24 results about "Differentiator" patented technology

An electronic circuit includes a fast-settling threshold estimator for determining a fast-settling threshold voltage which includes a maximum peak detector that receives an analog signal containing digital data and produces an estimate of a maximum value of the analog signal; a differentiator that produces an output voltage responsive to a change in the estimate of a maximum value of the analog signal; a preselected voltage coupled to a comparator that outputs a pulse when the output voltage is greater than the preselected voltage; a minimum peak detector that produces an estimate of a minimum value of the analog signal; and an averaging circuit that produces a weighted average of the estimate of a maximum value of the analog signal and the estimate of a minimum value of the analog signal. In one embodiment, the fast-settling threshold estimator is coupled to a bit slicer and to a RF receiver.

This invention provides an improved sliding mode active disturbance rejection control (ADRC) method and system for an automotive shimmy system based on an electromagnetic linear actuator. Addressing the system's strong nonlinear characteristics and unknown external disturbances, a mathematical model of the automotive shimmy system based on the electromagnetic linear actuator is established. A nonlinear tracking differentiator is constructed to process the desired input signal of the wheel shimmy angle, rationally arrange the transient process, and synchronously extract the differential signal of the desired signal. A continuous and smooth Ifal function is constructed based on trigonometric sine and inverse proportional functions, and a novel extended state observer is designed to estimate the system's internal and external disturbances in real time. A super-helical sliding mode control law based on the hyperbolic tangent function is designed to replace the error feedback control law in the traditional ADRC, outputting a control voltage. This invention effectively estimates and compensates for the impact of vehicle state parameter changes, model uncertainties, and external disturbances on system stability, improving dynamic performance and control accuracy, and exhibiting good robustness and anti-interference capabilities.

This utility model relates to an ultra-wideband radar sensor chip architecture, including a signal generator, a transmit link, and a receive link. The signal generator generates a first clock signal and a second clock signal. The first clock signal is output to the transmit link, and the second clock signal is output to the receive link. The transmit link includes a first pulse generator, a differentiator, and a transmit multiplexer with multiple transmit branch channels. The receive link includes a second pulse generator, a mixer, a receive multiplexer with multiple receive branch channels, a low-pass filter, an automatic gain control amplifier, and an analog-to-digital converter. This ultra-wideband radar sensor chip architecture adopts a multi-transmit, multi-receive approach, allowing each channel to operate independently in a time-division multiplexing manner, improving radar detection accuracy and resolution, and significantly expanding the application range of radar sensors.

A system for Large Language Model (LLM) based differentiation, the system including a processor configured to receive input data associated with an entity, classify the input data to a descriptive class, command an adaptive web crawler to retrieve descriptive content associated with the descriptive class, extract a plurality of positioning signals from the input data associated with the entity, generate a contrast score for each positioning signal of the plurality of positioning signals by comparing the plurality of positioning signals to the descriptive content, encode the contrast score into a differentiator profile including at least one categorical tag and at least one weighted relationship for each positioning signal, modify a generation behavior of a base LLM using the differentiator profile as a conditioning input and generate, by the base LLM conditioned on the differentiator profile, one or more differentiator outputs.

The application relates to a flexible mechanical arm control method and system based on a fractional order complementary sliding mode, and the method comprises the following steps: constructing a flexible mechanical arm dynamics model according to mechanical arm related parameters, a hypothetical modal method and a Lagrange method; decoupling the flexible mechanical arm dynamics model according to a singular perturbation method to generate a slow variable subsystem model and a fast variable subsystem model; establishing a super-helix extended state observer according to the slow variable subsystem model and generating an observed disturbance value; generating a fractional order complementary sliding mode control law according to a flexible mechanical arm position tracking error; generating a trajectory tracking control law according to a tracking differentiator, the observed disturbance value and the fractional order complementary sliding mode control law; generating a vibration suppression control law according to the fast variable subsystem model, a super-helix algorithm and a mechanical arm end vibration amount; and combining the trajectory tracking control law and the vibration suppression control law to generate a total control law. The control precision is improved through the fractional order complementary sliding mode, and chattering is effectively suppressed.

