32 results about "MRAS" patented technology

A system of self-organizing mobile robotic agents (MRAs) in a multi-robotic system (MRS) is disclosed. MRAs cooperate, learn and interact with the environment. The system uses various AI technologies including genetic algorithms, genetic programming and evolving artificial neural networks to develop emergent dynamic behaviors. The collective behaviors of autonomous intelligent robotic agents are applied to numerous applications. The system uses hybrid control architectures. The system also develops dynamic coalitions of groups of autonomous MRAs for formation and reformation in order to perform complex tasks.

Motor drives, motor speed controllers, motor speed estimation systems, and methods are presented for controlling motor startup speed and for estimating motor speed during startup, in which a speed estimate controller provides a rotor speed estimate based on a first error term from a torque-based MRAS component for a first range of motor speeds and based on a second error term from a rotor flux-based MRAS component for a second range of speeds.

The present invention discloses a permanent magnet synchronous motor (PMSM) fault diagnosis and fault-tolerant control system and method. The method can be used in motor medium-high speed running period. In PMSM field oriented control (FOC), position and speed information of a rotor, DC bus voltage and two or three current sensors are required. According to the PMSM fault diagnosis and fault-tolerant control system and method, an estimated rotor speed and an estimated resistance value are inputted into a decision making unit based on a model reference adaptive system (MRAS) observer capable of motor speed and resistance value identification, so that the fact that whether a motor position sensor goes wrong, an armature winding component open circuit fault and an inter-turn short circuit fault are identified. According to the PMSM fault diagnosis and fault-tolerant control system and method, the fact that whether a motor phase current sensor goes wrong, a fault location and fault status of the position sensor can be judged, when the position sensor goes wrong, the control system can switch to speed sensorless vector control automatically, so that the system has a certain fault-tolerant capability, and thus the system can ensure normal operation of the motor in some specific applications.

The invention discloses a rotor flux linkage observation and rotation speed recognition method for a bearing-free asynchronous motor, provides a rotation speed detection system and method for the bearing-free asynchronous motor based on POPOV superstability and aims at solving the problem that existing bearing-free asynchronous motor rotation speed recognition is inaccurate. A rotor flux linkage voltage model observation value can be obtained through a flux linkage observer which is formed by an improved second-order generalized-frequency self-adaption integrator according to measured stator voltage and current signals, observed rotor flux linkage serves as a reference value, rotor flux linkage solved through a rotor flux linkage current model serves as an adjustable value, and a model reference adaptive system (MRAS) based on the rotor flux linkage can be formed. The real-time rotation speed of the bearing-free asynchronous motor can be accurately recognized through an appropriate self-adaption law.

The invention relates to a parameter-identification-based PMSG control method for mechanical elastic energy storage. The method comprises: a full-system mathematical model of a permanent-magnet synchronous power generation device consisting of a vortex spring box, a transmission gearbox and a permanent-magnet synchronous generator is established; according to an MRAS and a Popov hyperstable theory, two kinds of identification algorithm capable of identifying generator parameters including an inductance value and a flux linkage and energy storage box parameters including a torque and a rotary inertia are designed for parameter changing observation; modeling is carried out by using identification values to eliminate a modeling error caused by internal and external parameter changes to the greatest extent; an adaptive backstepping controller is designed to calculate and obtain an adaptive law for describing resistor interference and control input signals of a d axis and a q axis; and then the control signals are inputted into the full-system mathematical model of the permanent-magnet synchronous power generation device, so that controlling of the permanent-magnet synchronous power generation device can be realized. Experiment results demonstrate that internal and external parameter changing interference of the system can be eliminated to the greatest extent; high-precision controlling of the generator can be realized; and the motor can output high-quality electric energy.

The invention discloses an asynchronous motor vector control method based on a variable parameter MRAS method. The method comprises three portions of rotor flux linkage observation, variable parameterPI adjusting and asynchronous motor vector control. In the invention, based on a conventional MRAS method, an improved voltage model method flux linkage observer is taken as a reference model. In order to overcome disadvantages that a response speed of the system and rotating speed identification errors at a low speed are large, a segment variable parameter PI adjuster is used to replace a traditional PI adjuster. Simulation and experiment show that by using improved voltage model method flux linkage observation, problems of integration drift and a large low speed detection fluctuation are overcome; and compared to the conventional MRAS method, by using variable parameter MRAS method rotating speed identification, overshoot is reduced, a convergence speed is accelerated, an identificationerror is reduced, rotating speed identification is accurate at a low speed and there are many other advantages.

The embodiment of the invention, which belongs to the technical field of the motor, discloses a torque calculation method and device of a permanent-magnet synchronous motor. The calculation method comprises: according to a duty ratio of a motor controller switching tube, a bus voltage and a motor three-phase current, the voltage of the motor in a two-phase stationary coordinate system is calculated, and coordinate transformation is carried out on the three-phase current of the motor to obtain the current in the two-phase stationary coordinate system; according to the voltage and current in the two-phase stationary coordinate system, the flux linkage and the current in a rotor coordinate system are obtained based on a flux MRAS method; and the torque of the motor is calculated according to the flux linkage and current in the rotor coordinate system. With the torque calculation method and device, the torque of the permanent-magnet synchronous motor can be calculated accurately.

The invention provides a compound and a preparation method thereof. The compound has a structure shown in a structural formula (I), wherein MRAS-expressed beta-lactamase can activate photosensitive groups in the compound provided by the invention, so as to generate active oxygen for exterminating MRAS without influencing a microbe and normal tissue which have unexpressed beta-lactamase, and therefore, the compound provided by the invention can achieve the beneficial effects of high efficiency, high specificity and less side effect, can be used as a photosensitizer for PACT treatment of MRSA infection and can provide a powerful tool for treating clinical patients with MRSA injection.

