41 results about "Integral windup" patented technology

The invention discloses an improved fast reflecting mirror disturbance observation compensation control method based on multi-closed loops, and solves the problems that an existing fast reflecting mirror stabilized platform is poor in low frequency disturbance inhibition capability, and cannot satisfy higher precision stabilization control system demands; the method can improve a conventional disturbance observer on the multi-closed loop control basis, thus moving forward compensation nodes, using an acceleration controller to simplify a disturbance compensation object, smartly avoiding the system low frequency compensation capability deprivation problems caused by twice integral windup in a conventional compensation controller, and strongly improving the system low frequency disturbance observation compensation inhibition capability; the method can optimize the system on the control algorithm, and no extra sensor is needed, thus ensuring the system original characteristics, and saving cost; in addition, the method can simplify the control structure, and can be easily realized in engineering.

The invention discloses a PMSM stator flux linkage observation method which is characterized in that an extension flux linkage observer is established according to a motor stator voltage phasor u alpha beta, a stator current phasor i alpha beta and a rotor electric angular speed omega in a two-phase static coordinate system (alpha beta coordinate system for short), on the basis of the theory of a state observer and according to a mathematical model of the PMSM in the alpha beta coordinate system, the motor stator voltage phasor u alpha beta, the stator current phasor i alpha beta and the rotor electric angular speed omega are obtained through collection and calculation, and then the relation between the stator flux linkage and the extension flux linkage is utilized for observing a rotor flux linkage psis. According to the PMSM stator flux linkage observation method, the problem of direct-current bias and integral saturation caused by the pure integral stator flux linkage observation method can be solved, the problems of the amplitude value and phase deviation or waveform distortion caused by an improved integrator are solved, and the advantage that parameters of the pure integral stator flux linkage observer are good in robustness is reserved. Due to the fact that only a minimum-order observer is required, engineering practice is benefited. The stator flux linkage observation method can be applied to a surface-mounted-type SPMSM and an inserted-type SPMSM and have the advantage of being good in universality.

The invention provides an anti-integral saturation control method of a cascade control system. The method comprises the following steps of: judging an anti-integral saturation direction according to input quantity and outputting logic judging quantity; delaying the output of the logic judging quantity; sending one part of the logic judging quantity output in a delayed way into a tracking condition pin of the cascade control system; selecting preset tracking quantity according to the other part of the logic judging quantity output in a delayed way; obtaining leading quantity; and sending the leading quantity and the selected tracking quantity into a tracking quantity pin of the cascade control system. The invention also provides an anti-integral saturation control system of the cascade control system; and by using the system, the integral saturation phenomenon in the industrial control process can be reduced and the adjusting quality of the industrial process control can be improved.

The invention relates to a motor control anti-windup and voltage saturation design for electric power steering, more concretely a system for preventing controller windup in an electric motor which includes a limiting module that determines a limited voltage command in response to a commanded voltage exceeding an available voltage of a motor power source, the limited voltage command is applied to an electric motor, a saturation parameter module that determines a saturation parameter based on the limited voltage command, the saturation parameter indicates a magnitude of the commanded voltage exceeding the available voltage, a non-linear processing module that processes the saturation parameter to generate a processed saturation parameter, and a reference current modifier module that generates a modified current command based on the processed saturation parameter, the modified current command is applied to the control system to improve the current command tracking.

The invention discloses a PMSM stator flux linkage observation method which is characterized in that an extension flux linkage observer is established according to a motor stator voltage phasor u alpha beta, a stator current phasor i alpha beta and a rotor electric angular speed omega in a two-phase static coordinate system (alpha beta coordinate system for short), on the basis of the theory of a state observer and according to a mathematical model of the PMSM in the alpha beta coordinate system, the motor stator voltage phasor u alpha beta, the stator current phasor i alpha beta and the rotor electric angular speed omega are obtained through collection and calculation, and then the relation between the stator flux linkage and the extension flux linkage is utilized for observing a rotor flux linkage psis. According to the PMSM stator flux linkage observation method, the problem of direct-current bias and integral saturation caused by the pure integral stator flux linkage observation method can be solved, the problems of the amplitude value and phase deviation or waveform distortion caused by an improved integrator are solved, and the advantage that parameters of the pure integral stator flux linkage observer are good in robustness is reserved. Due to the fact that only a minimum-order observer is required, engineering practice is benefited. The stator flux linkage observation method can be applied to a surface-mounted-type SPMSM and an inserted-type SPMSM and have the advantage of being good in universality.

The invention discloses a novel anti-integral saturation PID control method, which adds an anti-integral saturation link to the ordinary PID control method. When the PID control is saturated, the anti-integral saturation link combines the proportional item and the differential item to calculate the current integral item. This method is simple to implement, does not introduce any additional parameters, and can effectively suppress integral saturation, speed up the desaturation time, reduce overshoot, and ensure the robustness, reliability and stability of the system. The method of the invention can be applied to PID control systems in various forms.

The invention discloses a design method for a PAC controller based on intelligent control algorithms. On the basis of a conventional PAC controller, the invention can improve the control accuracy and control response, and meet higher control requirements by using intelligent control algorithms such as an improved PID control algorithm, a variable universe fuzzy PID control algorithm, a PID control algorithm based on a neural network. In an aspect of network communication, the Ethernet, CAN bus and other means of communication are added on the basis of conventional serial ports 232 and 485, and Modbus-RTU, Modbus-TCP, CANopen, custom protocols and so forth are used for achieving network interconnection. An integral windup prevention algorithm, an algorithm for differentiation of control variables, a differential forward algorithm and the like are added on the basis of a conventional PID, the PID effect can be significantly improved, the response speed is increased, and the control overshoot is reduced.

The invention provides a PID control method with the integral saturation and pretreatment functions. The PID control method analyzes the transient process of step response of a system and is provided according to an error between the set valve and the feedback quantity and a change rate of the controlled quantity; score accumulation values are treated differently according to the different conditions so that the integral saturation phenomenon can be thoroughly eliminated, and the good control effects of the steady-state characteristic and the dynamic characteristic of the system can be achieved; moreover, the good capacity of resisting disturbance is achieved.

The invention discloses an anti-integral saturation control method for motor control. The anti-integral saturation control method is characterized in that on the basis of traditional PI (proportional integral) controller, an amplitude limiting module and a reverse calculation tracking anti-integral saturation control algorithm are adopted, and the compensation coefficient is adjusted in real time according to the system running state, so as to solve the problem of overshoot or advanced desaturation due to unreasonable setting of the fixed compensation coefficient in the traditional algorithm; by adopting the algorithm, the desaturation function of the traditional algorithm is maintained, and the suitability of traditional algorithm and the integral control property of the system are improved.

The invention provides a common rail pressure control method, and particularly provides a novel common rail pressure control method of a fuel system, which aims at overcoming the defects of the existing common rail pressure control technique of the electrically-controlled diesel fuel system. The common rail pressure control method has the advantages that a fuzzy adaptive PID (proportion integration differentiation) control method is used to replace the common PID control method, so as to meet the requirement of control dynamic property of rail pressure under the complicated working condition; the change of the gain of PID can be uniformly arranged and jointly assessed according to the judgment of engine working conditions and common rail pressure change phase, so as to realize the high-precision rail pressure control effect; meanwhile, a common rail pressure PID integral separation method is used for fundamentally solving the integral windup, and eliminating the deterioration of common rail pressure control dynamic property caused by the integral windup.