This application belongs to the field of DC bus voltage control, specifically disclosing a super-spiral sliding mode active disturbance rejection control method based on an RBF neural network, including the following steps: establishing a mathematical model of a bidirectional Buck / Boost circuit; designing an active disturbance rejection controller, which includes a tracking differentiator and an extended state observer; using an RBF neural network to dynamically optimize the gain parameters of the extended state observer in real time; constructing a super-spiral integral sliding mode controller to replace the nonlinear state error feedback loop in the active disturbance rejection controller; calculating a current reference signal based on the output signal of the tracking differentiator and the observation signal of the extended state observer through the super-spiral integral sliding mode controller; generating a drive signal based on the current reference signal to control the bidirectional Buck / Boost circuit to maintain the stability of the DC bus voltage. This application can effectively improve the stability and disturbance rejection capability of the DC microgrid bus voltage.

The application discloses a kind of based on anti-step sliding mode self-disturbance mechanical arm trajectory tracking control method and system, belong to robot control technical field.The system includes: sliding mode tracking differentiator, for the desired trajectory arrangement transition process and extract high-quality differential signal;Linear extended state observer, for real-time estimation system state and total disturbance, improve observation speed and noise suppression ability;Anti-step sliding mode controller, for generating control torque and ensuring the stability of closed-loop system and tracking desired trajectory in finite time.The application integrates anti-step method and sliding mode control into the framework of self-disturbance, overcomes the defects of slow convergence speed, stability proof difficulty and other defects of traditional self-disturbance control, significantly improves the trajectory tracking accuracy and robustness of mechanical arm in complex disturbance environment, suitable for high-precision operation scenarios such as industrial robot, medical robot.

This invention provides a simulation method for test equivalent signals based on the Euler discrete model. It primarily solves the problem of equivalent generation of gyroscope angle signals in test equivalent converters, enabling high-precision reproduction of the complex dynamic angle changes of an aircraft during flight. This overcomes the difficulty of accurately simulating gyroscope angle signals during ground testing. First, using predetermined aircraft pitch channel altitude trajectory data, a fast differentiator is used to solve for the differential data of the altitude and horizontal trajectories, thereby solving for the aircraft pitch angle and pitch velocity data. Then, the Euler method is used to establish a discrete measurement model of the gyroscope, solving for the measured value of the pitch velocity. Considering the influence of error drift, integration is performed to obtain the gyroscope's measurement signal of the pitch angle. This outputs a high-precision result of the gyroscope angle changes during high-altitude flight. This method has the advantages of high simulation accuracy and good agreement with reality.

The present application relates to a kind of vibration compensation effect simulation evaluation system and method based on VCO phase accumulation, system includes arbitrary waveform generator, analog differentiator, voltage-controlled oscillator, real-time compensation module, oscilloscope and host computer, arbitrary waveform generator generates a sine wave signal as analog speed quantity, and input voltage-controlled foot of voltage-controlled oscillator and analog differentiator, analog differentiator will signal after processing input to real-time compensation module, integral follow-up signal exported by real-time compensation module and the modulation signal output by voltage-controlled oscillator enter oscilloscope and be collected record, oscilloscope is connected with host computer by USB, data stream is transmitted to host computer and is carried out automatic calculation processing.The present application adopts pure electronic signal simulation scheme, vibration signal is generated by signal generator, while input is measured compensation module and the phase accumulation reference circuit based on VCO, constructs double-path parallel processing verification architecture.The system significantly improves the development test efficiency of compensation system.

A receiver of a light detection and ranging system includes at least one silicon photomultiplier (SiPM) sensor. A SiPM output signal of the at least one SiPM sensor is processed by an active non-inverting differentiator. The differentiator outputs an output signal which is based at least in part on the SiPM output signal, and a signal-to-nose ration (SNR) of the output signal is equal to or greater than the SNR of the SiPM output signal as the differentiator is configured to differentiate in a portion of a frequency domain of the SiPM output signal. The input of the differentiator is an input with active input impedance.

This application relates to a LiDAR system, a differentiator device for a LiDAR system, and a method of operating a LiDAR system. The receiver of the LiDAR system includes at least one silicon photomultiplier tube (SiPM) sensor. The SiPM output signal of the at least one SiPM sensor is processed by an active non-inverting differentiator. The differentiator outputs an output signal that is at least partially based on the SiPM output signal, and the signal-to-noise ratio (SNR) of the output signal is equal to or greater than the SNR of the SiPM output signal because the differentiator is configured to differentiate within a portion of the frequency domain of the SiPM output signal. The input of the differentiator is an input with an active input impedance.

