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30 results about "Input output linearization" patented technology
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Linearization method is generalized to the input-output linearization problem, where a sufcient and necessary condition for existence of a state feedback and a state coordinate change is given, such that the transformed system is input-output pseudo-linearized. With this approach, the stability is local.
Automated Motor Control
ActiveUS20140265952A1Reduce in quantityMotor/generator/converter stoppersAC motor controlAutomatic controlPower flow
Input-output linearization (IOL) and extended state observer (ESO) techniques are applied to a Field Oriented Control (FOC) for Permanent Magnet Synchronous Motors (PMSM). In one such approach, at least one gain value is determined based at least in part on a given bandwidth value. Operating parameters for the motor are determined based on the at least one gain value and information from a current sensor regarding motor current. Control signals used to the control the motor are determined based on the determined operating parameters. Accordingly, automated control can be effected through setting a bandwidth value through the implementation of IOL and ESO techniques.
Owner:TEXAS INSTR INC
Method for designing Terminal sliding mode controller of hypersonic vehicle
The invention relates to a method for designing a Terminal sliding mode controller of a hypersonic vehicle. The Terminal sliding mode control has an advantage that a system on a sliding mode surface can be converged within limited time. In order to keep the nonlinearity of a model and to facilitate the design of a control system, an input-output linearization method is used for processing the model in the paper, after that, state variables are reselected according to the design requirements of the Terminal sliding mode control, and a nonlinear sliding mode surface is designed; a sliding mode control law is designed for the designed Terminal nonlinear sliding mode surface, to ensure that the system can reach the sliding mode surface, and to prove the stability of the system; finally, the given control law is subjected to simulation verification, and the results show that the designed sliding mode controller can realize the effective control of the hypersonic vehicle.
Owner:BEIJING UNIV OF TECH
System, method and apparatus for controlling converters using input-output linearization
InactiveUS20060158910A1Easy to implementAc-dc conversion without reversalConversion with intermediate conversion to dcLeading edgeControl signal
The present invention provides a system, method and apparatus for controlling any type of converter using input-output linearization and leading-edge modulation. The controller includes a summing circuit connected to the converter to create a third voltage representing a difference between the first voltage and the second voltage. A gain circuit is connected to the summing circuit to adjust the third voltage by a proportional gain. A modulating circuit is connected to the gain circuit, the converter, the second voltage and the second current to create a control signal based on the second voltage, the adjusted third voltage, the first current and the second current. The control signal is used to control the converter. Typically, the first voltage is an output voltage from the converter, the second voltage is a reference voltage, the first current is an inductor current from the converter and the second current is a reference current.
Owner:BOARD OF RGT THE UNIV OF TEXAS SYST
Hypersonic aerocraft tracking control method with interference observer
The invention relates to a hypersonic aerocraft tracking control method with an interference observer. The problem that the fact that the observer is bounded in the interference process of an observing system cannot be proved in the prior art is solved. The method provided by the invention comprises the steps that 1 a second-order system model with system interference is established according to the longitudinal input and output linearization model of a hypersonic aerocraft; 2 according to the second-order system model with system interference in the step 1, a finite time terminal sliding mode controller is designed based on a sliding mode control theory; and 3 system stability proving is carried out on the finite time terminal sliding mode controller designed in the Step 2. According to the method provided by the invention, the finite time of the sliding surface of the system is stable, and the system state is asymptotically convergent. The method provided by the invention is applied to the field of hypersonic aerocraft control.
