87 results about "Full order" patented technology

A methodology for process modeling and control and the software system implementation of this methodology, which includes a rigorous, nonlinear process simulation model, the generation of appropriate linear models derived from the rigorous model, and an adaptive, linear model predictive controller (MPC) that utilizes the derived linear models. A state space, multivariable, model predictive controller (MPC) is the preferred choice for the MPC since the nonlinear simulation model is analytically translated into a set of linear state equations and thus simplifies the translation of the linearized simulation equations to the modeling format required by the controller. Various other MPC modeling forms such as transfer functions, impulse response coefficients, and step response coefficients may also be used. The methodology is very general in that any model predictive controller using one of the above modeling forms can be used as the controller. The methodology also includes various modules that improve reliability and performance. For example, there is a data pretreatment module used to pre-process the plant measurements for gross error detection. A data reconciliation and parameter estimation module is then used to correct for instrumentation errors and to adjust model parameters based on current operating conditions. The full-order state space model can be reduced by the order reduction module to obtain fewer states for the controller model. Automated MPC tuning is also provided to improve control performance.

The invention provides a finite-time full-order sliding mode control method of a quadrotor unmanned aircraft. For the quadrotor unmanned aircraft whose model parameters are coupled in a non-linear manner, a full-order sliding mode control method is utilized and a one-order filter is adopted to design the finite-time full-order sliding mode control method of the quadrotor unmanned aircraft. The design of full-order sliding mode surfaces ensures the rapid and stable convergence of the system. In a practical control system, two full-order sliding mode surfaces including the design position and attitude angle are degisned as inner and outer control rings to realize rapid tracking of the aircraft, and the filter is added to improve the buffeting problem. The invention provides the finite-time full-order sliding mode control method of the quadrotor unmanned aircraft, based on the condition that the system model parameters are coupled in a non-linear manner, rapid convergence to a balance point in finite time of the system is ensured, the response speed of the system is increased, the buffeting of sliding mode control input is improved, and the rapid and stable tracking performance of the system is effectively realized.

The invention discloses a flux linkage error observation-based acquisition method of a full-order flux linkage observer of an asynchronous motor without a speed sensor and belongs to the field of a speed sensorless vector control full-order flux linkage observer. The problem that the existing speed sensorless vector control system causes low observation accuracy of the full-order flux linkage observer due to larger errors of motor parameters when a motor runs at low speed, and finally, the running stability of the system is poor is solved. A full-order flux linkage observer error feedback matrix coefficient is obtained according to the following rules, namely, the pole real part of the observer is smaller than the pole real part of an asynchronous motor, the real parts are both negative numbers, the zero pole real parts of an estimation rotation speed and a transfer function are both negative numbers, the error between an estimation flux linkage and a real flux linkage is utilized, when the motor runs at low speed, the equivalence of the system is a current model, and when the motor runs at high speed, the equivalence of the system is a voltage model. The rotor flux linkage phase position error coefficient ilambda is utilized and the rotor flux linkage amplitude error coefficient k is introduced, so that the estimation rotating speed precision is increased. The flux linkage error observation-based acquisition method of the full-order flux linkage observer of the asynchronous motor without the speed sensor is particularly used in the field of speed sensorless vector control.

The invention discloses a neural network full order slip form control method for a mechanical arm servo system, which, aiming at the mechanical arm servo system containing a dynamic execution mechanism, is designed by utilizing the full-order slip form control method and combining with the neural network. The full order slip form is designed to guarantee the finite time convergence of the system and can eliminate buffeting and singular problems by avoiding the differential item in a practical control system. Besides, the neural network is used for approaching unknown non-linearity of the system and non-determinacy of internal-external disturbance. The neural network full order slip form control method for a mechanical arm servo system realizes provides a method to eliminate the buffeting and the singularity problem of the surface of the slip form, effectively complements the unknown linearity and the control method of the internal-external disturbance, and realizes fast and stable control of the system.

