Line spectrum active vibration absorption device and control method
By using a line spectrum active vibration absorption device and an adaptive algorithm for energy constraint, the problems of poor robustness and positive energy input in traditional active vibration absorbers when working in multi-channel collaborative mode are solved, and the stability and efficient vibration absorption effect of independent vibration absorption units are realized.
Patent Information
- Application Number
- CN202511582575.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-31
- Publication Date
- 2026-02-06
AI Technical Summary
Traditional active vibration absorbers have poor robustness and stability when working in multi-channel coordinated operation, resulting in poor control performance. Furthermore, in decentralized control, they may input positive energy into the controlled system, leading to increased vibration.
An active vibration absorption device using line spectrum is employed, which utilizes an inertial exciter, sensor, and controller to form an independent vibration absorption unit. Combined with an energy-constrained adaptive algorithm, a control method is designed using the LMS algorithm to avoid inputting positive energy into the controlled system and achieve stable vibration absorption.
It achieves stability and reliability of distributed control, reduces system complexity and cost, and allows each vibration absorption unit to work independently without affecting the overall operation, thus avoiding exacerbation of vibration.
Smart Images
Figure CN121474301A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of vibration control technology, and in particular relates to a line spectrum active vibration absorption device and control method. Background Technology
[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.
[0003] With the rapid development of high-end equipment manufacturing and precision instrument industries, line spectrum-type vibration interference has become a key challenge restricting the operational accuracy and service life of equipment. Traditional passive vibration absorbers achieve efficient suppression of vibration energy by resonating with the controlled object at a specific frequency. However, since their core parameters such as mass and stiffness are fixed and cannot be adjusted, they are difficult to meet the requirements of operating conditions with dynamic changes in vibration frequency.
[0004] Active vibration absorbers add sensors, controllers, and actuators to traditional vibration absorbers. They monitor the vibration of the controlled object in real time and actively adjust their own parameters to accurately counteract the vibration, effectively supplementing traditional methods. However, when a large number of vibration absorbers need to work together, centralized control not only places extremely high demands on the controller's performance but also lacks system adaptability and flexibility. If a component in the system fails, it may affect the normal operation of the entire vibration absorption system, resulting in poor vibration absorption. Distributed control precisely compensates for this shortcoming, but when a large number of vibration absorbers work together, traditional distributed control suffers from poor robustness and stability, resulting in unsatisfactory control performance. Summary of the Invention
[0005] The purpose of this invention is to provide a line spectrum active vibration absorption device and control method. It proposes an adaptive algorithm with energy constraints to avoid inputting positive energy into the controlled system, thereby solving the problems of poor robustness and stability and poor control effect of traditional distributed control.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of this invention provides a line spectrum active vibration absorption device, which has multiple vibration absorption units, each of which is an independent functional carrier, including an inertial exciter and a sensor; the inertial exciter includes a shell, a moving magnet, and a base plate; the shell is a hollow cylinder, with its lower surface connected to the base plate; the moving magnet has an annular tubular structure and is placed on both sides inside the shell, and the magnetic field generated by the moving magnet forms a loop along the wall of the annular tubular structure; the sensor includes an end cap accelerometer and a base plate accelerometer; the end cap accelerometer is placed on the moving magnet, and the base plate accelerometer is placed on the base plate.
[0007] Furthermore, the moving magnet includes a yoke, a permanent magnet, an iron core, and an end cap; the iron core, the yoke, and the permanent magnet together form the moving magnet, and the end cap is placed on the upper side of the iron core.
[0008] Furthermore, the end cap accelerometer is placed on the end cap.
[0009] Furthermore, the device also includes a controller; the input of the controller is connected to the sensor, and the output is connected to the inertial exciter.
[0010] Furthermore, the controller consists of an analog-to-digital converter, a signal processor, and a digital-to-analog converter. Specifically, the input end of the analog-to-digital converter is connected to a sensor, converting the analog signal collected by the sensor into a digital signal, and the output end transmits the digital signal to the signal processor; the signal processor outputs a control signal and transmits it to the digital-to-analog converter; the output end of the digital-to-analog converter drives the inertial exciter.