Owner:HARBIN INST OF TECH
Trajectory tracking control method based on parameter optimization and used for reconfigurable modularized flexible mechanical arm
ActiveCN109551479AImprove robustnessImprove reuse rateProgramme-controlled manipulatorEngineeringInput output linearization
The invention relates to the field of control over a reconfigurable modularized flexible mechanical arm, in particular to a trajectory tracking control method based on parameter optimization and usedfor the reconfigurable modularized flexible mechanical arm. The method includes the steps that a single-joint intelligent agent flexible mechanical arm system model is established, linear combinationof a joint motor rotating angle and a flexible mode variable is used as output of a flexible mechanical arm system by utilizing the thought of redefining the output, and through input-output linearization, the single-joint flexible mechanical arm system is decomposed into an input-output subsystem and a zero-dynamic subsystem. The input-output subsystem can track an expected reference trajectory within limited time by adopting self-adaptive dynamic terminal sliding-mode control, multi-objective optimization design is carried out on design parameters lambda<0i> and lambda<1i> by adopting an NSGA-II algorithm, the zero-dynamic subsystem of the flexible mechanical arm system is asymptotically stable near a balance point, and therefore the tracking requirement of the whole flexible mechanicalarm system on the expected trajectory is met; the trajectory tracking control method has better robustness for nonlinear uncertainty of the system.
Owner:CHANGCHUN UNIV OF TECH
Decoupling control method for nonlinear power of double-fed wind power generation system
InactiveCN103023021AIncrease flexibilitySolve the problem of dynamic power not decouplingElectronic commutation motor controlVector control systemsEngineeringWind power system
The invention discloses a decoupling control method for the nonlinear power of a double-fed wind power generation system. The decoupling control method comprises the following steps of: establishing a double-fed wind power generation system state equation suitable for power decoupling control; and carrying out accurate linearization on the double-fed wind power generation system by adopting an input-output linearization theory through state feedback and coordinate transformation, thus realizing the high-performance power decoupling control on the double-fed wind power generation system. According to the nonlinear power decoupling control method, the problem that the dynamic power of the double-fed wind power generation system in the prior art is not decoupled is solved, thus the complete dynamic and static power decoupling of a double-fed wind generating set is realized.
Owner:SHANGHAI ELECTRICGROUP CORP
Automated Motor Control
ActiveCN104052363AReduce in quantityVector control systemsDynamo-electric converter controlPower flowAutomatic control
Input-output linearization (IOL) and extended state observer (ESO) techniques are applied to a Field Oriented Control (FOC) for Permanent Magnet Synchronous Motors (PMSM). In one such approach, at least one gain value is determined based at least in part on a given bandwidth value. Operating parameters for the motor are determined based on the at least one gain value and information from a current sensor regarding motor current. Control signals used to the control the motor are determined based on the determined operating parameters. Accordingly, automated control can be effected through setting a bandwidth value through the implementation of IOL and ESO techniques.
Owner:TEXAS INSTR INC
System, method and apparatus for controlling converters using input-output linearization
InactiveUS20100320978A1Easy to implementDc-dc conversionElectric pulse generatorLeading edgeControl signal
A system, method and apparatus for controlling boost and buck-boost converters using input-output linearization and leading-edge modulation is provided. The controller includes a summing circuit connected to the converter to create a third voltage representing a difference between the first voltage and the second voltage. A gain circuit is connected to the summing circuit to adjust the third voltage by an appropriate gain. A modulating circuit is connected to the gain circuit, the converter, the first voltage, the second voltage and the second current to create a control signal based on the first voltage, the second voltage, the adjusted third voltage, the fourth voltage and the first current. The control signal is used to control the converter. Typically, the first voltage is a converter output voltage, the second voltage is a reference voltage, the fourth voltage is a converter input voltage, and first current is a converter inductor current.
