28results about "Internal feedback arrangements" patented technology

The invention relates to a system and a method for quickly adjusting the pressure of a process chamber based on a small valve and pump array. The system is provided with a micro baffle, so that accurate and rapid gas flow regulation and control are realized. The system controller compensates the non-uniformity caused by the design limitation of the to-be-processed substrate and the process system by adjusting the current of the motor, thereby ensuring the improvement of the uniformity of the substrate in the semiconductor manufacturing process.

The invention belongs to the technical field of flow measurement and control, and discloses a laminar flow mass flow control system and method based on feed-forward compensation and cascade control. In the system, a laminar flow element is provided with a low-voltage side detection port and a high-voltage side detection port; the low-pressure side detection port is connected with the low-pressure ends of the pressure sensor and the differential pressure sensor, and the high-pressure side detection port is connected with the high-pressure end of the differential pressure sensor; the laminar flow element is connected with the regulating valve; the output end of the pressure sensor is connected with the input end of the feedforward compensation module; the output end of the A / D converter is connected with the input end of the main controller and the input end of the auxiliary controller; the output end of the main controller is connected with the input end of the auxiliary controller. The output end of the feed-forward compensation module is connected with the control end of the regulating valve; the output end of the auxiliary controller is connected with the control end of the adjusting valve through the D / A converter. The feed-forward compensation and cascade control technology is adopted, the pressure feed-forward compensation module and the differential pressure pair control loop are additionally arranged, and the problem that the flow precision of a control system is not accurate due to sudden change of fluid pressure is solved.

The present invention relates to a system (30) for controlling actuators (TS) comprising a plurality of redundant servo units (FC-1, FC-2, FC-3) generating values ​​of the same magnitude (Δ1, Δ2, Δ3) from the same setpoint (Gsp) and the same measurement data (Gs1, Gs2, Gs3), the redundant servo units (FC-1, FC-2, FC-3) further communicating with each other (B) so that each redundant servo unit (FC-1, FC-2, FC-3) has access by reading the most recent values ​​of the variables (Δ1, Δ2, Δ3) generated by the redundant servo unit and implements a method for correcting each generated value by combining them. Thus, the present invention prevents discrepancies between these variables (Δ1, Δ2, Δ3). Such a system (30) may be equipped in a vehicle having a driver, passengers, and / or a load consisting of goods or cargo, and having one or more actuators controlled in this manner.

Aspects of the present disclosure relate generally to systems, apparatuses, devices, and methods for use in the implementation and / or operation of quantum information processing (QIP) systems, and more particularly, to closed-loop control and calibration in quantum information processing systems.

A system includes a non-transitory computer-readable medium configured to store a mapping between a set of subapertures and a plurality of adjustable optical elements. The system includes a user interface module configured to store properties of the set of subapertures and selectively update the mapping in response to user input. The system includes a command generation module configured to generate element commands for controlling the plurality of adjustable optical elements based on the properties of the set of subapertures. Generating an element command for a first element of the plurality of adjustable optical elements includes identifying an applicable subaperture for the first element, generating an initial command for the first element, and outputting the element command for the first element based on the initial command.

The present disclosure relates to a system for semiconductor manufacturing, designed for rapid chamber pressure modulation through an array of small valves and pumps. The system incorporates micro shutters to achieve precise and rapid gas flow regulation. A system controller adjusts motor currents to compensate for nonuniformities resulting from incoming substrates and design constraints within the process system, thereby ensuring improved substrate uniformity during semiconductor manufacturing processes.

A web services platform includes a data collector and a timeseries service. The data collector is configured to collect feedback samples provided by one or more sensors of a building management system and generate one or more feedback timeseries including a plurality of the feedback samples. The timeseries service is configured to identify a feedback control workflow that uses the feedback timeseries as an input and defines one or more processing operations to be applied to the feedback samples of the feedback timeseries, perform the one or more processing operations defined by the feedback control workflow to generate a control signal timeseries including a set of control signal samples, and provide a control signal including at least one of the control signal samples or the control signal timeseries as an output to controllable building equipment of the building management system that operate using the control signal as an input.