[0011] Furthermore, the device also includes a power amplifier; the output of the controller drives an inertial exciter to absorb vibration by connecting the power amplifier.
[0012] A second aspect of the present invention provides a control method for a line spectrum active vibration absorption device, employing a line spectrum active vibration absorption device as described in the first aspect, the method comprising: S1: Obtain a sine or cosine signal with the same frequency as the line spectrum vibration as the input signal; S2: The end cap accelerometer and the base plate accelerometer respectively acquire the acceleration of the inertial exciter and the acceleration of the controlled object, and transmit them as vibration signals to the controller; S3: Estimate the transmission path from the controller output to the inertial exciter, to the end cover acceleration sensor, and to the base plate acceleration sensor, respectively; S4: The acceleration signal of the controlled object is picked up by the base plate accelerometer, and the signal picked up by the base plate accelerometer is integrated to obtain the vibration velocity of the controlled object; the acceleration signal of the inertial exciter is picked up by the end cap accelerometer, and the signal picked up by the end cap accelerometer is multiplied by its inertial equivalent mass to obtain the output resultant force of the inertial exciter; the output power of the inertial exciter is obtained based on the vibration velocity and the output resultant force. S5: By combining the acceleration of the controlled object with the output power of the inertial exciter, an adaptive algorithm with energy constraints is designed based on the LMS algorithm to control the output power of the exciter, thereby controlling the acceleration of the controlled object.
[0013] Furthermore, the signal processor in the controller runs an adaptive algorithm with energy constraints and outputs a control signal, which is then transmitted to the digital-to-analog converter (DAC). The output of the DAC is connected to a power amplifier, which in turn drives the inertial exciter, thereby controlling the output power of the exciter.
[0014] Furthermore, the objective function of the energy-constrained adaptive algorithm is as follows:
[0015] in, The output power of the inertial exciter; J represents the objective function, and E is the desired value. This represents the power weight dynamic adjustment function. The square of the signal picked up by the base plate accelerometer; The formula for updating the filter weight coefficients is:
[0016]
[0017] in, The convergence factor is These are the filter weight coefficients at time n; The filter weight coefficients at time n+1 are the result of the algorithm iteration update at time n. This represents the update amount of the filter coefficients; for The reference signal estimated through a specific transmission path is as follows: starting from the controller output, passing through the inertial exciter, and finally being transmitted to the base plate acceleration sensor. for The reference signal estimated through a specific transmission path is as follows: starting from the controller output, passing through the inertial exciter, and finally being transmitted to the end cap acceleration sensor. The acquired sine or cosine signal has the same frequency as the vibration of the line spectrum; The signal picked up by the end cap accelerometer; The signal picked up by the base plate accelerometer; The equivalent inertial mass of the inertial exciter; , They are respectively , The signal after integration.
[0018] Furthermore, the algorithm follows these principles: Perform adaptive updates: when hour, Approaching 0, the algorithm does not control It only controls the acceleration of the controlled object; when hour, exist The influence of this rapidly increases, causing the algorithm to reduce... Mainly.
[0019] The technical solution of the present invention has the following beneficial effects: The active vibration absorption device proposed in this invention can work in a distributed and coordinated manner, avoiding the use of multi-channel lumped controllers, which can effectively reduce system complexity and cost.
[0020] The distributed design of this invention makes each vibration absorber an independent control unit, so the failure of an individual unit will not affect the overall operation, resulting in higher reliability. Each vibration absorber's controller can run its algorithm independently, operating without the need for an external centralized module. The algorithm limits the positive energy input from each vibration absorber to the controlled object, thereby ensuring the stability of the entire control system.
[0021] The control method proposed in this invention can ensure the overall stability of distributed multi-channel control by limiting the output power of each active vibration absorption device; under the action of the control method, each independent vibration absorption unit will not input positive energy into the controlled system, thereby avoiding the aggravation of vibration of the controlled system.
