261results about "Internal feedback arrangements" patented technology

A method for controlling a surgical robot includes calculating an external force acting on a robot arm mounted with a surgical instrument, filtering the external force acting on the robot arm when a central point of an incision is set, calculating a virtual force to enable the surgical instrument which is positioned away from the central point of the incision to return to the central point of the incision, and applying the calculated virtual force to the filtered external force, to control movement of the robot arm. As a result, it is possible to compactly design the surgical robot and thereby reduce the volume of the surgical robot.

When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.

A control device for an electric power steering apparatus includes a control unit which controls a motor giving steering assist force to a steering system according to a current command value computed based on steering toque and vehicle speed in a vector control manner and an advance angle map for compensating for a phase lag occurring in a motor current relative to the current command value. Advance angle compensation is made for the current command value based on the advance angle map.

A control method for a flight vehicle having a plurality of lift sources, the control method includes switching, according to a command input force from external, a control function of the flight vehicle between a stationary control function that maintains a hovering state of the flight vehicle by controlling actuation of the lift sources, and a moving control function that detects the command input force to the flight vehicle and controls the actuation of the lift sources to realize movement of the flight vehicle in correspondence to the command input force.

An inspection system inspects features of an object using a feedback mechanism. The inspection system includes a processor that receives image data representing the object. The processor is operable to determine parameter modification information from the image data and modify an image parameter used during the production of the image data with the parameter modification information. The modified image parameter is used during the production of subsequent image data representing the object.

An electronic cigarette temperature control system includes a power supply, a heating element, a temperature detection element, and a processor. The power supply is electrically coupled to the heating element and the processor. The temperature detection element is configured to detect a change of a temperature T of the heating element and output the change of the temperature T of the heating element to the processor. The processor is electrically coupled to the temperature detection element. The processor is configured to determine the temperature t of the temperature detection element according to an associated physical quantity x of the temperature detection element, and calculate the temperature T of the heating element according to the temperature t of the temperature detection element. A related electronic cigarette temperature control method and a related electronic cigarette are also provided.

Systems and methods for impedance compensation in a subsea power distribution system. These systems and methods include the use of a plurality of distributed impedance compensation devices to control the impedance of the subsea power distribution system. These systems and methods may include the use of distributed impedance compensation devices that are inductively coupled to a subsea power transmission cable associated with the subsea power distribution system. These systems and methods also may include the use of distributed impedance compensation devices that are inductively powered by the subsea power transmission cable. These systems and methods further may include the use of distributed impedance compensation devices that are marinised for use under water.

Based on a control object, a result of the detection of driving of an actuator and a response from a standard mathematical model of the actuator, the actuator is controlled, or in a servo system that controls the angle of a joint, etc., the control value is corrected so that the response from the thing to be driven and the response from the model of the thing to be driven are set to coincide with each other, and also based on a result of the correction of the control value, at least the moment of inertia of the thing to be driven is detected. Thereby, the moment of inertia of the driver and the like can be detected in real-time without providing a special sensor.

A motor drive control device for controlling a rotational speed of a motor includes: a motor driver for rotationally driving a motor; a correction amount calculating section for detecting a rotational speed of an output of the motor in accordance with an alternate current signal outputted from an FG sensor and detecting a rotational position of a photoconductive drum, which is rotated by a rotational drive force of the motor, in accordance with a pulse outputted from an encoder; a speed controller for generating a speed control signal corresponding to a total correction amount, which is a sum of a correction amount calculated in the correction amount calculating section based on a rotational speed of the motor and a correction amount calculated based on a rotational position of the photoconductive drum, and outputting the generated speed control signal to the motor driver.

Methods and systems for controlling temperatures in plasma processing chamber with reduced controller response times and increased stability. Temperature control is based at least in part on a feedforward control signal derived from a plasma power input into the processing chamber. A feedforward control signal compensating disturbances in the temperature attributable to the plasma power may be combined with a feedback control signal counteracting error between a measured and desired temperature.