The invention discloses an improved MRAS control method based on a limited memory least square method. A limited memory least square method identification module is configured in front of an adjustable model of a traditional MRAS; online identification is carried out on PMSM nonlinear parameters, the characteristics of old data elimination and updating of a limited memory least square method identification algorithm are utilized, the defects of data saturation and identification result direction deviation in the identification process are effectively avoided, and the identification accuracy and rapidity are improved. And the stator resistance, the stator inductance and the rotor flux linkage of the PMSM obtained by identification are input into the MRAS adjustable model in real time, and the nonlinear quantity of the adjustable model is updated in real time, so that the stator current vector error is more accurate, and the accuracy of self-adaptive rotating speed estimation is furtherimproved. The method has the advantages of being high in control accuracy, good in dynamic performance, high in robustness, low in cost, simple in control algorithm, high in estimation speed and precision of the rotating speed and the position and the like.

The invention relates to a scraper conveyor heavy-load adaptive start control device, which comprises an adaptive start controller, a speed controller, a digital switching switch, a vector controller,an inverter and a motor. The adaptive start controller comprises a torque observer, a speed observer and an adaptive rate controller. The torque observer receives a torque current feedback Ist_fdb signal of the frequency converter vector controller and a flux amplitude psi s signal, and outputs a real-time estimation torque Te_est signal after operation; the speed observer receives voltage and current signals of the vector controller, and obtains a motor real-time speed valve omega_est signal through operation of an MRAS speed sensorless speed estimator; the adaptive rate controller analyzesthe real-time estimation torque Te_est signal and the real-time speed valve omega_est signal, and generates a corresponding torque current given value Ist_ref signal through operation; the vector controller receives a torque current given value Ist_ref signal command and generates a pulse PWM signal to drive a three-phase inverter module; and finally, the three-phase inverter module outputs an expected current and voltage to drive the motor to operate.

The invention relates to an NNs-MRAS-based speed sensorless doubly-fed induction generator LQR control method. A differential algorithm is adopted to design a neural network (NNs) model, the neural network model is trained by a deviation backpropagation algorithm, and thus, a good rotation speed observation ability is achieved. A controller based on a linear quadratic (LQR) optimal control algorithm for stator current under a two-phase synchronous rotating reference frame is designed, the gains are controlled through state feedback, optimal control on the current closed loop parameters is realized, and the dynamic and static performance of the system is improved.

The invention discloses an MRAS-based high-voltage asynchronous motor control method, which comprises the following steps: building a reference model of an active power of an asynchronous motor; building an adjustable model of a reactive power of the asynchronous motor; identifying the rotating speed of a motor rotor; obtaining three-phase sine voltage reference signals through a rotor flux-oriented vector control system; and transmitting the three-phase sine voltage reference signals to a pulse width modulation drive plate, controlling a cascaded power unit by a pulse width modulation control method and controlling the rotating speed of the motor. The disadvantages due to the fact that the motor rotor is provided with a photoelectric encoder are avoided; the defect that a counter electromotive force model is affected by a stator resistance error is overcome; and identification of the rotating speed of the motor is well achieved. By an instantaneous reactive power-based model, the control method has relatively high rotating speed identification precision and effectively improves the static and dynamic properties of the motor during starting, speed adjusting and steady-state operation.

The invention relates to a method of improving identification precision of a speedless sensor under the condition of unbalanced network voltage. The method comprises the steps that a wind power generator controlled by a double-fed control system is adopted; when the network voltage is in a balanced state, stator voltage and stator current serve as an input of an MRAS (Model Reference Adaptive System) reference model directly; and rotating speed data is obtained after PI (Proportional-Integral) adaptive rotating speed estimation. An improvement of the method is that when the network voltage is in an unbalanced state, negative sequence components of the voltage and the current due to unbalance of the network voltage are removed from the input quantity of the MRAS reference model. The method has the technical benefits that the speedless sensor meets a control requirement that the power generator works in the slight unbalanced state of the network voltage; the identification precision of the speedless sensor on the rotating speed in the unbalanced state of the network voltage is improved; an application scope of the speedless sensor is expanded; and fault toleration control of the double-fed wind power generator during a fault of a speed sensor is achieved.

The invention discloses a permanent magnet synchronous motor sensorless control method based on a simplified MRAS method, and belongs to the field of motor control systems. The method comprises the following steps: 1, constructing a reference model and an adjustable model of a permanent magnet synchronous motor sensorless identification system based on an MRAS method, S2, constructing an IPMSM position identification system based on the MRAS method; S3, carrying out simulation analysis on the constructed IPMSM position identification system based on the MRAS method, S4, constructing an improved system of a position sensorless algorithm after resistance identification is added; S5, carrying out simulation analysis on the constructed improved system of the position sensorless algorithm afterresistance identification is added. The permanent magnet synchronous motor sensorless control method based on the simplified MRAS method is more scientific and reasonable, the MRAS method is simplified on the premise that the control effect is not affected, stator resistance identification is added, a motor model is more accurate, and the rotor position identification precision is improved.

The invention discloses an MRAS speed estimation method based on a single-neuron PID controller. The method is used for detecting the rotating speed of a permanent magnet synchronous motor when the permanent magnet synchronous motor runs without a speed sensor. According to the method, when the permanent magnet synchronous motor adopts id=0 control, on the basis of MRAS deduced based on q-axis current, a single-neuron PID controller is adopted to improve a conventional PID controller solve the problems that the conventional PID controller is difficult in parameter setting, cannot achieve online self-setting and the like. Simulation results show that the MRAS speed estimation method adopting the single-neuron PID controller can quickly and accurately realize estimation of the rotating speed of the permanent magnet synchronous motor, and provides theoretical basis and reference for practical application in the industry.