This invention relates to a predetermined-time fuzzy backstepping control method for a fractional-order decoupled dual-mass MEMS gyroscope with delay constraints and actuator faults, belonging to the field of MEMS gyroscope control technology. The method includes: S2: establishing a fractional-order motion equation for the decoupled dual-mass MEMS gyroscope with actuator faults based on the Lagrange equations to eliminate the influence of linear acceleration and vibration at the same frequency; S3: constructing a β-cut 2 type fuzzy logic system to address the uncertainties and nonlinear terms of the system model; superimposing a delay error function on a specified time function to ensure that the error does not violate the constraints after a finite time; using a fractional-order hyperbolic tangent tracking differentiator in the controller design to handle direct fractional derivatives and repeated derivatives; and finally, combining the β-cut 2 type fuzzy logic system to establish a control law with an adaptive law for fault parameters.

The application discloses a tilt-rotor attitude control method, device, medium and product, relates to the field of aviation control, and comprises the following steps: acquiring a desired attitude angle signal of a tilt-rotor aircraft and a real-time feedback attitude angle state quantity; inputting the desired attitude angle signal and the attitude angle state quantity into an improved active disturbance rejection controller to calculate a control increment; wherein the improved active disturbance rejection controller comprises a tracking differentiator, an extended state observer and a nonlinear state error feedback law; combining the control increment with an initial state trimming control quantity of a tilt-rotor model to obtain a final model control quantity; and performing attitude control on the tilt-rotor aircraft according to the final model control quantity; the attitude control comprises pitch channel control, roll channel control and yaw channel control, the application can quickly adapt to dynamic changes in the transition stage, avoid control quantity chattering or slow response, and realize high-precision stable control of the tilt-rotor unmanned aerial vehicle.

The application relates to a low signal-to-background ratio GM-APD laser radar distance parameter estimation method based on a multi-scale tracking differentiator, relates to the technical field of laser radar detection imaging, solves the problem that in the condition of a low signal-to-background ratio, the echo of a GM-APD laser radar is easily submerged by strong noise, leading to the degradation of distance parameter estimation performance and low target restoration degree, a double-scale tracking differentiator system is constructed, large-scale factors are used to capture the transient mutation characteristics of echo signals, and small-scale factors are used to estimate the overall evolution trend of the signals; the residual signals are obtained by taking the difference of the double-scale outputs, and are combined with the nonlinear mapping enhancement of the photon trigger probability characteristics, so that the noise is deeply suppressed and the target peak value is highlighted, and the peak threshold method is used to complete distance calculation. The method is free from the dependence on complex statistical models and spatial prior information, and uses a nonlinear dynamic tracking mechanism to realize the extraction of target information.

The application discloses a kind of underwater robot self-adaptive anti-disturbance method and system based on heterogeneous dynamics, it is related to underwater robot motion control technical field, comprising: using tracking differentiator to smooth original instruction into desired position, speed and acceleration;According to tracking error, real-time calculation adaptive observer bandwidth and update gain;Actual state, speed and lumped disturbance are estimated by extended state observer;Linear sliding mode self-disturbance rejection control law is used to generate virtual control force for translation channel, and nonsingular terminal sliding mode self-disturbance rejection control law is used to generate virtual control moment for rotation channel, wherein sign function is replaced by smooth saturation function;Integrate six degrees of freedom virtual moment vector;It is mapped into each propeller thrust instruction by pseudo-inverse matrix.The application suppresses sensor noise amplification by adaptive variable bandwidth, considers translational stability and rotational rapid correction by position and attitude heterogeneous decoupling control, effectively reduces thrust buffeting, and improves trajectory tracking and hovering accuracy.

Integrating ADC based sensing systems that convert the output of a measurement sensor to a digital value avoid conversion errors caused by sensor temperature variation during the conversion cycle. The systems may either include a primary integrating ADC and a residue ADC, and adjust rate of operation of the ADCs independently according to a sensed temperature of the measurement sensor, or the systems may differentiate an output of the residue ADC, and apply a temperature correction in accordance with the sensed temperature of the sensor to an output of the differentiator, integrate the temperature-corrected output of the differentiator and then combine the result with the output of the primary integrating ADC.

The application provides a kind of PEMFC air management system anti-interference control method considering dead zone effect, and relates to fuel cell technical field.Firstly, according to the mathematical model of PEMFC air management system, single-input single-output PEMFC nonlinear system is obtained;Based on the mechanism of dead zone effect, the input voltage dead zone model of air compressor is established, and then the state space model of PEMFC air management system is established;Based on the state space model, controllable standard PEMFC nonlinear system is obtained;Then, a tracking differentiator is designed to estimate the system output and its derivative variable;Then, a single neural network is used to approximate the lumped uncertainty in the system;Design a neural network hybrid adaptive learning rate to speed up the convergence of the neural network, realize the rapid and stable control of air flow;Considering the composite disturbance composed of dead zone and external disturbance, a nonlinear disturbance observer is constructed to estimate the composite disturbance, and the anti-interference control of PEMFC air management system is realized.