Owner:BOARD OF RGT THE UNIV OF TEXAS SYST
Control method for tracking motion speed and motion track of rehabilitation training robot at the same time
InactiveCN105320138ACreate a decoupled state equationAsymptotically track motion trajectoriesChiropractic devicesPosition/course control in two dimensionsDrive wheelDynamic models
The invention belongs to the field of control of wheel type rehabilitation robots, and particularly relates to a control method for tracking the motion speed and motion track of a rehabilitation training robot at the same time, and the control method can effectively improve safety and rehabilitation effects of a trainee. According to control method provided by the invention, based on a kinematics model and a dynamics model of a rehabilitation walking training robot, a redundant freedom degree characteristic, and a nonlinear input-output linearization theory, an equation of a decoupling state between rotating speed and driving force of each driving wheel is established; a driving force controller is designed, and based on the decoupling state equation, asymptotic tracking of the motion speed of the rehabilitation walking training robot is realized; and further, based on the driving force controller together with a nonlinear feedback control law, and based on a rehabilitation walking training robot dynamics model, asymptotic tracking of the motion track is realized.
Owner:SHENYANG POLYTECHNIC UNIV
System, method and apparatus for controlling converters using input-output linearization
InactiveUS7482794B2Easy to implementAc-dc conversion without reversalConversion with intermediate conversion to dcLeading edgeControl signal
Owner:BOARD OF RGT THE UNIV OF TEXAS SYST
A Chaos Control Method Based on Feedback Linearization Theory
InactiveCN102299521AImprove adaptabilityImprove the level of intelligenceSingle network parallel feeding arrangementsPower oscillations reduction/preventionChaos theoryLinear approximation
The invention relates to a chaotic control method based on a feedback linearization theory. The method comprises the following steps of: (1) designing a dynamic linearization model monopolar inversion topological circuit of a dynamic system by using the feedback linearization theory; (2) performing coordinate conversion on a nonlinear system which can be subjected to input and output linearization; (3) performing feedback linearization on the external state of the system through state feedback; (4) designing a chaotic vibration controller u; and (5) selecting appropriate feedback gain and pole assignment to stably control the system. The chaotic control method has the advantages that: 1, different from the general linearization, the feedback linearization fulfills the aim of linearizationthrough strict state conversion and feedback instead of linear approximation of the dynamic characteristic; and 2, the controlled variable can be applied at any moment, and the control method is highin robustness when a model error and measurement noise are generated.
Owner:TIANJIN UNIVERSITY OF TECHNOLOGY
Multi-agent-based track tracing control method of reconfigurable modular flexible manipulator
The invention provides a multi-agent-based track tracing control method of a reconfigurable modular flexible manipulator, and relates to the field of reconfigurable modular flexible manipulator control. A reconfigurable modular flexible manipulator dynamic model is described to be a set of a crosslinking joint agent sub-system, model building of the single-joint agent flexible manipulator system is achieved, a linear combination of a joint motor corner and a flexible modal variable is used as an output of the flexible manipulator system, and the single-joint flexible manipulator system is decomposed to two parts of an input-output sub-system and a zero dynamic sub-system by input-output linearization. Approximate linearization of the zero dynamic sub-system is performed at a balancing point, a design parameter output by the system is defined again by reasonable selection, so that the zero dynamic sub-system of the flexible manipulator system is gradually stable at a position near to the balancing point, the whole flexible manipulator system is enabled to be gradually stable, and the tracing requirement of the manipulator sub-system on expected track is met.
Owner:CHANGCHUN UNIV OF TECH
Tracking converters with input output linearization control
ActiveUS20130301321A1Conversion with intermediate conversion to dcDc-dc conversionVoltage converterLeading edge
In a preferred embodiment, a voltage inverter comprises a voltage converter circuit and a controller. The voltage inverter produces a time-varying output voltage from an input voltage, which can be a DC input voltage or an AC input voltage. The controller provides a control signal at a duty ratio determined dynamically by a set of signals. The set of signals include the time-varying output voltage, a predetermined output voltage, a gain factor and an inductor current in the voltage converter circuit. The predetermined output voltage can have an AC waveform or an arbitrary time-varying waveform. The voltage inverter operates to match the time-varying output voltage to the predetermined output voltage. Input-output linearization is used to design a buck inverter, and input-output linearization with leading edge modulation is used to design boost and buck-boost inverters under conditions where left half plane zero effects are present.
