48 results about "Passivity controller" patented technology

A system for continuously monitoring a user's motion and for continuously providing realtime visual physical performance information to the user while the user is moving to enable the user to detect physical performance constructs that expose the user to increased risk of injury or that reduce the user's physical performance. The system includes multiple passive controllers 100A-F for measuring the user's motion, a computing device 102 for communicating with wearable display glasses 120 and the passive controllers 100A-F to provide realtime physical performance feedback to the user. The computing device 102 also transmits physical performance constructs to the wearable display glasses 120 to enable the user to determine if his or her movement can cause injury or reduce physical performance.

Separate active and passive controllers each detect a generated magnetic field. The active controller phase corrects the detected magnetic field information transmitted from the passive controller and uses that to calculate the position and orientation of the passive controller. The active controller also phase corrects its own detected magnetic field information and uses that to calculate its position and orientation. The active controller transmits each of these calculated positions and orientations to a video game system directly or indirectly through the source of the generated magnetic field. The video game system is thus informed of the position and orientation of each of the active and passive controllers. Alternatively, the active controller creates a signal matrix using the phase corrected information and the position and orientation of a controller is calculated by either the source of the generated magnetic field or the video game system using the signal matrix.

The invention discloses an improved passive control method of a three-phase grid-connected inverter based on interference observer compensation, which relates to the technical field of grid-connectedinverters, comprising the following steps: (1) sampling the grid-connected current of the inverter and the PCC point voltage, and performing abc/dq conversion; (2) calculating d-axis and q-axis command values; (3) performing d-axis and q-axis current control by a current inner-loop passive controller; (4) obtaining the output voltage compensation value of the inverter by using an interference observer; (5) performing PWM driving pulse production. In this invention, the current tracking controller of grid-connected inverter is designed based on a passive control theory, the controller has strong robustness, fast dynamic response and simple design. The disturbance observer is used to compensate the output, which effectively suppresses the influence of uncertain factors such as parameter perturbation, unmodeled error and disturbance on the steady-state/dynamic response characteristics of the system, thus improving the robustness of the controller.

The invention relates to a passivity-based control method for a speed-senseless interpolating permanent magnet synchronous motor. The passivity-based control method comprises the following steps of: setting a desired motor rotational speed, establishing a non-singular high-order terminal sliding-mode observer to estimate a motor rotational speed estimated value and a motor rotor angular displacement estimated value, evaluating the difference between the desired motor rotational speed and the motor rotational speed estimated value, carrying out PI adjustment, evaluating a desired electromagnetic torque, obtaining a desired d-axis current component and a desired q-axis current component through optimal torque control, establishing a passive controller for the interpolating permanent magnet synchronous motor, based on a port controlled Hamiltonian system model, evaluating a d-axis voltage component and a q-axis voltage component, carrying out pack-1 transform on the d-axis voltage component and the q-axis voltage component to obtain an alpha-axis voltage component and a reference beta-axis voltage component, and carrying out voltage space vector pulse-width modulation on the alpha-axis voltage component and the reference beta-axis voltage component to obtain six paths of drive pulse signals. The control method enables the whole system to be provided with good steady accuracy and dynamic performance.

The invention discloses a Buck-Boost converter variable damping passive control method based on a port controlled dissipation Hamiltonian model. The method comprises the following steps of 1, according to the system state averaging model and the state variables of a Buck-Boost converter, converting the system state averaging model of the Buck-Boost converter into a port controlled dissipation Hamiltonian model form, and verifying the passivity of the port controlled dissipation Hamiltonian model form; 2, according to the port controlled dissipation Hamiltonian model of the Buck-Boost converterand an interconnection and damping distribution passive control method, giving an expected interconnection and damping matrix and carrying out passive controller design; 3, designing a second-order differential tracker according to the influence of the damping coefficient change of the given damping matrix on the system performance, and realizing the real-time change of the injection damping; 4,designing a variable-damping passive controller according to the passive controller and the second-order differential tracker, and controlling the output voltage of the Buck-Boost converter. Accordingto the invention, by means of the control method, the output voltage of the Buck-Boost converter can be quickly converged to the expected output voltage. The steady-state error of the output voltageis reduced, and the overall performance of the system is improved.

The invention relates to a passive control method for an MMC under unbalanced grid voltage, which comprises the steps of S1, respectively building an AC-side mathematical model and a DC-side mathematical model of the MMC based on the Kirchhoff law according to a topological structure of the MMC; S2, transforming the AC-side mathematical model of the MMC into an AC-side mathematical model under a dq two-phase rotating coordinate system according to a coordinate transformation theory; S3, building an EL model of the MMC under a condition that the grid voltage is unbalanced; S4, performing passivity judgment on the MMC under the balanced grid voltage, and adopting passive control on the MMC if the MMC is strictly passive; and S5, designing a positive and negative sequence passive controller for the MMC requiring passive control according to the EL model acquired in the step S3. Compared with the prior art, the passive control method has the advantages of no power fluctuation, high steadyspeed, good control effect and the like.