The application provides a permanent magnet synchronous motor backstepping sliding mode control method based on a hybrid nonlinear tracking differentiator, and relates to the technical field of permanent magnet synchronous motor control. First, a model of the permanent magnet synchronous motor is established. Based on the model of the permanent magnet synchronous motor, a system state equation is established, a backstepping control law is designed based on the system state equation, and a backstepping sliding mode control law is obtained according to the backstepping control law. The backstepping sliding mode control method of the permanent magnet synchronous motor provided in the application improves the operation stability and energy efficiency of the permanent magnet synchronous motor during use.

The application relates to a BP neural network-based self-disturbance control method for a maglev train suspension system. The method comprises the following steps: approximating the maglev train suspension system at an equilibrium point as a second-order system by using linearization processing technology, adopting a third-order extended state observer to estimate the gap signal and the speed signal of the system output and realizing compensation on the disturbance; obtaining the tracking signal and the differential signal of the target signal by a tracking differentiator, and forming corresponding error signals with the obtained signals; inputting the obtained error signals into a PD controller, feeding back and compensating the output of the controller by the extended state observer, and obtaining the input signal of the system; applying the input signal of the system to the suspension system, suspending the vehicle body on the track and obtaining the output signal of the system; transmitting the error signal and the output signal of the system to a BP neural network to optimize the parameters of the extended state observer; and repeating the above steps. The application realizes the control of the maglev train suspension system with strong anti-disturbance and real-time and accurate estimation of the disturbance.

This invention discloses a fixed-time adaptive force / position control method for a hydraulic robotic arm. Addressing the problems of unmeasurable system velocity, model uncertainty, and the impact of external disturbances on control accuracy, this invention innovatively proposes a fixed-time differential-sliding mode observer. The unmeasurable velocity is estimated using a fixed-time differentiator, and the disturbance force is simultaneously estimated using a fixed-time sliding mode observer, overcoming the limitations of complex parameter tuning in traditional fixed-time extended state observers. Based on this, a command filtering and adaptive mechanism are integrated into the backstepping framework to construct a fixed-time command filtering adaptive force / position controller based on this observer. This method incorporates fixed-time stability theory into state observation and control law design, making the upper bound of the system convergence time independent of the initial state. This enables high-precision trajectory and force tracking control within a fixed time frame and effectively improves the system's robustness and control performance under unknown disturbances.

The application relates to a single-degree-of-freedom multi-point cooperative suspension control method, which comprises the following steps: establishing a dynamic model of a multi-point suspension system of an active magnetic suspension bearing; establishing a cascade double-closed-loop control structure, introducing a current inner loop, reducing the order of the dynamic model, and obtaining a second-order dynamic equation; based on the second-order dynamic equation, respectively constructing a tracking differentiator and an adaptive linear extended state observer, and obtaining an adaptive linear active disturbance rejection controller; establishing a coupling cooperative compensator and integrating the same into a linear error feedback control law of the adaptive linear active disturbance rejection controller, and obtaining an adaptive linear active disturbance rejection cooperative controller; and adopting the adaptive linear active disturbance rejection cooperative controller to perform single-degree-of-freedom control on the multi-point suspension system of the active magnetic suspension bearing, and completing a multi-point cooperative suspension control process. Compared with the prior art, the application has the advantages of improving overall anti-interference capability and synchronous coordination capability.

The application relates to the technical field of radar signal processing and vital sign monitoring, in particular to a scene weak constraint heartbeat signal extraction method based on millimeter wave perception. Firstly, a micro-motion frequency band energy accumulation and adaptive beam forming algorithm are used to realize robust positioning and spatial signal enhancement of a human target; secondly, a weighted fusion model based on multi-distance gate phase consistency is constructed, and a circle fitting and differential cross-multiplication algorithm is combined to reconstruct a high-quality phase signal under a low signal-to-noise ratio; finally, a cascaded frequency domain harmonic trap and a physical enhancement algorithm based on a weighted noise suppression differentiator are used to eliminate respiratory interference and highlight the heart beat feature. The method can effectively solve the technical problems of heartbeat signal extraction difficulty and waveform distortion in a complex environment, and further realizes reconstruction of a high-fidelity heartbeat waveform.