[0022] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.
[0024] Figure 1 This is a structural diagram of the inertial exciter of the first embodiment.
[0025] Figure 2 This is a flowchart of the algorithm for the second embodiment.
[0026] In the diagram: 1. Outer shell; 2. Base plate; 3. Moving magnet; 4. Yoke; 5. Permanent magnet; 6. Iron core; 7. End cap; 8. Upper leaf spring; 9. Lower leaf spring; 10. Coil; 11. Coil frame; 12. End cap accelerometer; 13. Base plate accelerometer. Detailed Implementation
[0027] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.
[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0029] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.
[0030] Because the operating conditions and environments of each vibration absorber differ, lumped control requires adjustments to the control system for different conditions, resulting in poor flexibility. As the number of vibration absorbers increases further, the number of channels and computational load of lumped control increase dramatically, leading to higher system costs. Furthermore, when using lumped control, a failure in a single control unit can cause instability in the entire control system, resulting in lower fault tolerance.
[0031] In contrast, distributed control offers significant advantages. Distributed control allows each vibration absorber to be controlled independently. This reduces the performance requirements of the controller, lowers costs, and improves the system's adaptability and flexibility. Each vibration absorber can adjust its control strategy in real time based on its own operating status and changes in the surrounding environment to achieve optimal vibration absorption. Furthermore, distributed control has better fault tolerance; if one vibration absorber fails, it will not have a significant impact on the operation of the entire system.
[0032] In traditional distributed control, multiple vibration absorption units may input positive energy into the controlled system. To address this issue, this invention introduces an adaptive algorithm with energy constraints. The algorithm runs independently within the controller of each vibration absorber unit, and each unit is a complete vibration absorption entity. The algorithm can prevent a single vibration absorption unit from inputting positive energy into the controlled system, so that multiple vibration absorption units will not input positive energy into the controlled object when working together.
[0033] Example 1 This embodiment discloses a line spectrum active vibration absorption device, which has multiple vibration absorption units. Each vibration absorption unit is an independent functional carrier, including a complete inertial exciter, sensor, controller and power amplifier.
[0034] Specifically, the inertial exciter structurally includes a housing 1, a moving magnet 3, a coil 10, an upper leaf spring 8, a lower leaf spring 9, and a base plate 2. The housing 1, a rigid hollow cylinder, provides support and fixation, with its lower surface connected to the base plate 2, which is an integral part of the housing 1. The moving magnet 3 has an overall annular tubular structure, positioned on both sides within the housing 1. The magnetic field generated by the moving magnet 3 forms a loop along the wall of the annular tubular structure. An annular gap is provided on the upper end face of the moving magnet 3, and the coil 10 is located within this annular gap. The upper leaf spring 8 and lower leaf spring 9, fixed within the housing 1, are circular plate-shaped elastic structures that support the upper and lower sides of the moving magnet 3, respectively, holding the moving magnet 3 within the housing and limiting its non-axial displacement.
[0035] In this embodiment, the inertial exciter also includes a coil frame 11; the coil frame 11 is located in the annular gap, one end of which is connected to the outer shell 1, and is integral with the outer shell 1; the coil 10 is fixed on the coil frame 11.
[0036] Specifically, the sensors include an end cap accelerometer 12 and a base plate accelerometer 13; the end cap accelerometer 12 is placed on the moving magnet 3, and the base plate accelerometer 13 is placed on the base plate 2. The acceleration of the moving magnet 3 is measured by the end cap accelerometer 12, and the acceleration of the controlled object is measured by the base plate accelerometer 13, and the control algorithm is designed based on this.
[0037] In this embodiment, the moving magnet 3 includes a yoke 4, a permanent magnet 5, an iron core 6, and an end cap 7; the upper side of the yoke 4 is connected to an upper leaf spring 8, and the lower side is connected to the permanent magnet 5. The permanent magnet 5 is connected to the iron core 6, and the iron core 6, the yoke 4, and the permanent magnet 5 together enclose the moving magnet 3 with an annular gap on the upper end face; the end cap 7 is placed on the upper side of the iron core 6, and the end cap acceleration sensor 12 is placed on the end cap 7.
