73 results about "Adaptive observer" patented technology

A disclosed apparatus comprises an adaptive observer that has an adaptive element to augment a linear observer to enhance its ability to control a nonlinear system. The adaptive element comprises a first, and optionally a second, nonlinearly parameterized neural network unit, the inputs and output layer weights of which can be adapted on line. The adaptive observer generates the neural network units' teaching signal by an additional linear error observer of the nominal system's error dynamics. The adaptive observer has the ability to track an observed system in the presence of unmodeled dynamics and disturbances. The adaptive observer comprises a delay element incorporated in the adaptive element in order to provide delayed values of an actual output signal and a control signal to the neural network units.

The invention relates to an unmanned aerial vehicle longitudinal flight control system fault detection and separation method based on nonlinear adaptive observers. According to the invention, based onan unmanned aerial vehicle longitudinal nonlinear model, a set of nonlinear adaptive observers are designed for actuator and sensor faults of a longitudinal flight control system; a fault separationproblem is transformed into a model matching problem; by referring to the idea of a contribution analysis method, a fault estimation value and the fault direction, which are acquired by each adaptiveobserver, are used to contribute a contribution function, and standardization is carried out; the optimal matching model is determined by selecting the maximum standardized contribution function; andfinally, the maximum standardized contribution function is compared with a threshold value, and fault detection and separation results are acquired. According to the invention, a new reference index is provided for model matching by referring to the contribution analysis method; an analytical model is used to design the nonlinear adaptive observers to acquire a reliable fault estimation value andfault direction; and the problem that the fault direction is difficultly determined in a data driving method is overcome.

Systems, methods, and devices which estimate the inductor current in a power factor correction (PFC) converter for use with AC / DC converters. A control system for use with the PFC takes as input the input voltage and the output voltage of the PFC. Control signals for power semiconductor subcircuits in the PFC are then output from the control system. The control system uses an adaptive observer sub-circuit that estimates the inductor current and the bus voltage. The adaptive observer uses an adaptive updater which uses both the estimates and the estimate error to update the adaptive observer's estimates.

The present invention discloses a flexible spacecraft sensor fault adjustment method, belonging to the field of aerospace flight control technology. A fault estimation module and a fault tolerance controller are mainly employed by the flexible spacecraft sensor fault adjustment method, and the method comprises the steps that: a filter and an adaptive observer are employed to form a fault estimation module; fault estimation information and sensor output signals are employed to establish the fault tolerance controller through combination of adaptive integral sliding mode control technology; through adoption of the Lyapunov stability theory, the asymptotic stability of a system is proved in a condition of generation of sensor faults; and finally, a simulation experiment result proves the validity of the method provided by the invention. The fault tolerance control problem when sensor measurement offset faults are generated in an operation process of a flexible spacecraft is solved so thataccurate control of an attitude angle in the sensor fault condition is achieved and the system has a high tolerance capability for the faults; and moreover, the method fully takes the consideration of disturbances generated by spacecraft parameter uncertainty and flexible accessories in the design process and is suitable for engineering application.

Systems, methods, and devices related to controlling a DC / AC converter. A control system uses a nonlinear adaptive observer to estimate the state variables iinv and vC using a sensed grid current and a bus voltage as inputs. For non-observable points (such as when the duty cycle=0.5), the required information can be found from the DC bus voltage.

In a control apparatus for a synchronous motor, a coordinate converter converts a detected current into a current on rotational biaxial coordinates (d-q axis). A current controllers outputs a voltage command on the coordinates so that the current follows a current command on the coordinates. Another coordinate converters converts the voltage command into three-phase voltage commands. An adaptive observer calculates an angular frequency so that a q-axis component of an estimated rotor magnetic flux is zero. An inverter applies a voltage to the motor based on the voltage command.

The invention discloses a method for identifying the stator resistance and the rotor resistance online in an asynchronous motor speed sensorless system. According to the method, a controller constructs an adaptive observer using direct or indirect field-oriented control. First, the given signal of the motor rotor flux amplitude is a trapezoidal wave (including DC component), and the given signal can be composed of a flat given part and a slope given part; and then, the observer self-adapts to the stator resistance and speed when the actual rotor flux amplitude keeps up with the flat given part, and the observer self-adapts to the rotor time constant and speed when the actual rotor flux amplitude tracks the slope given part. The method is of high universality. The problem that simultaneous identification of the stator resistance and the rotor resistance in a speed sensorless system is difficult is overcome. The accuracy of speed identification is improved. The control performance of rotors in a full-speed range is improved.