According to one embodiment, a method, computer system, and computer program product for smoothing one or more surfaces of a 3D-printed object (302) in reduced gravity is provided. The present invention may include positioning one or more radiative heating elements (108) to evenly heat one or more surfaces of a 3D-printed object (302) based on a shape of the 3D-printed object; determining, for at least one of the one or more radiative heating elements (108), a desired heat output necessary to melt the outermost layers of the one or more surfaces; and pulsing the one or more radiative heating elements (108) to melt the one or more surfaces, wherein the duration and frequency of the pulsing is configured to achieve the desired heat output.

An automatic electronic control system (1) to closed-loop control a dynamic system (2). The automatic electronic control system (1) is designed to receive a control quantity representative of a reference (r(t)) to be followed by the dynamic system (2) and a controlled quantity representative of an output (y(t)) of the dynamic system (2) and to output an output (v(t)) to be supplied to the dynamic system (2) to cause the output (y(t)) thereof to follow the reference (r(t)). The automatic electronic control system (1) comprises an actuator (3) to control the dynamic system (2) and a controller (4) to control the actuator (4) based on a control law (f(e(t)). The controller (4) is configured to receive an error (e( t)) indicative of a deviation of the output (y(t)) of the dynamic system (2) from the reference (r(t)) and to output, based on the error (e(t)) and on the control law (f(e(t)) implemented by the controller (4), an output (u(t)) to be supplied to the actuator (3) to cause it to control the dynamic system (2) so that its output follows the reference (r(t)). The actuator (3) is configured to receive the output (u(t)) of the controller (4) and to output an output to be supplied to the dynamic system (2) to cause the output (y(t)) hereof to follow the reference (r(t)). The automatic electronic control system (1) is further designed to implement an anti-wind-up system (5) designed to cause the output (u(t)) of the controller (4) to be such as to cause the actuator (3) to operate in a linearity range of its input / output characteristic. The anti-wind-up system (5) is further designed to cause the excursion of the reference (r(t)) to be limited within an excursion range to cause the actuator (3) to operate in the linearity range of its input / output characteristic.

The invention discloses an SAF synthesis gas hydrocarbon ratio dynamic phase lock control method and system for coping with source end power fluctuation. Aiming at the problem of catalyst carbon deposition caused by fluid transmission lag due to wind and light fluctuation, the method comprises the following steps: acquiring bottom-layer electrical data of a solid-state transformer at high frequency and extracting a power transient change rate; on the basis of a cross-domain electrical and fluid coupling model, hydrogen pressure trough pneumatic transmission delay time caused by load reduction is predicted; calculating lead phase compensation time of the carbon monoxide regulating valve by combining mechanical dead zone characteristics of the valve; before a hydrogen trough actually reaches the reaction kettle, a fluid feedback link is crossed, and a carbon monoxide valve is triggered by feedforward to execute nonlinear turn-off. Complex fluid lagging dimension reduction is converted into phase compensation of a time axis, dynamic phase locking of flow attenuation tracks of two synthetic gases is achieved, and the catalyst carbon deposition scrap risk in the transient falling period is thoroughly eradicated.

Techniques for generating a personalized reference sequence construct for an individual to align sequence reads obtained for the individual. The techniques include: obtaining a plurality of sequence reads for an individual; obtaining information identifying a plurality of locations; genotyping the plurality of sequence reads for the plurality of locations to obtain a first set of variants for the individual for at least some of the plurality of locations; identifying a second set of variants associated with the first set of variants; generating a personalized reference sequence construct using the second set of variants; and aligning the plurality of sequence reads to the personalized reference sequence construct.

