67 results about "Feedback controller" patented technology

This invention discloses an asynchronous, non-fragile H∞ control method and system for a rotating inverted pendulum, belonging to the field of robust control technology for DC motor rotating inverted pendulums. Addressing the problems of modal asynchrony, controller gain perturbation, time-varying delay, and quantization error in DC motor rotating inverted pendulum systems, this invention proposes an asynchronous, non-fragile H∞ control framework. The main steps include: constructing a Markov jump singular perturbation system model with time-varying delay and variable quantization density; designing an asynchronous, non-fragile output feedback controller for the rotating inverted pendulum, compatible with controller gain perturbation and quantization uncertainty; and deriving the linear matrix inequality conditions through modal-dependent Lyapunov functions to ensure the system's exponential stability in finite time and to meet the preset H∞ performance index. This invention can effectively improve the robustness and stability of DC motor rotating inverted pendulums under attack and parameter perturbation scenarios.

Embodiments described herein relate to an apparatus that includes a stepper motor, a driver chip communicatively coupled to the stepper motor, an encoder communicatively coupled to the stepper motor, and a feedback controller communicatively coupled to the driver chip and the encoder. In an embodiment, the feedback controller includes a state space plant configured to receive a control signal and generate a vector including a position and velocity of the stepper motor. In an embodiment, the feedback controller further includes a pulse width modulation (PWM) converter configured to receive the vector and output a first PWM signal corresponding to a number of steps to drive the stepper motor and a second PWM signal corresponding to a direction of the number of steps of the stepper motor. In an embodiment, the feedback controller further includes a Luenberger observer configured to receive a feedback signal from the encoder.

This invention discloses a control method, device, and system for suppressing current ripple in a coreless brushed DC motor, belonging to the field of DC motor control. The method includes: using an H-bridge Buck converter as the driving topology to provide smooth voltage; designing a state feedback controller based on its state-space model to adjust the dynamic current response; simultaneously designing nonlinear disturbance observers to compensate for matched disturbances in the inductor branch and unmatched disturbances and their derivatives in the capacitor branch; innovatively designing a multi-channel quasi-resonant proportional-integral resonant observer to observe and compensate for the unmatched periodic disturbances caused by motor component commutation, with higher precision; and finally synthesizing a composite control law to drive the motor. The device and system correspondingly implement the above method. Compared with higher-order disturbance observers, the multi-channel quasi-resonant proportional-integral resonant observer proposed in this invention significantly improves the compensation capability for unmatched periodic disturbances, effectively suppressing current ripple in the coreless motor and improving torque stability.

This invention discloses a fault-tolerant and vibration suppression control method for rigid-flexible coupled robots based on synchronous disturbance observation and dynamic event triggering. The method includes: establishing a large-deformation dynamic model of the rigid-flexible coupled robot mechanism and constructing rigid coordinates, flexible modal coordinates, and control targets; establishing an actuator effectiveness decay fault model and transforming the original underactuated system into an equivalent fully actuated model oriented towards trajectory tracking; designing a fixed-time synchronous disturbance observer based on error dynamics to estimate external disturbances and composite uncertainties online; constructing a dynamic event triggering mechanism and a time-synchronous fault-tolerant sliding mode control law to achieve synchronous convergence of the system state to the sliding surface within a fixed time; introducing a hybrid reference trajectory and virtual input to establish an augmented state model and designing a robust linear quadratic state feedback controller. This invention achieves coordinated control of trajectory tracking and flexible vibration suppression under conditions of external disturbances, actuator failures, and limited communication resources.

This provides a feedback control system for optimizing the performance of a grid-interactive building (GIB) system configured to regulate the indoor environment of a building. [Solution] The feedback control system comprises a time-series underlying model that predicts disturbances affecting the building's energy consumption, and a probabilistic feedback controller configured to determine control inputs to the GIB system by evaluating multiple control actions for the GIB system based on the predicted disturbances, wherein the probabilistic feedback controller maximizes the likelihood that the control inputs achieve desired indoor environmental conditions while minimizing energy consumption. The feedback mechanism of the feedback control system fine-tunes the time-series underlying model and updates the probabilistic feedback controller using real-time data including indoor environmental conditions, actual energy consumption, and external factors.