The present invention provides a position sensorless control method of a high performance permanent magnet synchronous motor during emergency operation, which can accurately detect a magnetic pole position of the synchronous motor based on a position sensorless vector control using an adaptive observer configured based on a permanent magnet synchronous motor model.

The present invention relates to a permanent magnet synchronous motor (PMSM) speed sensorless adaptive rotating speed tracking control system and a design method thereof. Based on adaptive non-lineardamping, a robustness adaptive observer is constructed to estimate the rotating speed of a motor, the permanent magnet synchronous motor speed sensorless adaptive rotating speed tracking control system and the design method thereof are suitable for PMSM rotating speed tracking control having parameter perturbation or time varying, unknown non-linear and extraneous disturbance, do not need to estimate nondeterminacy parameters of the system or the extraneous disturbance, can ensure that all the dynamic signals of a closed-loop system have boundaries, and the design parameters are regulated, theobserver estimation errors and the motor rotating speed tracking errors can be subjected to convergence to be arbitrarily small.

A method of estimating stator resistance of a permanent magnet synchronous machine, when the permanent magnet synchronous machine is controlled with an inverter using a control system having an adaptive observer which is augmented with a signal injection, the adaptive observer having a stator resistance estimate ({circumflex over (R)}s) as a parameter, in which method an error signal (ε) is obtained from the signal injection, a speed correction term (ωε) is calculated from the error signal (ε), the rotor position estimate is corrected using the speed correction term (ωε) in the adaptive observer, whereby the error signal (ε) is driven to zero. The method comprises the step of correcting the value of the stator resistance estimate ({circumflex over (R)}s) in the adaptive observer when the speed correction term (ωε) differs from zero.

The invention discloses an actuator and sensor fault estimation design method for a switching system. The method comprises the steps: 1) building a continuous time switching system model, and completing the preparation work; 2) designing a fault estimation observer, and designing observer parameters to obtain a gain matrix of the fault estimation observer; and 3) accurately estimating a state actuator fault fa (t), a sensor fault fs (t) and measurement disturbance omega (t) of the system on line. Compared with the prior art, the self-adaptive observer serves as a fault diagnosis observer, therobustness of a fault diagnosis system to external disturbance is met, an error system is made to be stable, the H-infinity performance index is met, and accurate on-line estimation on actuator and sensor faults of the system is achieved.

The invention relates to a speed sensorless control method for a permanent magnet synchronous motor (PMSM) based on an MRAC observer. The method is characterized by connecting an improved model reference adaptive observer module based on a super-helical sliding mode to a PMSM speed regulating system to detect the rotor position and the rotational speed of the motor; inputting the stator current idand iq in a two-phase rotating coordinate system and a voltage reference value ud and a voltage reference value uq output by two current loop PI controllers into the model reference adaptive observermodule based on the super-helical sliding mode; and obtaining, by the model reference adaptive observer module based on a super-helical sliding mode, an estimated motor speed [ometa]e and a rotor angular position [theta] for speed feedback and PAR transformation and IPARK transformation after processing the data. The method replaces a PI link in a traditional model reference adaptive observer bya super-spiral sliding mode algorithm, so that the PMSM speed regulating system has good robustness and anti-interference performance, and improves the estimated accuracy of the motor speed and the rotor position.

A method of estimating stator resistance of a permanent magnet synchronous machine, when the permanent magnet synchronous machine is controlled with an inverter using a control system having an adaptive observer which is augmented with a signal injection, the adaptive observer having a stator resistance estimate ({circumflex over (R)}s) as a parameter, in which method an error signal (ε) is obtained from the signal injection, a speed correction term (ωε) is calculated from the error signal (ε), the rotor position estimate is corrected using the speed correction term (ωε) in the adaptive observer, whereby the error signal (ε) is driven to zero. The method comprises the step of correcting the value of the stator resistance estimate ({circumflex over (R)}s) in the adaptive observer when the speed correction term (ωε) differs from zero.