Owner:CIRASYS
System and method for controlling output ripple of dc-dc converters with leading edge modulation control using current injection
In a preferred embodiment, a voltage converter comprises a voltage converter circuit, an output adjuster and a controller. The controller provides a control signal at a duty ratio determined dynamically by a set of input signals. The dynamic output adjuster determines the set of input signals by adjusting the ac component of an output voltage based on a gain Q. The dynamic output adjuster alleviates dependence on the value of Rc under leading edge modulation in either analog or digital converter systems. In addition to delivering the desired left half plane zero effects, dynamic output adjustment reduces the value of the output ripple. As a result, modern control methods such as input-output linearization can be used to design both boost and buck-boost PWM converters if only left half plane zero effects are present.
Owner:CIRASYS +1
System, method and apparatus for controlling converters using input-output linearization
InactiveUS8810221B2Easy to implementDc-dc conversionElectric pulse generatorLeading edgeControl signal
Owner:BOARD OF RGT THE UNIV OF TEXAS SYST
Non-minimum phase system output redefinition method
The invention discloses a non-minimum phase system output redefinition method, and the method comprises the following steps: S1, establishing a non-minimum phase system linear model, calculating the relative order of a system, selecting a corresponding internal dynamic and external dynamic conversion non-minimum phase model, and further establishing an equivalent control model after input and output linearization; S2, aiming at the original non-minimum phase output, designing an output redefinition method to find the optimal equivalent minimum phase output; S3, designing a linear controller, controlling the equivalent control model by using equivalent minimum phase output, and obtaining original output according to the model conversion method in the S1. The output redefinition method of the non-minimum phase system is provided on the basis of an output redefinition technology in combination with optimal parameter calculation, and the problems that a non-minimum phase system controller is complex in design and control response has negative tuning are solved.
Owner:UNIV OF ELECTRONICS SCI & TECH OF CHINA
Tracking converters with input output linearization control
ActiveUS9252683B2Conversion with intermediate conversion to dcDc-dc conversionVoltage converterLeading edge
In a preferred embodiment, a voltage inverter comprises a voltage converter circuit and a controller. The voltage inverter produces a time-varying output voltage from an input voltage, which can be a DC input voltage or an AC input voltage. The controller provides a control signal at a duty ratio determined dynamically by a set of signals. The set of signals include the time-varying output voltage, a predetermined output voltage, a gain factor and an inductor current in the voltage converter circuit. The predetermined output voltage can have an AC waveform or an arbitrary time-varying waveform. The voltage inverter operates to match the time-varying output voltage to the predetermined output voltage. Input-output linearization is used to design a buck inverter, and input-output linearization with leading edge modulation is used to design boost and buck-boost inverters under conditions where left half plane zero effects are present.
Owner:CIRASYS
System, Method and Apparatus for Controlling Converters Using Input-Output Linearization
ActiveUS20140354255A1Easy to implementDc-dc conversionElectric variable regulationLeading edgeControl signal
A system, method and apparatus for controlling boost and buck-boost converters using input-output linearization and leading-edge modulation is provided. The controller includes a summing circuit connected to the converter to create a third voltage representing a difference between the first voltage and the second voltage. A gain circuit is connected to the summing circuit to adjust the third voltage by an appropriate gain. A modulating circuit is connected to the gain circuit, the converter, the first voltage, the second voltage and the second current to create a control signal based on the first voltage, the second voltage, the adjusted third voltage, the fourth voltage and the first current. The control signal is used to control the converter. Typically, the first voltage is a converter output voltage, the second voltage is a reference voltage, the fourth voltage is a converter input voltage, and first current is a converter inductor current.