The present disclosure provides a feedback controller and method for controlling the operation of a device at different control steps. The feedback controller includes at least one processor and a memory storing instructions that, when executed by the at least one processor, cause the feedback controller to collect a measurement indicating the state of the device at a control step for the control step and recursively execute a parameterized probabilistic solver on a control input to an actuator that operates the device until an end condition is met to generate a control input for the control step. The feedback controller is further configured to control an actuator that operates the device based on the generated control input.

To provide devices for controlling a system described with polynominal dynamics by efficiently solving a polynominal optimization problem.SOLUTION: A device for controlling an operation of a system performing a task determines a current control input based on a feedback signal by solving a polynomial optimization of a polynomial function with a reformulation derived by introducing additional variables reducing the degree of the polynomial function till a target degree, the reformulation being subject to constraints on a structure of the additional variables. The device solves a mixed-integer optimization problem to find a subset of encodings among all possible encodings of factorizations of the polynomial function that reduce the degree of the polynomial function to the target degree with a predetermined minimum number of additional variables, and selects an optimal encoding from the subset of encodings with an optimal relaxation bound.SELECTED DRAWING: Figure 1

A system for controlling a flexible joint robot includes a control input dimension conversion part configured to receive a control input of a robot and convert the Cartesian coordinate system of the control input to the rotating workspace coordinate system; an entire flexible joint robot dynamics part configured to receive the control input and a disturbance and output a control output by multiplying the control input reflecting the disturbance by at least one determinant; and a disturbance observer configured to reflect the estimated disturbance in the control input by calculating an estimated disturbance obtained by estimating the disturbance, wherein the disturbance observer includes a mutual reaction force removal part including a determinant for removing mutual reaction force between joints of the robot; a low-pass filter; and an estimated-disturbance dimension conversion part.

The invention discloses a feedforward compensation method and system based on acceleration feedback, and the method comprises the steps: obtaining and analyzing a motion instruction of a controller, determining expected speed information and expected acceleration information of a controlled object, determining an expected feedforward resultant force based on the expected speed information and the expected acceleration information, and determining a feedforward control signal based on the expected feedforward resultant force; determining the acceleration feedback force of the controlled object based on the real-time acceleration information of the controlled object; determining an acceleration feedback compensation force based on the acceleration feedback force, and determining an acceleration feedback compensation signal of the controlled object based on the acceleration feedback compensation force; and synthesizing the feedforward control signal and the acceleration feedback compensation signal to obtain a motion control instruction of the controlled object, and controlling the controlled object to move according to the motion control instruction. According to the method, open-loop feedforward prediction and closed-loop acceleration observation feedback are deeply fused, the robustness of external interference and internal reference change is enhanced, mechanical resonance is effectively inhibited, and the trajectory tracking precision, the anti-interference capability and the motion stability are improved.

The invention provides a variable gain photoelectric pod stability control algorithm based on frequency decomposition, and belongs to the technical field of automatic control, the variable gain photoelectric pod stability control algorithm comprises the following steps: S1, collecting azimuth and pitch axis gyro angular velocity signals and aiming line angular velocity given values in a photoelectric pod; s2, decomposing the set value of the angular velocity of the aiming line into a high frequency band, a medium frequency band and a low frequency band; s3, aiming line angular velocity given values and gyro sub-signals of the three frequency bands are used as given values and feedback values of three different controllers respectively; and S4, adding the control output quantities of the three different controllers to obtain final output, and outputting the final output to an execution mechanism. According to the algorithm, the stabilization precision of the photoelectric pod stabilization platform is remarkably improved under the condition that the cost and complexity of the system are not increased. The algorithm can be integrated in servo control software of the photoelectric pod, real-time output of a stable precision estimated value is achieved, the algorithm is applied to multiple photoelectric pod models, a good effect is achieved in test flight, and the algorithm has high engineering practicability and practical value.