A non-linear, semi-parametric neural network-based adaptive filter is utilized to determine the dynamic speed of a rotating rotor within an induction motor, without the explicit use of a speed sensor, such as a tachometer, is disclosed. The neural network-based filter is developed using actual motor current measurements, voltage measurements, and nameplate information. The neural network-based adaptive filter is trained using an estimated speed calculator derived from the actual current and voltage measurements. The neural network-based adaptive filter uses voltage and current measurements to determine the instantaneous speed of a rotating rotor. The neural network-based adaptive filter also includes an on-line adaptation scheme that permits the filter to be readily adapted for new operating conditions during operations.

The invention provides a multi-wire array-laser three-dimensional scanning system and a multi-wire array-laser three-dimensional scanning method. In the system, through a programmable gate array FPGA, accurate synchronization and logic control of the multi-wire array-laser three-dimensional scanning system can be realized. A wire laser array is used as a projection pattern light source. Through the FPGA, trigger signals are sent to a stereo vision image sensor, an inertial sensor and the wire laser array. An upper computer receives an image pair shot by the stereo vision image sensor, and carries out coding, decoding and three-dimensional reconstruction on a laser wire array pattern in the image pair. The three-dimensional reconstruction and three-dimensional characteristic point matching and aligning are performed on a characteristic point of a measured object surface. A mixing sensing positioning technology is used to carry out prediction and error correction on matching calculation, which is used for registration and splicing of time-domain-laser three-dimensional scanning data. Simultaneously, measurement error grade assessment is performed in real time and an assessment result is fed back to an error feedback controller so that an adjusting indication is obtained. Therefore, laser three-dimensional scanning with low cost, high efficiency, high reliability and high precision is realized.

A method of correcting the determination of extended rotor flux using a lag function and a correction algorithm that closely approximates a pure integrator function to correct for lag function errors that can extend the EFS control down to dynamoelectric machine speeds corresponding to as low as 10 Hz electrical frequency.

The invention provides a device for generating and controlling standard pressure signals, which is applied to the fields of aviation, aerospace and pressure metering calibration, to be specific, the invention provides a precise pressure control device based on a pair of proportional valves. The device is composed of double sensors, a pair of proportional valves, a constant flow source, a sensor conditioning circuit, a practical differential circuit, a PID control circuit, a high resolution DA converter, a proportional valve driving circuit and serial interfaces. By the device, a pressure can be controlled to a scope ranging from 0 to 1500KPa, the indefinite degree is 0.01% F.S, the control stability is better than 0.002%F.S, and the pressure control process is fast and stable. The device is suitable for pressure control and detection under various environmental conditions.

In a positional control device for controlling a position of a controlled object using a motor, when generating a torque command value tauc which serves as the command value for the servo motor of the controlled object system (112), a friction compensation value for use when the controlled object initiates a movement is calculated based on a velocity command value V and a torque command value tauc determined according to a positional command value Xo supplied from a superordinate device. More specifically, an initial friction compensation calculating section calculates a torque compensation amount Vsfc1 corresponding to a difference between torque being generated during the standstill state and torque required by the controlled object to initiate the movement, and a torque compensation amount Vsfc2 corresponding to an amount of change in friction that occurs during a transition from static friction to kinetic friction in a period immediately before and after initiation of the movement. Vsfc1 and Vsfc2 are then used to calculate compensated values of the torque command value tauc. Positional tracking deviation generated due to friction during a movement initiation can thereby be reduced, regardless of operational conditions during the standstill state or of the movement direction and velocity effected thereafter.

A scanner system includes a servo control unit. A rotation angle of a rotating shaft supporting a mirror is detected, and an error of the detected value with respect to a commanded value is integrated by an integral compensator so that the detected value is able to track the commanded value. A tracking error proportional compensator is disposed in parallel with the integral compensator so as to add a correction value proportional to the error to the integrated value of the error. A plurality of gains are prepared for each of the integral compensator, the tracking error proportional compensator, a detected value proportional compensator and a detected value differential compensator of the servo control unit. Each gain is changed in accordance with a travel angle of the commanded value. Thus, the mirror can be positioned quickly so that the machining speed can be improved.