The invention discloses a permanent magnet synchronous motor state estimation method based on a fuzzy variable structure model reference adaptive observer. A new model reference adaptive observer is constructed for the estimation of a rotating speed according to the stator voltage and current which are detected in real time. The novel observer is characterized in that the problems of DC bias and error accumulation caused by a pure integration link in an observer through the improvement of a pure integrator in a conventional model reference adaptive observer and the introduction of a PI correction link of a stator flux linkage observation error. Meanwhile, aiming at a problem that a system cannot achieve the detection of the rotating speed in a larger speed range, a fuzzy variable structureadaptive rule is designed. The method provided by the invention still has better estimation performances even under the conditions that there are DC bias and error accumulation, and improves the dynamic tracking performance and estimation precision of the position and speed of a rotor.

A method of controlling an electric vehicle including an internal combustion engine, a battery having a state of charge (SOC) and an open circuit voltage (OCV), includes establishing a system for estimating battery SOC. The system includes (i) a parameter estimation subsystem including a recursive parameter estimator for identifying battery parameters and (ii) an OCV estimation subsystem including a nonlinear adaptive observer for estimating battery OCV. Estimated battery OCV is related to estimated battery SOC by a mapping. An output is generated based on the estimated battery SOC.

The invention discloses a nonlinear self-healing control method for a multi-sensor fault of a hypersonic flight vehicle, and the method comprises the steps: obtaining a longitudinal affine nonlinear system of the hypersonic flight vehicle through employing an input and output feedback linearization technology for a longitudinal nonlinear model of a cruise stage of the hypersonic flight vehicle; establishing a sliding mode surface for the obtained system, and designing a sliding mode controller under a fault-free condition; and injecting a multi-sensor constant deviation fault into an originalhealth system, and designing a fault estimation scheme. Specifically, a nonlinear adaptive observer is designed for a speed channel; aiming at a height channel, a backstepping sliding mode observer isdesigned to estimate a state quantity and a sensor fault; and after a fault estimation result of the height sensor and the speed sensor is obtained, a fault-tolerant controller is designed to compensate output signals of the height sensor and the speed sensor. The method can solve the problem of fault-tolerant control under the condition that the longitudinal system of the hypersonic aircraft suffers from speed and angle channel multi-sensor faults, and the self-healing capacity of the system is improved.

The invention discloses a self-adaptive fault-tolerant control method for a hypersonic aircraft, and the method specifically comprises the steps: carrying out the modeling of a hypersonic aircraft system, and considering the dynamic impact on the system from the modeling uncertainty of external interference and the like; establishing a robust adaptive observer by considering an H-infinity performance index, obtaining a design condition through Lyapunov stability analysis, and ensuring estimation error convergence in the presence of interference. An active fault-tolerant controller is constructed, so that a fault system is stable, and a certain H-infinity performance requirement is met. A semi-physical simulation platform of the hypersonic aircraft is built, and the effectiveness of the proposed fault estimation and fault-tolerant control scheme is verified on the semi-physical simulation platform. According to the invention, the precision of the observer is improved, and the external interference is better inhibited.

The invention discloses a PMSM (permanent magnet synchronous motor) rotor position and rotating speed estimation method based on a decoupling adaptive observer, and the method comprises the steps: taking a decoupling voltage vector as an input quantity, and building a decoupling PMSM mathematic model; taking the mathematic model as a reference model, and constructing an adjustable model based on the estimated rotor position and rotating speed; carrying out the subtraction of the reference model and the mathematic model, carrying out Laplace transformation, obtaining the quantitative relation among a current estimation error, a rotor position estimation error and a rotating speed estimation error, and determining the adaptive rate of the observer according to the above. The built decoupling adaptive observer can achieve the decoupling of the rotor position and the rotating speed estimation, and the estimated rotor position and rotating speed are corrected at the same time through the current estimation error. The method belongs to a parallel estimation structure, so the method is higher in dynamic response performances.