The invention discloses a field detection device and system for achieving no maintenance of a gas density relay. The field detection device comprises a temperature adjusting mechanism and an intelligent control unit, wherein rise and fall of the temperature of the temperature adjusting mechanism are controlled by the intelligent control unit, thereby making the temperature of a temperature compensation component of the density relay rise and fall to complete the field detection of the gas density relay, and no maintainer is needed to operate on site, which achieves no maintenance of the gas density relay, and greatly improves the efficiency and reliable and safe running of power grids. The invention further provides a field detection method for supporting normal running of the field detection device above.

A system includes a set of electrostatic actuators. Each electrostatic actuator of the set of electrostatic actuators includes a high-voltage side and a low-voltage side. The low-voltage side is configured to be driven by a time-varying voltage signal (TVVS). The system includes a set of drive-sense channels. A representative channel of the set of drive-sense channels includes a drive electrical link between (i) a corresponding drive circuit of a set of drive circuits and (ii) the high-voltage side of a corresponding electrostatic actuator of the set of electrostatic actuators. The representative channel is configured to carry, via the drive electrical link, a controllable drive voltage from the corresponding drive circuit to the high-voltage side of the corresponding electrostatic actuator. The representative channel includes a sense electrical link configured to carry a current generated by the TVVS to a sense-measurement circuit.

The embodiment of the application provides a galvanometer servo system decoupling feedforward compensation method and system based on a dwell index. The method comprises the following steps: a weighted Play operator network is used to extract a normalized shape factor, and the normalized shape factor is used to represent the geometric shape and path memory characteristics of the system hysteresis loop; an adaptive amplitude function is calculated based on the dwell index and a Stribeck model containing an empirical attenuation factor, wherein the dwell index is determined based on a speed threshold and an acceleration threshold criterion; a composite feedforward control law is constructed according to the normalized shape factor and the adaptive amplitude function, and a feedforward compensation amount is calculated based on the composite feedforward control law; and the feedforward compensation amount and the output of a PID feedback controller are added to obtain a control signal, which is used to drive a voice coil type galvanometer motor to operate. Based on this, the embodiment of the application can solve the problems of large commutation error and obvious hysteresis residual of the existing galvanometer servo system in low-speed reciprocating scanning.

Certain embodiments provide a vacuum generation system including an override PID controller, a proportional valve, and a vacuum generator. The override PID controller allows the vacuum generation system to control the operating range of the supply air pressure supplied to the vacuum generator. By controlling the operating range of the supply air pressure, the vacuum generation system can avoid entering a decreasing or non-monotonic region of the vacuum generator.

This invention relates to the field of robotics, specifically to a method for online evaluation and closed-loop feedback control of construction robot operation quality. The method includes the following steps: operation data acquisition; operation quality evaluation, constructing a local continuous operation unit centered on the current sampling point, extracting the local quality deviation of the current sampling point and the connection deviation between the current sampling point and adjacent operation areas, jointly determining the local quality deviation and the connection deviation, and generating real-time operation quality evaluation results and deviation data for the construction robot; feedback control command generation; and closed-loop feedback dynamic execution. This invention, by constructing a local continuous operation unit centered on the current sampling point, extracting the local quality deviation and the connection deviation between adjacent operation areas, and jointly determining the two types of deviations, can consider both the local quality of the operation and the connection status of adjacent operation areas in the operation quality evaluation, thus improving the completeness of the operation quality evaluation.

The invention relates to an "adaptive method for digital PID controller" which aims to automatically adjust the parameters of a digital PID controller by analog feedback of the actual value for the automation of process flows in programmable logic controllers. The invention is based on the use of nine regulation equations derived by reverse engineering of a PID controller. The adjustment of the PID controller parameters K p , K i and K d is performed in a closed loop control with negative feedback, i.e. the iterative steps for K p are k, for K i are m and for K d are n, independent of each other. The adaptive regulation method is compact, independent of other methods and algorithms, mathematically balanced, i.e. requires minimum computational resources and easy to implement. Setting up a PID controller with this method does not require a preliminary assessment of the controlled object and the establishment of a mathematical model. This also means that the method has good general applicability and is not linked to a specific controlled object.