A control device for controlling a brake of a vehicle includes an arbitrating unit configured to receive motion requests for a plurality of actuators, which are used for controlling a motion of the vehicle, from a plurality of application requesting units related to driving support functions and to arbitrate the received motion requests, a command distributing unit configured to distribute commands to controllers for controlling the actuators based on an arbitration result obtained by the arbitrating unit, and a feedback controller configured to feed back a control record value indicating the motion of the vehicle, which is measured by using sensor units, to the application requesting units and to realize the motion of the vehicle requested by the application requesting units.

The application provides a wind turbine load control method based on wind wheel thrust, relates to the wind turbine regulation and control field, and obtains wind wheel thrust load; the wind wheel thrust load is low-pass filtered to obtain expected wind wheel thrust load; the cut-off frequency Wc of the filter is selected by performing spectrum analysis on a wind speed signal; the cut-off frequency selection method is that the cut-off frequency Wc of the thrust load low-pass filter is selected as a frequency threshold value lower than a preset frequency threshold value and a wind energy ratio reaching 90% of total wind speed spectrum energy; the expected wind wheel thrust load is taken as a control target, feedback control is performed on actual wind wheel thrust, a nonlinear feedback controller is established, and the pitch angle is dynamically adjusted according to the amplitude of the deviation of the actual thrust load from the expected wind wheel thrust load. The method can dynamically adjust the pitch angle through the nonlinear feedback controller, and the purpose of optimizing the fatigue and limit load related to the wind wheel thrust of the wind turbine is achieved.

This utility model discloses a servo-driven quantitative valve, including a valve body. A connecting seat is disposed on the top of the valve body. A connecting frame is fixedly connected to the end of the connecting seat away from the valve body. A planetary reducer is fixedly connected to the end of the connecting frame away from the connecting seat. A servo motor is disposed at the end of the planetary reducer away from the connecting frame. A motor servo is disposed in the middle of one side of the servo motor. A closed-loop feedback controller is disposed at the end of the servo motor away from the planetary reducer. This utility model incorporates a motor servo and a closed-loop feedback controller. The built-in controller reduces dependence on an external PLC, lowers integration complexity, and achieves precise position and speed control through a feedback loop. Combined with a precision planetary reducer, it can achieve micron-level position control, eliminate accumulated errors, and improve product quality.

The application relates to the technical field of medical data processing, and discloses a critical patient multi-organ function failure evolution path prediction system, which comprises a collection and preprocessing module, an adaptive dynamic characteristic extraction module, a physical dissipation constraint causal topology analysis module, a closed-loop feedback controller and a cascade failure path deduction module. The system extracts dynamic characteristics and calculates a physical effectiveness coefficient based on multi-modal physiological signals, uses the coefficient to correct transfer entropy to construct a multi-organ coupling network; the closed-loop feedback controller dynamically adjusts the embedding dimension parameter of the front-end characteristic extraction according to the total in-degree coupling strength of the network, forming a bidirectional constraint closed loop between the physical layer and the information layer. The application can effectively identify a pathological driving source, deduce the cascade propagation sequence of organ function failure, eliminate false causal connections through physical mechanism constraint and feedback regulation, and improve the accuracy of evolution path prediction.

The application relates to the technical field of robot control, and discloses a biped robot walking control method based on model predictive control and a landing point optimization. The method aims to solve the problems of insufficient stability and poor adaptability of the prior art when coping with external disturbances and uneven terrains. The core of the application is to perform optimization control on the supporting leg and the swing leg respectively: model predictive control (MPC) is adopted to realize real-time optimization of the three-dimensional ground reaction force of the supporting leg, so that the effective support of the supporting leg on the torso is ensured; meanwhile, a gait stability feedback controller is designed, real-time state feedback is provided through a state observer, the swing leg trajectory is optimized, the landing point position of the robot is dynamically corrected, and the anti-interference ability of the system is enhanced.