Owner:CIRASYS +1
Analog input output linearization control
ActiveUS20140361754A1Apparatus without intermediate ac conversionPulse duration/width modulationVoltage converterControl signal
A voltage converter for converting an input voltage to an output voltage is disclosed. The voltage converter includes a voltage converter circuit having a set of switches, a switch driver connected to the voltage converter circuit, a controller connected to the switch driver and the output voltage, a target output voltage connected to the controller, a control signal generated by the controller for the switch driver that includes a duty ratio based on the target output voltage and the output voltage. The switch driver is configured to apply the control signal to the set of switches and the voltage converter circuit generates the output voltage based on the duty ratio to match the target output voltage.
Owner:CIRASYS +1
A Tracking Control Method for Hypersonic Vehicle with Disturbance Observer
The invention relates to a hypersonic aerocraft tracking control method with an interference observer. The problem that the fact that the observer is bounded in the interference process of an observing system cannot be proved in the prior art is solved. The method provided by the invention comprises the steps that 1 a second-order system model with system interference is established according to the longitudinal input and output linearization model of a hypersonic aerocraft; 2 according to the second-order system model with system interference in the step 1, a finite time terminal sliding mode controller is designed based on a sliding mode control theory; and 3 system stability proving is carried out on the finite time terminal sliding mode controller designed in the Step 2. According to the method provided by the invention, the finite time of the sliding surface of the system is stable, and the system state is asymptotically convergent. The method provided by the invention is applied to the field of hypersonic aerocraft control.
Owner:HARBIN INST OF TECH
Design method of terminal sliding mode controller for hypersonic vehicle
The invention relates to a method for designing a Terminal sliding mode controller of a hypersonic vehicle. The Terminal sliding mode control has an advantage that a system on a sliding mode surface can be converged within limited time. In order to keep the nonlinearity of a model and to facilitate the design of a control system, an input-output linearization method is used for processing the model in the paper, after that, state variables are reselected according to the design requirements of the Terminal sliding mode control, and a nonlinear sliding mode surface is designed; a sliding mode control law is designed for the designed Terminal nonlinear sliding mode surface, to ensure that the system can reach the sliding mode surface, and to prove the stability of the system; finally, the given control law is subjected to simulation verification, and the results show that the designed sliding mode controller can realize the effective control of the hypersonic vehicle.
Owner:BEIJING UNIV OF TECH
System and method for controlling output ripple of DC-DC converters with leading edge modulation control using current injection
In a preferred embodiment, a voltage converter comprises a voltage converter circuit, an output adjuster and a controller. The controller provides a control signal at a duty ratio determined dynamically by a set of input signals. The dynamic output adjuster determines the set of input signals by adjusting the ac component of an output voltage based on a gain Q. The dynamic output adjuster alleviates dependence on the value of Rc under leading edge modulation in either analog or digital converter systems. In addition to delivering the desired left half plane zero effects, dynamic output adjustment reduces the value of the output ripple. As a result, modern control methods such as input-output linearization can be used to design both boost and buck-boost PWM converters if only left half plane zero effects are present.
Owner:CIRASYS +1
Analog input output linearization control
Owner:CIRASYS +1
A quasi-z source inverter photovoltaic grid-connected control method based on input/output linearization
InactiveCN108377000BAchieving Exact LinearizationSimplify the design processSingle network parallel feeding arrangementsPhotovoltaic energy generationControl engineeringControl theory
The invention provides an input / output linearization-based quasi-Z-source inverter photovoltaic grid-connected control method. According to the method of the invention, the input / output linearizationmodeling method of a QZSI (quasi-Z-source inverter) and a QZSI grid-connected control strategy are provided, and therefore, when the QZSI changes greatly at an operating point, a reference input voltage can be better tracked, the influence of a direct-current side on an alternating-current side can be decreased, and grid-connected current quality can be improved.