The invention discloses an improved direct torque control method for model prediction of a permanent magnet synchronous generator, and belongs to the field of motor speed regulation. The improved direct torque control method is characterized in that a direct torque control for the model prediction of the permanent magnet synchronous generator is achieved on a static coordinate system on the basis of a full-order sliding-mode observer, so that use of a d-axis inductance parameter of the generator in the prediction process is avoided; and the robustness of a control system on a q-axis inductance parameter change of the generator is improved. Meanwhile, according to the method, coordinate transformation operation from the static coordinate system to a synchronous rotating coordinate system is avoided, so that the algorithm is simplified. In addition, a new target function is built on the basis of a virtual torque, so that a weight factor is eliminated and the system design is simplified.

The invention provides a permanent magnet synchronous motor full-order sliding mode variable structure position servo control method based on an extended state observer. The permanent magnet synchronous motor full-order sliding mode variable structure position servo control method comprises the following steps of establishing a permanent magnet synchronous motor system, and initializing system state and related control parameters; designing the extended state observer; based on the extended state observer, designing a full-order sliding mode controller, eliminating the chattering problem in sliding mode control, and guaranteeing that the system state can be quickly and stably converged to be zero. According to the full-order sliding mode variable structure position servo control method provided by the invention, the chattering problem of sliding mode control can be improved, the control precision of the system is improved, and the implementation for quick and accurate tracking on desired trajectories of motor output position is guaranteed.

The invention discloses a mechanical arm servo system full-order slide mold control method based on an extended state observer. The method comprises the following steps: establishing a dynamic model of a mechanical arm servo system, and initializing a system state and control parameters; designing the extended state observer; and based on the extended state observer, designing a full-order slide mold controller. The invention provided by the invention can effectively improve the problem of slide mold buffeting of conventional slide mold control in the mechanical arm servo system, improves the robustness of the system to a certain degree and enables the mechanical arm servo system to realize accurate tracking control.

The invention discloses an asynchronous motor model predictive control method based on an extended control set, which relates to the technical field of asynchronous motor. The discretization mathematical model and full-order observer mathematical model of asynchronous motor are established, and the collected signals are substituted into the model. The model is compensated for the time delay. The objective function of electromagnetic torque and flux linkage of induction motor is constructed. Expanding the voltage vector; Selection of optimal voltage vector; According to the switching state andduty cycle of the switching transistor corresponding to the selected optimal voltage vector, the on-time of the switching transistor is obtained, the value of the comparison register is updated, and the switching signal of the inverter is generated by the digital signal processor to complete the generation of the voltage vector modulation signal of the inverter. The advantages are that the controlset is extended, the problem of large torque ripple is solved, and the stability of steady-state operation of the system is improved.

A process allowing communication between a java code and an executable software file which permits the java code to receive an access to the internal system resources of the user's computer. The java code is arranged to be configured as a server in the client's configuration, by means of the establishment of a server socket communication channel. Once established, that socket communication channel is used for allowing a full ordered, error-free communication between the java code and the local executable file, thereby allowing the java code to take profit of the internal system resources of the user's computer. Preferably, the java code is received by the user through an Internet / Intranet network as an applet which thus receives an effective and powerful access to the system resources of the user's machine.

A method for the stabilization of full-order flux observers for speed-sensorless induction motors in the regenerative mode. The method comprises determining the current vector of the induction motor, determining the stator voltage vector of the induction motor, forming a full-order flux observer having a system matrix (A) and a gain matrix (L), the state-variable observer being augmented with a speed adaptation loop, and producing an estimated rotor flux linkage vector and an estimated stator current vector, determining an estimation error of the stator current vector, defining a correction angle, and forming a speed adapt-tion law based on the cross product of the estimation error of the stator current vector and the estimated rotor flux linkage vector, where the correction angle is used to turn the rotor flux linkage vector or the estimation error of the stator current vector in order to keep the observer stable.

A transmission apparatus for a DS / CDMA system including a multiple-input multiple output MIMO antenna system is disclosed. The apparatus includes a transmitter for transmitting data by applying a different scramble code to each transmitted data through a plurality of transmitting antennas. The apparatus also includes a receiver for receiving the transmitted data by obtaining a diversity gain based on the maximum order of the diversity in order to effectively detect the data. The present invention achieves an excellent detection performance by receiving data with a full order of diversity, which is a multiple of the number of receiving antennas and the number of multipath, without complicated operation such as a decision feed equalizer.