The present application provides a power supply device, a power supply unit, and a test device. The power supply device (100) includes a plurality of power supply units (200) connected in series. Each of the power supply units (200) includes an output stage (210) that generates an output voltage (Vi) corresponding to a control signal (Vctrl) between a positive output (OUTP) and a negative output (OUTN). A current detector (250) of a main channel generates a current detection signal (Is) representing an output current of the output stage (210). A feedback controller (240) generates the control signal (Vctrl) so that the current detection signal (Is) approaches a target value (Iref).

This invention discloses a memory-based dynamic event triggering control method for a single-link robotic arm system based on spoofing attacks. The method first establishes a Markov model of the single-link robotic arm system based on Markov jump system theory, considering a system model with a general transition rate. Next, a mode-dependent memory controller is designed to overcome the influence of spoofing attacks and external disturbances on the system. A memory-based dynamic event triggering mechanism is also designed to reduce communication transmission frequency. Compared with existing memoryless event triggering schemes, this scheme utilizes a series of recently released signals and introduces a threshold function and an internal dynamic factor, which can automatically adjust according to the triggering error. Finally, vertex separator processing is introduced to address the uncertainty in the Markov transition rate. A mode-dependent state feedback controller is designed to control the stochastic stability of a single-link robotic arm system. When applied to a single-link robotic arm system, this method ensures the normal operation of the system under spoofing attacks and disturbances.

A temperature control system includes a thermal medium on which an object of which temperature is to be controlled is mounted, a resistant thermal actuator installed on the thermal medium and configured to perform heating and / or cooling, a power controller configured to supply controlled power to the resistant thermal actuator, a resistant main sensor configured to detect the temperature of the thermal medium, a resistance value measurement unit configured to detect characteristic resistance of at least one of the resistant thermal actuator and / or the resistant main sensor, and a feedback controller configured to calculate a measurement error or an error of the resistant thermal actuator and / or the resistant main sensor from the characteristic resistance, and based on the measurement error or the error, generate a power control signal compensated for the power controller.

This invention provides an active bias magnetization cancellation method and system based on grid-side reverse DC injection. Based on metro operating data, a bias magnetization feedforward prediction model is used to predict the DC bias magnetization trend caused by stray currents. Based on the DC current value and the DC bias magnetization trend, a hybrid feedback controller integrating sliding mode control and proportional-integral-derivative (PID) algorithm is used to generate a compensation current signal. Based on the compensation current signal, a silicon carbide-based bidirectional DC-DC converter installed at the transformer neutral point is controlled to output a reverse DC injection current with controlled amplitude and polarity. This current is used to generate a magnetomotive force in the transformer opposite to the DC bias magnetization trend, thus actively canceling the transformer's DC bias magnetization. This shifts the focus of the control from the traditional metro side to the grid side, eliminating the need to modify the metro system. Active bias magnetization cancellation can be achieved simply by connecting a silicon carbide-based bidirectional DC-DC converter on the grid side, reducing modification costs and complexity, and contributing to the safe and stable operation of the power system.

This invention provides a control method and system for a five-degree-of-freedom marine crane in a non-inertial frame, relating to the field of crane automatic control technology. The method includes: acquiring the real-time state variables of the crane in a non-inertial frame; inputting the state variables into an adaptive radial basis function neural network to obtain a lumped disturbance estimate, the neural network being designed based on a five-degree-of-freedom dynamic model established in the ship's coordinate system using the Lagrange equations and the principle of virtual work, considering the ship's six-degree-of-freedom motion and installation position offset; calculating a tracking error function based on the state variables and the desired trajectory; inputting the disturbance estimate and the error function into a feedback controller to calculate and generate a control torque, which is then output to the actuator to drive the crane to track the desired trajectory and suppress load sway. This invention achieves direct modeling and control in a non-inertial frame, solving the coordinate transformation disturbance and singularity problems caused by inertial frame modeling, and improving trajectory tracking accuracy and disturbance rejection robustness.