The invention relates to an estimation method for false data attack of a load frequency control system. The method comprises the following steps: firstly, establishing a mathematical model of the load frequency control system according to a dynamic model of a power system; then, aiming at the situation that a power grid frequency measurement value and a tie line power measurement value are attacked by false data injection, analyzing the influence of an attack signal on a system state equation, and establishing a load frequency control system mathematical model containing a false data injection attack signal; then, designing a self-adaptive observer, and estimating a system state and an attack signal; and finally, solving the observer gain based on a linear matrix inequality method by using a Lyapunov stability theory and a robust H-infinity optimization index, and ensuring the convergence and the bounded property of an attack signal estimation error of the load frequency control system. According to the method provided by the invention, the false data injection attack signal of the load frequency system can be accurately estimated, the external interference can be suppressed, and the method has the advantages of simple design and easy engineering implementation, and has very high practical value.

The invention, which belongs to the technical field of power grids, discloses a method and device for detecting a voltage parameter of a three-phase power grid. Clark conversion is carried out on a collected grid voltage signal; an adaptive observer is established based on the signal after conversion; and a grid frequency as well as a positive sequence voltage component and a negative sequence voltage component is observed and amplitudes and phase angles of the positive sequence voltage component and the negative sequence voltage component of the grid are estimated. To be specific, three-phasevoltages of the power grid are collected; Clarke transformation is carried out to obtain a grid voltage under a coordinate system; an observer is constructed; a positive sequence voltage component and a negative sequence voltage component of the grid are calculated; and amplitudes and phase angles of the positive sequence voltage component and the negative sequence voltage component of the grid are calculated. The dynamic response speed is fast; and the method and device have high steady-state accuracy even when the grid frequency changes. The invention provides a method for detecting a voltage parameter of a three-phase power grid and a corresponding hardware circuit. And the dynamic response speed is fast; and the method has high steady-state accuracy even when the grid frequency changes.

The invention discloses a nonlinear system fuzzy fault-tolerant control method based on an adaptive observer, and relates to the design of an adaptive observer containing a nonlinear system, the design of a state estimator and the design of a fuzzy fault-tolerant controller. The invention designs an estimator based on a self-adaptive sliding mode for a fault problem in the non-linear system. Aiming at a state constraint problem of the nonlinear system, a logarithm-based Lyapunov function is constructed; in order to realize tracking control, a fuzzy fault-tolerant controller is designed. According to the method, the problems of fault and state estimation and tracking control of the nonlinear system under fault and state constraints can be effectively solved.

The invention, which belongs to the technical field of unmanned ship control, relates to an unmanned ship fault estimation method based on an iterative adaptive observer. The method comprises the steps: decomposing an unmanned surface vessel model containing steering engine failures and sensor failures into two subsystems simultaneously through coordinate transformation, enabling subsystem 1 to only contain steering engine failures and the subsystem 2 to only contain sensor failures; for the subsystem 1, designing an adaptive fault observer to estimate a steering engine efficiency factor; forthe subsystem 2, designing an iterative adaptive fault observer to estimate a sensor fault; and establishing an error equation of the subsystem 1 and the subsystem 2, and judging the stability of theerror system. According to the inbvention, accurate estimation of the fault condition of the unmanned ship system can be realized, and information such as the fault occurrence time, the development process and the severity degree of the fault is given, so that the safety of the unmanned ship can be conveniently monitored by an operation center; the steering engine failure condition and the sensorfailure condition of the unmanned ship can be estimated at the same time, so that the cost of fault-tolerant design is reduced.

The invention provides an attitude robust adaptive fault-tolerant control method for an unmanned aerial vehicle steering engine fault. The method comprises the following steps: observing a fault according to a current motor lift vector F, a current attitude angular velocity omega, a fault estimation value and a pre-designed sliding mode adaptive observer, determining and updating an attitude angular velocity estimation value, and calculating and updating an attitude angular velocity estimation error e omega according to the attitude angular velocity estimation value and the current attitude angular velocity omega; determining an attitude error quaternion eq according to the current attitude quaternion q and the target attitude quaternion qd; calculating a motor lift vector F according to apre-designed fault-tolerant controller so as to control and adjust the attitude of the unmanned aerial vehicle according to the motor lift vector; and estimating the error e omega and the attitude error quaternion eq according to the current motor lift vector F and the attitude angular velocity, and estimating and updating the fault estimation value according to the fault estimation value and theadaptive law. With application of the technical scheme, the influence of the unmanned aerial vehicle fault can be effectively overcome, the attitude stability is maintained, the calculation amount isgreatly reduced and the control efficiency is improved.