The present invention discloses a non-fragile dissipative filtering method of a nonlinear networked control system. The method comprises the steps of firstly establishing a nonlinear networked filtering error system model on the conditions of considering the time delay and the packet loss of the nonlinear networked control system and the perturbation of the filter parameters, then constructing a Lyapunov function, and then utilizing a Lyapunov stability theory and a linear matrix inequality analysis method to obtain the sufficient conditions of the mean square exponential stability of a nonlinear networked filtering error system and the existence of a non-fragile dissipative filter, utilizing a Matlab LMI tool kit to solve, and definding a non-fragile dissipative filter parameter matrix. The method of the present invention considers the random time delay and the pocket loss situations between the sensors and the filters, is suitable for the general dissipative filtering including the H-infinite filtering, and enables the conservatism of the non-fragile dissipative filter design to be reduced. Moreover, a non-modeling state of the system is considered when a full-order filter is designed, thereby being able to reduce the calculation burdens and the design cost.

A method of controlling of an induction machine using an inverter is disclosed with output LC filter. The method includes determining an inverter output current vector (iA), determining an inverter output voltage vector (uA), and forming a full-order observer having a system matrix (Â) and gain vector (K). The observer produces an estimated rotor flux linkage vector ({circumflex over (ψ)}R), an estimated stator current vector (îs), an estimated stator voltage vector (ûs) and an estimated inverter output current vector (îA). An estimation error (iA-îA) of the inverter output current vector is determined, and a speed adaptation law is formed based on the estimation error of the inverter output current vector for determining an estimate for electrical angular speed ({circumflex over (ω)}m) of the induction machine. The induction machine is controlled based on the produced estimates and a measured inverter output current.

The invention relates to an extended-state-observer-based full-order sliding mode control method of a chaotic system of permanent magnet synchronous motor. The method comprises: a chaotic model, an initialization system state, and correlated control parameters of a permanent magnet synchronous motor system are established; on the basis of coordinate conversion, the permanent magnet synchronous motor chaotic model is converted into one based on a standard extended state observer design suitable for a non-linear extended state observer design; a full-order sliding mode controller is designed based on the extended state observer to eliminate a buffeting phenomenon in the sliding mode control and guarantee that the system state can be convergent to a zero point rapidly and stably. According to the full-order sliding mode control method, the buffeting phenomenon in sliding mode control can be prevented and the chaotic state of the system can be guaranteed to be convergent to the zero point rapidly and stably.

The invention provides a variable speed pumped storage unit (Variable Speed Pumped Storage Units, VSPSU) water pump working condition self-start control device and a method thereof. The stator winding is short-circuited, the rotor current is controlled through its own alternate current excitation device, so as to control the rotor magnetic field, drag torque is generated by the interaction between the stator and the rotor magnetic field, to drive the rotor to start. A full order state observation device is built, the precise stator magnetic chain location is estimated, the decoupling control of rotor current is achieved, and rotor speed is controlled; after the rotor speed reaches a preset value, the corresponding period grid-connected control is conducted, the decline of stator current is controlled; after the rotor voltage amplitude, the frequency and the phase meet the requirements, stator sides and a grid contact device are switched; the scheme does not need the static frequency device and other additional starting devices, while having a high degree of control precision and reliability.

The invention discloses a prediction-correction algorithm-based aircraft global pneumatic optimization method, and aims at solving the technical problem that the conventional aircraft global pneumatic optimization methods are low in efficiency. The technical scheme is that the method disclosed in the invention comprises the following steps: firstly carrying out prediction optimization: building an agent model through collecting flow field snapshots, and carrying out preliminary screening on the design space according to a genetic algorithm so as to obtain approximate points of a global optimum point; and carrying out correction optimization: carrying out pneumatic optimizing by utilizing an adjoint gradient and a gradient optimization algorithm to ensure that the predicted approximate points are rapidly converged to the global optimum point. According to the method disclosed in the invention, a flow field order reduction model is constructed by repeatedly using the previously obtained flow field snapshots during the optimization in the step 2, so as to rapidly predict a to-be-calculated flow field, and then correction is carried out on the prediction value by utilizing a full-order flow field solver. Compared with the methods in background technology, the method disclosed in the invention has the effect of improving the calculation efficiency of the flow fields; and for the two-dimensional optimization problem, the calculation of flow field numerical values is reduced from about 200 times in the background technology to about 70 times, so that the optimization effect is remarkable.