The present application relates to a kind of laser automatic frequency locking methods based on similarity recognition spectrum, comprising: S1, digital PID feedback controller is to laser output sweep voltage;S2, obtain the spectrum signal of laser output under current sweep voltage;S3, whether there is target spectrum in current spectrum signal based on similarity recognition algorithm is determined, if exists, execute step S4;If target spectrum is not identified, adjust sweep voltage and return to execute step S1;S4, based on the locking point of similarity coefficient peak position determination current characteristic spectrum;S5, after obtaining locking point, based on the frequency locking parameter of locking point determination current characteristic spectrum, control digital PID feedback controller is based on the control amount of the frequency locking parameter and carries out PID control locking.This method can achieve the finding of various spectral characteristic peaks and locking point, wide applicability, small environmental interference and method recognition efficiency is high.

The application belongs to the technical field of drilling trajectory control, and specifically discloses a drilling trajectory azimuth control method with drilling pressure fluctuation suppression, which comprises the following steps: establishing a nonlinear delay differential equation describing the evolution relationship between the drilling trajectory azimuth and the bottom hole assembly azimuth; separating and modeling the drilling pressure change term in the equation as a drilling pressure uncertainty term to obtain a trajectory azimuth dynamic state equation containing the drilling pressure uncertainty term; based on the state equation, a double-loop control system containing an inner loop and an outer loop is constructed, the inner loop comprises a state observer and an angle estimator, and the outer loop comprises an inner model controller and a state feedback controller; a Lyapunov function is constructed based on the state space equation of the double-loop control system, the system robust stability condition is converted into a linear matrix inequality through stability analysis, and the gain matrix of the state observer and the state feedback controller is solved to obtain the gain matrix of the state observer and the state feedback controller. The application can effectively suppress the influence of drilling pressure fluctuation on drilling trajectory azimuth control.

This invention relates to the field of rescue communication technology, and discloses a remote interaction system and method for mine disaster scenarios. The method receives and separates mixed multipath signals in real time, extracts the instantaneous phase difference and signal amplitude envelope between the main signal and the reflected signal, assesses the risk of instantaneous phase collapse, and generates an early warning. Subsequently, a feedback controller generates a pre-interference signal following the principle of minimum disturbance based on the early warning information, and injects it into the transmission link through a fast modulator. This performs microsecond-level adversarial adjustment on the main signal, actively disrupting the coherent cancellation conditions that could lead to complete communication interruption. This invention achieves proactive defense against zero-signal black holes, effectively preventing rescue robots from losing control due to instantaneous disconnection of commands and video data without interrupting the communication link, significantly improving the reliability of communication and operational safety in mine disaster rescue.

The application discloses a driving control method of a wheel-legged cargo carrying robot, and relates to the field of robot control. The method comprises the following steps: collecting a current state vector of the wheel-legged cargo carrying robot; outputting a current action in response to the current state vector by a trained reinforcement learning intelligent agent, wherein the current action comprises a first parameter adjustment amount and a second parameter adjustment amount at a current time; outputting a first control amount and a second control amount of the wheel-legged cargo carrying robot at the current time by a first feedback controller and a second feedback controller respectively, wherein the control parameters of the first feedback controller and the second feedback controller at the current time are determined according to the first parameter adjustment amount and the second parameter adjustment amount at the current time; fusing the first control amount and the second control amount at the current time by taking a mode participation coefficient as a fusion weight to obtain a current fusion control amount; and performing real-time control on the wheel-legged cargo carrying robot according to the current fusion control amount. The method has strong robustness.

The application relates to the technical field of brushless direct-current motors, in particular to an optimization control method for a permanent magnet brushless direct-current motor servo system, which comprises the following steps: S1.1: obtaining an equivalent system basic model of the permanent magnet brushless direct-current motor servo system; S1.2: improving the equivalent system basic model of the permanent magnet brushless direct-current motor servo system, and establishing a compound repetitive control law; and S1.3: optimizing control of the parameters of the equivalent system basic model of the permanent magnet brushless direct-current motor servo system. The application proposes a repetitive control system parameter optimization method based on an improved disturbance estimator compensation, establishes an optimization control model of system parameters based on the stability of the system, realizes synchronous optimization design of the parameters of a system repetitive controller, an improved disturbance estimator and a feedback controller, and makes the system simultaneously have satisfactory non-periodic disturbance suppression performance and periodic signal tracking performance.