[0038] Specifically, the controller consists of an analog-to-digital converter, a signal processor, and a digital-to-analog converter. The controller's input is connected to the end cap accelerometer 12 and the base plate accelerometer 13, and its output drives an inertial vibrator via a power amplifier to achieve vibration absorption. The signal processor is used to run an adaptive active vibration absorption algorithm, implementing combined acceleration and power vibration absorption control.
[0039] In this embodiment, the input end of the analog-to-digital converter is connected to the sensors (end cap accelerometer 12 and base plate accelerometer 13), converting the analog signals collected by the sensors into digital signals, and the output end transmits the digital signals to the signal processor; after the signal processor runs the algorithm, it outputs a control signal and transmits it to the digital-to-analog converter; the output end of the digital-to-analog converter is connected to the power amplifier to drive the inertial exciter to achieve vibration absorption.
[0040] The distributed design makes each vibration absorber an independent control unit, so the failure of an individual absorber will not affect the overall operation, resulting in higher reliability. The end cap acceleration sensors and the base plate acceleration sensors play a crucial role in the entire device, accurately sensing the acceleration changes of the inertial exciter and the controlled object, and converting the actual physical quantities into electrical signals that can be processed by subsequent algorithms.
[0041] Example 2 This embodiment discloses a control method for a line spectrum active vibration absorption device, employing a line spectrum active vibration absorption device from Embodiment 1. The method includes: S1: Obtain a sine or cosine signal with the same frequency as the line spectrum vibration as the input signal; S2: The end cap accelerometer and the base plate accelerometer respectively acquire the acceleration of the inertial exciter and the acceleration of the controlled object, and transmit them as vibration signals to the controller; S3: Estimate the transmission path from the controller output to the inertial exciter, to the end cover acceleration sensor, and to the base plate acceleration sensor, respectively; S4: The acceleration signal of the controlled object is picked up by the base plate accelerometer, and the signal picked up by the base plate accelerometer is integrated to obtain the vibration velocity of the controlled object; the acceleration signal of the inertial exciter is picked up by the end cap accelerometer, and the signal picked up by the end cap accelerometer is multiplied by its inertial equivalent mass to obtain the output resultant force of the inertial exciter; the output power of the inertial exciter is obtained based on the vibration velocity and the output resultant force.
[0042] S5: By combining the acceleration of the controlled object with the output power of the inertial exciter, an adaptive algorithm with energy constraints is designed based on the LMS algorithm to control the output power of the exciter, thereby controlling the acceleration of the controlled object.
[0043] Specifically, the algorithm structure is as follows: Figure 2 As shown: Input signal This is a sinusoidal or cosine signal with the same frequency as the vibration of the line spectrum. This signal can be synthesized using a frequency estimator, a tachometer, or directly acquired by other sensors at the vibration source location. Gain The equivalent inertial mass of the exciter. and These are the vibration signals acquired by the end cap accelerometer and the base plate accelerometer, respectively, when no active control is applied. The core function of the control filter is to filter the input signal; this processing takes place within the signal processor. To control the output signal of the filter; and There are two transmission paths: from the controller to the inertial exciter, and then to the end cover accelerometer and the base plate accelerometer, respectively. and These are the estimates for the two transmission path models, respectively. , These are the reference signals after being estimated and filtered by the corresponding models. , These represent the acceleration generated at the end cover and base plate after the controller output signal travels through the corresponding transmission path, and the superposition of the acceleration at the end cover and base plate when no active control is applied. , They are respectively , The signal after integration.