To perform adaptive control on the basis of data obtained during control while utilizing reliable feedback control, a control device includes a first controller configured to generate a first operation amount for the device on the basis of an output fed back from the device and a target value, a predicted output generation unit including a learned model which is machine learned so as to generate a predicted output from the device on the basis of the output fed back from the device and the first operation amount, a second controller configured to generate a second operation amount for the device on the basis of the predicted output and the target value, an integrated operation amount generation unit configured to generate an integrated operation amount which is an operation amount for the device on the basis of the first operation amount and the second operation amount, and a storage unit configured to, in a case where the second operation amount is subjected to invalidation processing, store the first operation amount, the output fed back from the device and an output from the device corresponding to the integrated operation amount as machine learning data.

To enable efficient passive cooling of components.SOLUTION: A thermal metamaterial device 100 comprises at least one MEMS thermal switch 110, comprising a substrate layer 112 including a first material having a first thermal conductivity, and a thermal bus 114 over a first portion of the substrate layer 112. The thermal bus 114 includes a second material having a second thermal conductivity higher than the first thermal conductivity. An insulator layer is over a second portion of the substrate layer and includes a third material that is different from the first and second materials. A thermal pad 120 is supported by a first portion of the insulator layer, the thermal pad 120 including the second material, and having an overhang portion 122 located over a portion of the thermal bus 114. When a voltage is applied to the thermal pad 120, an electrostatic interaction occurs to cause a deflection of the overhang portion 122 toward the thermal bus 114, thereby providing thermal conductivity between the thermal pad 120 and the thermal bus 114.SELECTED DRAWING: Figure 1A

The present invention presents a system that allows mixing in a controlled way the streams exported by two-phase or three-phase separators, allowing the management of the phases according to the processing needs of the SPUs. The main idea is that the outlet streams of the subsea separation modules can be routed to different SPUs in order to optimize the processing capacity of the surface plant.It is capable of manipulating in real time process parameters such as GLR (Gas-Liquid Ratio), or GOR (Gas-Oil Ratio) or Water Cut (amount of water in oil) to generate the multiphase streams required by each SPU, using the own autogenous pressure of the process to carry out this adjustment, that is, without the need for pressure raising systems or artificial lifting (pumps, compressors, gas lift, etc.) of the export streams of the system. This is possible by means of a crossflow injection control system between the phases. However, the possibility of using pressure raising systems (pumps, compressors, etc.) is not excluded, if the SPUs are at high distances, for example, and require the use of this device.

The present invention relates to a continuous mixing apparatus and a control method thereof, and in the continuous mixing apparatus according to the embodiment, for each of a plurality of annular heaters, a control unit determines a current state and a reward for a past selected action based on a control error calculated from an acquired temperature; updates a control condition based on the reward, and determines an optimal action corresponding to the current state under the updated control condition, the control condition being a combination of a state and an action; and controls a target annular heater based on the optimal action.

The invention discloses a gear clearance error compensation method, device and equipment and a storage medium, and relates to the technical field of precision motion control, and the method comprises the steps: obtaining a motor shaft angle and a load shaft angle at a current moment in response to a received instruction angle; determining a feed-forward compensation amount corresponding to the gear clearance according to the motor shaft angle and the load shaft angle; and outputting a control instruction according to the feedforward compensation amount and the instruction angle to drive the load to move, so that the load moves to the instruction angle. The feed-forward compensation amount corresponding to the gear clearance is determined through the motor shaft angle and the load shaft angle, and then the control instruction is output by using the feed-forward compensation amount and the instruction angle to drive the load to move to the instruction angle, so that compared with the prior art, the gear clearance error compensation is realized, and the error compensation precision is improved. And the positioning precision of the system is effectively improved.