The invention discloses a method for controlling a salient pole permanent magnet synchronous machine in a speed sensorless mode, and belongs to the field of motor speed regulation. The method is characterized by including the steps of estimating effective counter electromotive force through an established full-order state sliding-mode observer according to the stator voltage and stator current measured in real time, and then obtaining the position and the rotating speed of a rotor through a locking phase ring. By means of the method, the problem of controlling the salient pole permanent magnet synchronous machine in the speed sensorless mode is solved, influences of motor parameters on speed sensorless control are smaller, robustness of deviation between position estimation and rotating speed estimation of the rotor is improved, sliding-mode noise is prevented from being amplified, and stability of the system is ensured.

The invention discloses a full-order-observer speed-sensor-less control system based on weighted errors. The full-order-observer speed-sensor-less control system comprises a SVPWM, an inverter, IM, two Clark modules, two Park modules, a reverse Park module, a full-order observer, a first comparator, a second comparator, a third comparator, a first regulator, a second regulator, a third regulator and a slip calculating module; voltage values output by the inverter are collected and converted, then the u<alpha> and the u<beta> in a two-phase static coordinate system are obtained, and then the voltage values are converted by the Park modules into the u<d> and the u<q> in a synchronous rotating coordinate system; IM three-phase currents are collected, are converted by the Clark modules into the i<s alpha> and the i<s beta> in the two-phase static coordinate system and then are converted by the Park modules into the i<sd> and the i<sq> in the synchronous rotating coordinate system; the current i<s alpha> and i<s beta> and the voltage u<alpha> and u<beta> are input through the full-order observer to obtain the estimated electric angle speed; then a series of comparing and regulating operations are carried out, the input voltage is subjected to space vector pulse width modulation through the SVPWM module, PWM waves are output to the inverter module, and the inverter drives the IM. Thefull-order-observer speed-sensor-less control system based on the weighted errors has the advantages that the problem that a traditional speed-sensor-less driving system is instable in low speed is solved, and meanwhile the low-speed running performance of the system is improved.

The invention relates to an observing method of a rotor flux linkage in a vector control system of an induction motor. The observing method comprises the steps of conducting digital filter processing on acquired current signals and voltage signals by an FPGA (Field Programmable Gate Array), and removing noise interference, obtaining a three-phase current value, establishing a induction motor vector type dynamic mathematical model, constructing an observer in a full-order flux linkage state, conducting discretization on the observer in the full-order flux linkage state by adopting a high-precision four-order Runge-Kutta method, conducting real-time processing on the discretized data by utilizing a DSP (Digital Signal Processor) to realize the rotor flux linkage observation, calculating rotor flux linkage components psi r alpha and psi r beta under an alpha-beta coordinate system to complete the magnetic field orientation subjected to vector control, and determining the magnetic field orientation subjected to vector control through a formula. According to the observing method provided by the invention, the rotor flux linkage can be accurately observed under the alpha-beta coordinate system in the full revolving range without any switching mechanism; and the effectiveness and the stability of the vector control are ensured, the inhibition capability to the parameter change of the induction motor and the noise interference of the current detection is strong, and the robustness of the whole control system is promoted effectively.

A method for the stabilization of full-order flux observers for speed-sensorless induction motors in the regenerative mode. The method comprises determining the current vector of the induction motor, determining the stator voltage vector of the induction motor, forming a full-order flux observer having a system matrix (A) and a gain matrix (L), the state-variable observer being augmented with a speed adaptation loop, and producing an estimated rotor flux linkage vector and an estimated stator current vector, determining an estimation error of the stator current vector, defining a correction angle, and forming a speed adapt-tion law based on the cross product of the estimation error of the stator current vector and the estimated rotor flux linkage vector, where the correction angle is used to turn the rotor flux linkage vector or the estimation error of the stator current vector in order to keep the observer stable.