[0044] The specific control methods are as follows: Input signal First, it passes through a control filter. Output signal ; Along the actual transmission path , Transmission; at this time, the signals picked up by the base plate acceleration sensor and the end cap acceleration sensor are the superposition signals of the original acceleration signal before the application of active control and the control acceleration signal generated at the base plate and end cap after passing through the corresponding transmission path; simultaneously The propagation path is estimated by the model. , Generate filtered reference signal , ;Right now, for The reference signal estimated through a specific transmission path is as follows: starting from the controller output, passing through the inertial exciter, and finally being transmitted to the end cap acceleration sensor. for The reference signal estimated through a specific transmission path is as follows: starting from the controller output, passing through the inertial exciter, and finally being transmitted to the base plate acceleration sensor. Generated by integration , Points obtained ; and Multiply and then add Multiply, and Multiply and then add Multiplication, combination and The product of these signals is then input into an energy-constrained adaptive algorithm based on the LMS algorithm to dynamically adjust the signal. , so that the control signal It precisely counteracts vibrations and avoids inputting positive energy, ultimately achieving stable vibration absorption.
[0045] Specifically, the objective function of the adaptive algorithm with energy constraints is as follows:
[0046] in, The output power of the inertial exciter; J represents the objective function of the algorithm, and E is the desired symbol. This represents the power weight dynamic adjustment function. This is the square of the signal picked up by the base plate accelerometer.
[0047] The formula for updating the filter weight coefficients is:
[0048]
[0049] in, The convergence factor is These are the filter weight coefficients at time n; The filter weight coefficients at time n+1 are the result of the algorithm iteration update at time n. This represents the update amount of the filter coefficients.
[0050] In this embodiment, Two adaptive update methods are available.
[0051] First type of expression:
[0052] in, For unit step function, For adjustment coefficients; when hour, The algorithm does not require control of the output power of the inertial exciter. At this point, the cost function is ;when At this time, the exciter will output positive energy to the controlled object. The exciter may exacerbate the vibration of the controlled object. In this case, the algorithm cost function is: , exist The influence of this rapidly increases, causing the algorithm to reduce... This is the primary method, thereby preventing the exciter from exacerbating the vibration of the controlled object.
[0053] The first expression has a special case: after the algorithm converges, the output power of the exciter to the controlled object is... It is greater than 0 and in a steady state. Based on this, the second expression is:
[0054] in, Use sufficiently small positive numbers to prevent problems caused by computational precision; when hour, rapidly decrease to When the value is approximately zero, the exciter is in an energy-absorbing state and will not aggravate the vibration of the controlled object; the algorithm only controls the acceleration of the controlled object. hour, Rapidly increasing, allowing the algorithm to reduce Primarily, thus suppressing power; when hour, The algorithm stops updating and converges to a steady state.
[0055] The second expression, while achieving the functionality of the first expression, solves the problem of power convergence to a positive value.
[0056] The active vibration absorption device can operate independently or in multi-unit collaborative operation, implementing distributed multi-channel control. Under the control method, each independent vibration absorption unit will not input positive energy into the controlled system, thereby preventing the vibration of the controlled system from intensifying.
[0057] The apparatus and method of Embodiment 1 correspond to Embodiment 2. For the specific apparatus structure, please refer to the relevant description section of Embodiment 1.
[0058] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.
[0059] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.
Claims
1. A line spectrum active vibration absorption device, characterized in that, The device has multiple vibration absorption units, each of which is an independent functional carrier, including an inertial exciter and a sensor. The inertial exciter includes a shell, a moving magnet, and a base plate. The shell is a hollow cylinder with its bottom surface connected to the base plate. The moving magnet has an annular tubular structure and is placed on both sides inside the shell. The magnetic field generated by the moving magnet forms a loop along the wall of the annular tubular structure. The sensor includes an end cap accelerometer and a base plate accelerometer. The end cap accelerometer is placed on the moving magnet, and the base plate accelerometer is placed on the base plate.
2. The line spectrum active vibration absorption device as described in claim 1, characterized in that, The moving magnet includes a yoke, a permanent magnet, an iron core, and an end cap; the iron core, the yoke, and the permanent magnet together form the moving magnet, and the end cap is placed on the upper side of the iron core.