The invention relates to a pulse controller with six PWM (pulse width modulation), which belongs to the technical field of power electronics and automatic control. The PWM pulse controller is composed of a voltage comparator, an inertia link or an integrating link, a hysteresis comparator and the like. The PWM controller, a control object, feedback transformation and the like form a PWM pulse control system, the controlled variable of the control object outputs feedback variable through a feedback transformation link and outputs a pulse signal with control giving through the comparator, a triangle waveform signal is generated through the inertia link or the integrating link, and a PWM pulse control signal is generated through the hysteresis comparator and is acted on the control object to adjust the output variable. When conditions are changed or output pulse acts continuously to enable the feedback variable to deviate from a given target, the PWM controller outputs a pulse control signal, which enables the output of the control object to trace the given target. The PWM controller has simple and reliable structure, low cost, rapid system response, high efficiency and wide application value.

There is provided a method for flue gas desulfurization which is capable of conducting minute control of oxidation and which is capable of maintaining the concentration of sulfurous acid in an absorbent liquid within a proper range in a highly reliable and efficient manner, even in the case where an abrupt change occurs in the operational conditions of the system. In the method for controlling the oxidation in flue gas desulfurization, the value of proportional sensitivity K in the feed back control process, which is based primarily on the oxidation-reduction potential, is increased depending on the deviation epsilon in a region where the detected oxidation reduction potential value PN is below the target oxidation reduction potential value SN in correspondence with the characteristic change of the oxidation-reduction potential against the concentration of sulfurous acid.

An equipment for controlling an industrial robot, which robot has a plurality of rotation and/or translation axles (ax 1-6), comprising a motor (15) at each of said axles for generating desired movements of the arms and/or the wrist, of which the robot is constituted, a sensor at each of the axles for measuring axle angle and/or axle position, a servo (9) for each of the axles for controlling the motors based on measurement values from the sensors, and a path generator (8) for generating at least one reference (phiref, phiref, tauffw) for each of the servos (9). The equipment comprises an apparatus (1+2+3+4+5+6+7+parts of 8+18A+18B) at least one of the axles, which apparatus comprises a first device (18A) for calculation of the expected interference moment value (taudistexp) of said axle when the movable parts of the robot is not exposed to any external forces by interaction with the operator (64) or other things in the surroundings of the robot, and a second device (18B) for comparing this expected interference moment value (taudistexp) with values of the moment reference (taumr) of the servo (9) and/or with values of the moment (taum) of the motor and/or with values of the moment of the axle (14) and for forming, based on this comparison, a signal (taucontrol) for controlling the path generator (8). A method for programming/adjusting the movement of a robot is also included.

The lead or lag relationship between the stator and rotor of a stepper motor is monitored on a continuing basis by an incremental encoder, in feed-back relation, and adjusts the lead or lag to within optimum range values to thereby prevent motor stalls and motor cogging.

Disclosed is an intelligent wheel chair control method based on a brain computer interface and an automatic driving technology. The method comprises the following steps: acquiring current pictures by webcams to perform obstacle localization; generating candidate destinations and waypoints for path planning according to the current obstacle information; performing self-localization of the wheel chair; selecting a destination by a user through the brain computer interface (BCI); planning an optimal path according to the current position of the wheel chair as a starting point and the destination selected by the user as an end point in combination with the waypoints; calculating a position error between the current position of the wheel chair and the optimal path as the feedback of a

PID path tracking algorithm; and calculating a reference angular velocity and linear velocity by means of the PID path tracking algorithm and transmitting them to a PID motion controller, converting odometry data from encoders into current angular and linear velocities as a feedback of the PID motion controller, and controlling the driving of the wheel chair in real time to the destination. The intelligent wheel chair control method greatly relieves the mental burden of a user, can adapt to changes in the environment, and improves the self-care ability of patients with severe paralysis.