The invention relates to an anti-interference fault-tolerant control method based on an E-S sliding-mode observer, and specific to the control problem of interference and fault existing in a state unknown system, the method comprises the following steps: step I, constructing a dynamical model specific to a control system which contains interference and fault simultaneously; step II, designing the E-S sliding-mode observer to carry out real-time reconstruction on the fault based on the dynamical model constructed in the step I; step III, designing a full-order interference observer by utilizing real-time reconstruction information in the step II so as to estimate the interference; and step IV, designing an output feedback controller by utilizing the fault reconstruction information in the step II and an interference estimation value in the step III so as to complete the compound control of a control system. The method is based on the E-S sliding-mode observer and an anti--interference observer to design a system control method, can realize reconstruction of the fault and the estimation and compensation of the interference, and is used in a control system in which the interference and fault exist simultaneously and the state is unknown.

The invention discloses a stator flux linkage observation method, an electromagnetic torque observation method and devices utilizing the two methods respectively. A full-order slip form observer is utilized to collect line voltage uab and ubc of a stator of a permanent magnet synchronous motor and current components ialpha and ibeta which are output by a current coordinate conversion unit. Effective counter electromotive force (that img file=' DDA0000503801170000011. TIF' wi= '192' he= '74' / ) is obtained by closed loop observation estimation. The integral effect of a voltage model flux linkage observer in the prior art is removed. An electromagnetic torque calculation unit is utilized to collect the effective counter electromotive force (that img file= 'DDA0000503801170000012. TIF' wi= '176' he= '73' / ) and the current components ialpha and ibeta which are output by the current coordinate conversion unit. The effective counter electromotive force (that img file= 'DDA0000503801170000013. TIF' wi= '158' he= '71' / ) is utilized to calculate the rotating speed (that img file='DDA0000503801170000014. TIF' wi= '88' he= '80' / ), and then the effective counter electromotive force (that img file= 'DDA0000503801170000015. TIF' wi= '190' he= '72' / ), the current components ialpha and ibeta and the rotating speed (that img file= 'DDA0000503801170000016. TIF' wi= '62' he= '64' / ) are utilized to calculate the stator flux linkage (that img file= 'DDA0000503801170000017. TIF' wi= '216' he= '71' / ). By means of the method, the shortcoming in the prior art of the integral effect of the voltage model flux linkage observer is overcome, a speed sensor is not required, and speed-sensor-free stator flux linkage and electromagnetic torque observation is achieved.

The invention relates to an online motor parameter identification method, in particular to an online rotor resistance identification method of a non-speed sensor vector control system. The method is characterized in that, during dynamic adjustment of a system, the online rotor resistance identification can be realized by using transient flux change process and by adopting an adaptive forgetting factor recursive least square algorithm in combination with an integral-improved voltage model flux observer independent from a full-order adaptive state observer; during stable operation of the system, the rotor flux is subjected to a specific harmonic transiently at a certain time interval to generate dynamic flux change, and the rotor resistance can be identified by adopting the adaptive forgetting factor recursive least square algorithm in combination with the integral-improved voltage model flux observer so as to online refresh the rotor resistance in the full-order adaptive state observer. The online motor rotor resistance identification method provided by the invention can calculate the motor parameter change so as to regulate a motor controller, thereby improving the performance of the motor controller.

A three-phase alternating current motor current harmonic suppression method extracts the sum of harmonic components of a three-phase current of a motor through a low-pass filter, and then obtains a harmonic voltage component value to be injected through a harmonic component adjuster, and then superimposes a harmonic voltage component value on an output voltage control signal of a d, q-axis currentclosed-loop controller to obtain the target reference voltage. A control signal of a power driving module is obtained by the space vector pulse width modulation technology. The method can realize thedecoupling and independent control of a d, q-axis current direct current component and a current full order harmonic component of the current, and effectively reduce the current harmonic content of each order.