The invention provides a finite time self-adaptive stabilization control method and system for a mechanical arm system. The method comprises the steps of building a kinetic equation of the mechanical arm system, converting the kinetic equation into an equivalent Hamilton model, and then designing a finite time self-adaptive observer and a controller of the mechanical arm system to achieve expansion into a high-dimension Hamilton model; and constructing a Lyapunov function, proving that the zero-state response of a closed-loop system meets the condition that an L2 gain is not larger than the disturbance attenuation level through first-order derivation of the Lyapunov function, ensuring robust self-adaptive stabilization of the mechanical arm system, and proving that when the interference attenuation is zero, the system meets the condition of finite time stability, and converges in finite time to ensure the stability of the system. Based on the method, the invention further provides a finite-time self-adaptive stabilization control system for the mechanical arm system. According to the method and the system, the finite time observer closed-loop system is adopted, rapid convergence can be achieved, good robustness is achieved for external interference, and the self-adaptability of the mechanical arm system is improved.

The invention relates to a sensorless prediction torque control system for an asynchronous motor. The system comprises a first PI (proportional integral) controller, a model reference adaptive observer and an optimization module, wherein the first PI controller, the optimization module and the model reference adaptive observer are pairwise connected; the sensorless prediction torque control system for the asynchronous motor is connected with an inverter through the optimization module; the inverter is connected with the asynchronous motor. A reference module further comprises a sliding mode compensation module, and a torque and flux linkage prediction module is further arranged between the model reference adaptive observer and the optimization module. The system overcomes the defect of poor control accuracy of existing sensorless control for the asynchronous motor, an observation speed omega is acquired, a cost value gj of an assessment function is calculated, a reference voltage vector vs* produced when the gj is the minimum is acquired and is converted into a corresponding switching value Sa, b, c serving as control signals to control the inverter to output the optimal voltage value to the asynchronous motor, and the asynchronous motor is controlled at high precision.

The present invention provides a position sensorless control method of a high performance permanent magnet synchronous motor during emergency operation, which can accurately detect a magnetic pole position of the synchronous motor based on a position sensorless vector control using an adaptive observer configured based on a permanent magnet synchronous motor model.

A method and an apparatus for estimating an amount of drawn air of a cylinder and a method and an apparatus for controlling the amount of drawn air, are presented. An estimated value of an amount of drawn air of the cylinder, based on intake manifold pressure, is multiplied by a value of an identification parameter obtained by an adaptive observer, to obtain a final estimated value of an amount of drawn air of the cylinder. An accurate estimated value in a transient state as well as an estimated value not oscillating in a steady state can be obtained. Accordingly, accuracy of air-fuel ratio control can be remarkably increased.

The invention relates to a nonlinear multi-agent fault-tolerant controller design method and a storage medium. The design method comprises the following steps: constructing a kinetic equation of a nonlinear multi-agent system; designing a self-adaptive observer and a filtered tracking error function, converting the filtered tracking error function based on a signal obtained by the self-adaptive observer, and obtaining the converted filtered tracking error function to design a self-adaptive fault-tolerant controller. The solution existence of a multi-agent closed-loop system under any initial condition is realized, and asymptotic ground and asymptotic ground are satisfied. Compared with the prior art, the adaptive fault-tolerant controller is designed by applying the adaptive observer, the problem of asymptotic tracking of a follower and a leader of a nonlinear multi-agent system affected by partial failure faults of the actuator and external interference is solved, gain offline calculation of the observer is avoided, and the influence of the external interference is inhibited.

A permanent magnet synchronous motor current type position estimation method for wind power generation based on an adaptive observer and a position estimation device. The position estimation device comprises a current sensor, a signal amplifier, a filter and a position estimator. The current sensor acquires phase current of the permanent magnet synchronous motor. The acquired signal is processed by the signal amplifier and the filter. The processed signal is transmitted to the position estimator, thereby estimating the position of the permanent magnet synchronous motor. The position estimator is obtained through operating the permanent magnet synchronous motor current type position estimation method for wind power generation according to the invention by a CPU. The permanent magnet synchronous motor current type position estimation method for wind power generation and the position estimation device are beneficial in that motor position estimation efficiency is improved because the method can be easily realized.