Owner:SICHUAN UNIV
Trajectory tracking control method of reconfigurable modular flexible manipulator based on parameter optimization
ActiveCN109551479BGuaranteed Tracking RequirementsImprove flexibilityProgramme-controlled manipulatorRobotic armControl engineering
Owner:CHANGCHUN UNIV OF TECH
Chaotic control method based on feedback linearization theory
InactiveCN102299521BRobustSingle network parallel feeding arrangementsPower oscillations reduction/preventionLinear approximationChaotic vibration
The invention relates to a chaotic control method based on a feedback linearization theory. The method comprises the following steps of: (1) designing a dynamic linearization model monopolar inversion topological circuit of a dynamic system by using the feedback linearization theory; (2) performing coordinate conversion on a nonlinear system which can be subjected to input and output linearization; (3) performing feedback linearization on the external state of the system through state feedback; (4) designing a chaotic vibration controller u; and (5) selecting appropriate feedback gain and pole assignment to stably control the system. The chaotic control method has the advantages that: 1, different from the general linearization, the feedback linearization fulfills the aim of linearizationthrough strict state conversion and feedback instead of linear approximation of the dynamic characteristic; and 2, the controlled variable can be applied at any moment, and the control method is highin robustness when a model error and measurement noise are generated.
Owner:TIANJIN UNIVERSITY OF TECHNOLOGY
Trajectory tracking control method of reconfigurable modular flexible manipulator based on multi-agent
The trajectory tracking control method based on multi-agent reconfigurable modular flexible manipulator relates to the control field of reconfigurable modular flexible manipulator, which describes the dynamic model of reconfigurable modular flexible manipulator as a cross-linked joint agent A collection of systems to realize the modeling of a single-joint intelligent body flexible manipulator system; using the idea of redefining the output, the linear combination of the joint motor rotation angle and the flexible modal variable is used as the output of the flexible manipulator system, and through input and output linearization, The single-joint flexible manipulator system is decomposed into two parts, the input-output subsystem and the zero-dynamic subsystem. The invention approximates the linearization of the zero dynamic subsystem at the balance point, and makes the zero dynamic subsystem of the flexible manipulator system asymptotically stable near the balance point by rationally selecting and redefining the design parameters of the system output, thereby ensuring the stability of the entire flexible manipulator system Asymptotically stable, in order to meet the tracking requirements of the robotic arm subsystem on the desired trajectory.
Owner:BAISHAN POWER SUPPLY COMPANY OF STATE GRID JILIN ELECTRONICS POWER COMPANY
A Control Method for Simultaneous Tracking of Movement Velocity and Movement Trajectory of Rehabilitation Training Robot
InactiveCN105320138BCreate a decoupled state equationAsymptotically track motion trajectoriesChiropractic devicesPosition/course control in two dimensionsDrive wheelDynamic models
Owner:SHENYANG POLYTECHNIC UNIV
A tracking control method for hypersonic vehicle based on nonlinear function
ActiveCN108427289BWith uncertaintyThe error auxiliary variable is asymptotically stableAdaptive controlFeedback controllerFlight vehicle
A tracking control method for a hypersonic vehicle based on a nonlinear function, and the invention relates to a tracking control method for a hypersonic vehicle based on a nonlinear function. The invention aims to solve the problems of complex control models and poor robustness of existing aircraft. The present invention includes: step 1: transforming the hypersonic vehicle model through a state feedback controller to obtain a transformed hypersonic vehicle model; step 2: designing an adaptive nonlinear model according to the transformed hypersonic vehicle model obtained in step 1 Robust controller u 0 . The invention provides that on the basis of the input-output linearization model, it is transformed into a general multi-variable second-order system by introducing auxiliary error variables. Aiming at the unknown upper bound of system disturbance, a nonlinear robust controller is designed by introducing a new continuously differentiable nonlinear saturation function, combined with adaptive theory. The invention is used in the field of aircraft.
Owner:HARBIN INST OF TECH
A Method for Redefining Output of Non-Minimum Phase System
Owner:UNIV OF ELECTRONICS SCI & TECH OF CHINA
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