The invention discloses a grid-side inverter resonance full-order sliding mode control method for the harmonic distortion working condition of the power grid voltage. According to the method, a mathematical model of a three-phase network side inverter is subjected to clark conversion, and the mathematical model of the grid-side inverter under a two-phase static alpha beta coordinate system is obtained. According to a full-order sliding mode surface model, a full-order sliding mode surface according to the mathematical model of the grid-side inverter is established. Resonance items are added into the full-order sliding mode surface so as to carry out resonance full-order sliding mode control. According to the method, by adopting the full-order sliding mode control method of the robustness of the DFIG network side inverter based on the enhanced parameter change of the model, a control method for introducing the quasi-proportional resonance into the full-order sliding mode is provided. Therefore, the suppression capacity of the full-order sliding mode control on the harmonic waves is enhanced. Meanwhile, the robustness of the full-order sliding mode control on the harmonic waves is not lost.

A method and a system in connection with a speed and position sensorless permanent magnet synchronous machine equipped with an output filter (26) and driven by an inverter (29), which method comprises the steps of forming a speed-adaptive full-order observer (25) based on the dynamic model of the combination of the permanent magnet synchronous machine (PMSM) and the output filter (26), measuring the inverter output current (iA), estimating inverter output current (ÎA), determining the estimate for the electrical angular speed ({circumflex over (ω)}m) using the estimated and measured inverter output currents (îA, iA) in an adaptation law, injecting a voltage signal (uc) into the inverter voltage reference (uA,ref 0) to obtain a modified voltage reference (uA,ref), detecting an error signal (ε) from the measured inverter output current (iA), and calculating the speed correction term (ωε) used in the adaptation of the observer from the error signal (ε).

A mechanical-arm servo-system neural-network full-order sliding mode control method with dead-zone compensation is disclosed. Aiming at a mechanical arm servo system which contains a dynamic execution mechanism and is with unknown dead-zone input, a full-order sliding mode control method is used and a neural network is combined so as to design the mechanical-arm servo-system neural-network full-order sliding mode control method with the dead-zone compensation. A dead zone is converted into a linear time-varying system, and then the neural network is used to approach an unknown function so as to compensate an additional influence of a traditional unknown dead zone and an unknown parameter of the system. In addition, a full-order sliding mode surface is designed so as to guarantee rapid and stable convergence of the system; generation of a differential term is avoided in an actual control system so that buffeting is improved and a singular problem is solved. The invention provides the control method which can improve a buffeting problem of the sliding mode surface, solve the singular problem and can effectively compensate a system unknown dynamic parameter and unknown dead zone input so that rapid and stable control of the system is realized.

Disclosed is a method to passively measure and calculate the strength of turbulence via the index of refraction structure constant Cn2 from video imagery gathered by an imaging device, such as a video camera. Processing may occur with any type computing device utilizing a processor executing machine executable code stored on memory. This method significantly simplifies instrumentation requirements, reduces cost, and provides rapid data output. This method combines an angle of arrival methodology, which provides scale factors, with a new spatial / temporal frequency domain method. As part of the development process, video imagery from high speed cameras was collected and analyzed. The data was decimated to video rates such that statistics could be computed and used to confirm that this passive method accurately characterizes the atmospheric turbulence. Cn2 accuracy from this method compared well with scintillometer data through two full orders of magnitude and more capability is expected beyond this verification.

The invention provides a data searching system, which comprises a single order basic relationship preset module, a query path generation module, a data path selection module and a data list display module, wherein the single order basic relationship preset module is used for presetting a single order data direct association relationship and a corresponding relationship list of data types, data type query data sources and data type names; the query path generation module is used for recursively generating single-order and full-order query paths according to the single order data direct association relationship; the data path selection module is used for receiving the selected current data types, searching data types associated with the current data types from the single-order and full-order query paths and receiving the selected query data types; and the data list display module is used for searching query paths from the single-order and full-order query paths according to the current data types and the selected query data types, determining key words of the query data types and searching data matched with the key words from the corresponding relationship list. The invention also provides a data searching method. Any data in the full-order paths serves as an entry point, and all associated data can be searched.