A dynamic control architecture for regulating high-fidelity information processing during runtime execution is disclosed. The system bifurcates processing into a first pathway configured to generate a low-latency, low-cost reference representation and a second pathway configured to generate a higher-fidelity representation that incurs greater computational, energetic, or temporal cost. An Executive Gate selectively permits, suppresses, or terminates execution or propagation of the higher-fidelity pathway based on control signals generated by a feedback controller. The feedback controller integrates cumulative resource expenditure over a bounded processing episode and evaluates representational divergence between outputs of the first and second pathways. When cumulative metrics exceed one or more thresholds, inhibitory control is applied to suppress continuation of high-fidelity processing. The architecture supports episodic, reversible gating without erasing stored representations and is applicable to software systems, hardware implementations, integrated circuits, neuromorphic devices, and conceptual or neuro-inspired models.

This invention discloses a verifiable neural network-based control method and system for a quadrotor unmanned aerial vehicle (UAV). The method includes: constructing a dynamic model of the quadrotor UAV and decoupling it into a slow-timescale outer loop for position and a fast-timescale inner loop for attitude; constructing a neural network state feedback controller and a Lyapunov function, respectively; performing joint iterative training of the neural network state feedback controller and the Lyapunov function in the outer and inner loops, and verifying their offline stability, outputting the certified maximum stability regions of the outer and inner loops for position and attitude; calculating the total thrust, desired attitude Euler angles, and three-axis torque commands; calculating the rotational speeds of each motor based on the total thrust and three-axis torque commands, driving the UAV, and feeding back the real-time outputs of position, velocity, attitude, and angular velocity of the UAV to the outer and inner loops for position and attitude, respectively, forming a closed-loop control. This invention can improve system stability while ensuring control performance.

An advanced forecasting and range estimation system for an electrified vehicle includes an electrified powertrain of the electrified vehicle, the electrified powertrain including at least one electric motor and an energy storage system and a control system of the electrified vehicle, the control system being configured to access navigation data for a future trip of the electrified vehicle and past or historical data for past trips of the electrified vehicle, calculate a weighted blend of a predicted road load power and a historic average road load power to obtain an estimation of a propulsive energy consumption rate for the electrified vehicle, calculate an estimation for a non-propulsive energy consumption rate based on base power consumption and feedback controller action, and estimate a final remaining range of the electrified vehicle based on the estimated propulsive and non-propulsive energy consumption rates.

This invention relates to the field of unmanned aerial vehicle (UAV) flight control technology, and provides a UAV trajectory tracking control method and system based on adaptive dynamic programming. The method includes: based on the expected value of the position loop, the estimated value of external disturbances, and the position tracking error, after obtaining the control input of the position subsystem through the control law of the position subsystem, the position coordinate vector and its first derivative are calculated using the position subsystem to update the position tracking error; and the estimated value of external disturbances is updated using a disturbance observer. Based on the Euler angle vector reference signal, the feedforward control input is calculated, and combined with the optimal feedback control input, the attitude subsystem control input is calculated. After calculating the Euler angle vector and its first derivative through the attitude subsystem, an adaptive dynamic programming method is used to design the optimal feedback controller for the nominal error system and update the optimal feedback control input. This ensures that the UAV system has strong robustness and optimal tracking performance within a finite time.

A voltage conversion device, a power supply system, and an interference suppression method are provided. The voltage conversion device includes a first input terminal, a feedback controller, a masking circuit, and a driving circuit. The feedback controller provides a switching signal according to a feedback voltage. The feedback voltage is generated based on an output voltage of the voltage conversion device. The masking circuit generates a processed switching signal by masking a part of time period of the switching signal according to one of another switching signal and another switching terminal signal of another voltage conversion device. The driving circuit provides the output voltage according to a first input voltage and the processed switching signal.