section represents an abnormal state of the abnormal-state judgment factor; and a storage section provided in the encoder circuit and storing the data representing a state of the abnormal-state judgment factor when the signal generating section generates the abnormal-state signal. The storage section may store the data prepared in the data preparing section at a desired timing not later than the instant the signal generating section generates the abnormal-state signal.

A linear actuator associated with an actuator system for a device includes a wire cable fabricated from an active material. The linear actuator couples to the device and to the moveable element. The active material induces strain in the linear actuator in response to an activation signal. The linear actuator translates the moveable element relative to the device in response to the induced strain. An activation controller electrically connects to the linear actuator and generates the activation signal. A position feedback sensor monitors a position of the moveable element.

The robot comprises a movable member; a motor operable to change a position of the movable member relative to a gravitationally-loaded axis; and a servo operable to control the motor. The servo has a normal operational mode in which it controls the motor to define the position of the movable member relative to the gravitationally-loaded axis. The servo additionally has a training mode in which it controls the motor to set the movable member to a weightless state. In its weightless state, a user can easily and accurately move the movable member to train the robot.

A servomotor control circuit for an air conditioner apparatus of a vehicle includes a drive control section for controlling drive of a servomotor so that the servomotor attains a target stop position, a rotation position change detection section for detecting a change in the rotation position of the servomotor, and an operation limit check section for checking, based on the change in the rotation position of the servomotor, whether the servomotor has attained the operation limit position. The drive control section stops drive of the servomotor without reception of a servomotor drive stop command produced from a main control apparatus, when the servomotor is determined as having attained the operation limit position.

An electric actuator includes a motion conversion mechanism and a position detector. The motion conversion mechanism converts rotation of a rotary shaft of a motor into linear motion of an output shaft. The position detector detects a permanent magnet M, which moves integrally with the output shaft. A motor control portion controls the motor based on commands from a host command unit. A control program for controlling the motor includes, as control modes, six fluid pressure cylinder modes, according to which the motor is controlled. Specifically, each of the control modes corresponds to one of the cases where the fluid pressure cylinder is controlled by three solenoid valves, or a two-position single solenoid valve, a two-position double solenoid valve, and a three-position double solenoid valve. The motor is controlled according to the selected control mode.