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Controllers, observers, and applications thereof

An observer and extended state observation technology, applied in instrumentation, error detection/correction, calculation, etc., can solve problems that can only be solved independently, difficult to establish an estimator, sensitive to speed fluctuations, etc.

Inactive Publication Date: 2009-11-11
CLEVELAND STATE UNIVERSITY
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

This approach has an inherent disadvantage: it relies on an accurate mathematical model of the relationship between velocity and tension, which is however highly nonlinear and particularly sensitive to velocity fluctuations
[0101] It is difficult to build an efficient estimator without sufficient knowledge of objects, disturbances, faults, and model errors
In most cases, these problems can only be solved independently

Method used

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  • Controllers, observers, and applications thereof
  • Controllers, observers, and applications thereof
  • Controllers, observers, and applications thereof

Examples

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Embodiment Construction

[0171] Examples of methods, systems, computer media, etc. are described herein with reference to the drawings, wherein like reference numerals are used to represent like elements. The following description is for purposes of explanation and sets forth numerous specific details to facilitate a deeper understanding of the methods, systems, computer readable media, and the like. It is evident, however, that the methods and systems can be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form for simplicity of description.

[0172] Scaling

[0173] Usually controllers are not scalable in size, so portability between applications is not possible. However, by means of a scalable approach to the systems and methods presented in the examples herein, the controller can be made portable. In general, the controlled object can mathematically use the transfer function G p (s) (where S is the variable of the Laplac...

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Abstract

Controller scaling and parameterization are. described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also apply to state feedback and state observer based controllers, as well as linear active disturbance rejection (ADRC) controllers. Parameterization simplifies the use of ADRC. A discrete extended state observer (DESO) and a generalized extended state observer (GESO) are described. They improve the performance of the ESO and therefore ADRC. A tracking control algorithm is also described that improves the performance of the ADRC controller. A general algorithm is described for applying ADRC to multi-input multi-output systems. Several specific applications of the control systems and processes are disclosed.

Description

[0001] This work was supported at least in part by NASA (Government Contract No. NGT3-52387). Accordingly, the United States Government may have certain rights herein. [0002] Cross References to Related Applications [0003] This application is a continuation-in-part (CIP) of and claims the benefit of US Utility Patent Application 10 / 351,664, filed January 27, 2003, publication number 2003 / 0199997. This application also claims the benefit of: U.S. Provisional Application 60 / 373404, filed April 8, 2002; U.S. Provisional Application 60 / 718,393, filed September 19, 2005; U.S. Provisional Application, filed September 19, 2005 60 / 718581; U.S. Provisional Application 60 / 718899, filed September 20, 2005; U.S. Provisional Application 60 / 728928, filed October 20, 2005; and U.S. Provisional Application 60 / 728929, filed October 20, 2005; All of these applications are hereby incorporated by reference. technical field [0004] The systems, methods, application programming interfaces (...

Claims

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Application Information

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IPC IPC(8): G06F11/00
Inventor 高志强R·米克罗索维克A·拉德克周万坤郑青
Owner CLEVELAND STATE UNIVERSITY
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