3. The line spectrum active vibration absorption device as described in claim 2, characterized in that, The end cap accelerometer is placed on the end cap.
4. The line spectrum active vibration absorption device as described in claim 1, characterized in that, The device also includes a controller; the input of the controller is connected to the sensor, and the output is connected to the inertial exciter.
5. The line spectrum active vibration absorption device as described in claim 4, characterized in that, The controller consists of an analog-to-digital converter, a signal processor, and a digital-to-analog converter. Specifically, the input terminal of the analog-to-digital converter is connected to a sensor, which converts the analog signals collected by the sensor into digital signals, and the output terminal transmits the digital signals to the signal processor; the signal processor outputs control signals and transmits them to the digital-to-analog converter. The output of the digital-to-analog converter drives an inertial exciter.
6. The line spectrum active vibration absorption device as described in claim 4, characterized in that, The device also includes a power amplifier; the output of the controller drives an inertial exciter to absorb vibration by connecting the power amplifier.
7. A control method for a line spectrum active vibration absorption device, employing a line spectrum active vibration absorption device as described in any one of claims 1-6, characterized in that, The methods include: S1: Obtain a sine or cosine signal with the same frequency as the line spectrum vibration as the input signal; S2: The end cap accelerometer and the base plate accelerometer respectively acquire the acceleration of the inertial exciter and the acceleration of the controlled object, and transmit them as vibration signals to the controller; S3: Estimate the transmission path from the controller output to the inertial exciter, to the end cover acceleration sensor, and to the base plate acceleration sensor, respectively; S4: The acceleration signal of the controlled object is picked up by the base plate accelerometer, and the signal picked up by the base plate accelerometer is integrated to obtain the vibration velocity of the controlled object; the acceleration signal of the inertial exciter is picked up by the end cap accelerometer, and the signal picked up by the end cap accelerometer is multiplied by its inertial equivalent mass to obtain the output resultant force of the inertial exciter; the output power of the inertial exciter is obtained based on the vibration velocity and the output resultant force. S5: By combining the acceleration of the controlled object with the output power of the inertial exciter, an adaptive algorithm with energy constraints is designed based on the LMS algorithm to control the output power of the exciter, thereby controlling the acceleration of the controlled object.
8. The control method for the line spectrum active vibration absorption device as described in claim 7, characterized in that, The signal processor in the controller runs an adaptive algorithm with energy constraints, outputs a control signal, and then transmits it to the digital-to-analog converter. The output of the digital-to-analog converter is connected to a power amplifier, which in turn drives an inertial exciter, thereby controlling the output power of the exciter.
9. The control method for a line spectrum active vibration absorption device as described in claim 7, characterized in that, The objective function of the adaptive algorithm with energy constraints is as follows: in, The output power of the inertial exciter; J represents the objective function, and E is the desired value. This represents the power weight dynamic adjustment function. The square of the signal picked up by the base plate accelerometer; The formula for updating the filter weight coefficients is: in, The convergence factor is These are the filter weight coefficients at time n; The filter weight coefficients at time n+1 are the result of the algorithm iteration update at time n. This represents the update amount of the filter coefficients; for The reference signal estimated through a specific transmission path is as follows: starting from the controller output, passing through the inertial exciter, and finally being transmitted to the base plate acceleration sensor. for The reference signal estimated through a specific transmission path is as follows: starting from the controller output, passing through the inertial exciter, and finally being transmitted to the end cap acceleration sensor. The acquired sine or cosine signal has the same frequency as the vibration of the line spectrum; The signal picked up by the end cap accelerometer; The signal picked up by the base plate accelerometer; The equivalent inertial mass of the inertial exciter; , They are respectively , The signal after integration.
10. The control method for a line spectrum active vibration absorption device as described in claim 9, characterized in that, The algorithm follows these principles: Perform adaptive updates: when hour, Approaching 0, the algorithm does not control It only controls the acceleration of the controlled object; when hour, exist The influence of this rapidly increases, making the algorithm reduce Mainly.