The invention discloses a three-phase four-bridge-arm dual-closed-loop control method based on emotional intelligence and a passivity theory. A three-phase four-bridge-arm state equation under a d-q-0 coordinate is established; an Euler-Lagrange model is established, and a passivity-based controller (PBC) is designed according to a system passivity theory; the passivity-based controller is designed to serve as a nonlinear controller; compared with a conventional PI linear controller, the passivity-based controller is more applicable to a D-STATCOM linear system; the passivity-based controller has the advantages of high control response speed and good output current waveform and can serve as a current closed-loop controller; in addition, a simplified emotional intelligent controller is adopted; a corresponding link of orbitofrontal cortex in conventional emotional control is reduced, so that the emotional controller is simplified; meanwhile, a self-learning capability which is better than conventional PI control is still kept; the stability of a direct current side voltage can be well maintained; the anti-interference capability of the system is enhanced; and due to the dual-closed-loop control method, the three-phase four-bridge-arm D-STATCOM has good, rapid and stable compensation performance at a user side of a low-voltage three-phase four-wire system power supply system.

The invention relates to a passive control method of MMC-SAPF based on condition of unbalanced grid voltage. The method comprises the steps: (1) adopting a positive and negative sequence separation dqcurrent detection method to flexibly select the current component to be compensated according to the capacity of APF; 2) according to the EL mathematical model under the condition of unbalanced gridvoltage of the MMC-SAPF, verifying the rigorous passivity; 3) adopting the energy storage function optimized by damping injection, designing a new passive controller which can completely decouple thecontrolled variables to the expected positive, wherein the positive and negative sequences of the controller are completely decoupled; 4) adopting APF circulating current suppression, average capacitor voltage control and capacitor voltage equalization control strategy, which are suitable for the condition of unbalanced power network voltage, to improve MMC-SAPF overall dynamic performance. The method provided by the invention is applicable to a three-wire system SAPF based on MMC under ideal and power network voltage unbalanced condition. Compared with the prior art, the present invention hasthe advantages of fast dynamic response and flexible compensation mode and is applicable to various unbalanced states of power network voltage.

The invention provides a passive quasi-PR control method for a photovoltaic grid-connected inverter under a weak power grid, and belongs to the technical field of photovoltaic grid-connected invertercontrol. The method comprises the following steps: constructing a state average model according to a weak power grid single-phase full-bridge inverter equivalent topological graph in combination withthe Kirchhoff law, and then deriving an Euler-Lagrange mathematical model of a single-phase grid-connected inverter; establishing an energy function of the inverter system, analyzing an energy relationship existing in the inverter system, and then performing passivity analysis on the system to prove passivity of the inverter system; establishing an error energy storage function of the inverter system, and determining the change rate of an error energy storage equation of the inverter system by analyzing the change rate of the error energy storage equation of the inverter system; effectively changing the change rate of the error energy storage equation of the inverter system by adding a damping strategy, and shortening the time for reducing to zero; and firsty sending the error variable inthe error energy storage function to the quasi-PR controller to be processed and then sending the processed error variable to the traditional passive controller to obtain a passive quasi-PR control strategy.

The invention discloses a passivity-based control method of a mid-point capacitor three-phase four-wire system SAPF (shunt active power filter). The method comprises steps as follows: acquiring a mathematical model of an SAPF output side in a three-phase static uvw coordinate system; obtaining a voltage component and an inductive current component at the common ground point of the SAPF output sidein a dq0 coordinate system; obtaining a harmonic current component of three-phase load current in the dq0 coordinate system; obtaining direct current side master control current and differential pressure control current; acquiring a component of reference current in the dq0 coordinate system; obtaining a switch function of an SAPF output side switch function in the dq0 coordinate system; and obtaining a switch function of the three-phase SAPF. The method has the benefits as follows: control under the power grid balance/imbalance condition can be realized without processing of positive and negative sequence components of harmonic; adjustable parameters can be reduced, the passive controller structure is simplified, the response speed is higher, the harmonic content of power current can befurther reduced, and the method has higher robustness.

The invention discloses a fuzzy passive control design method for an EMU (electric multiple units) train rectifier based on an EL model. The method comprises the following steps of establishing the ELmodel under a dq coordinate system of an EMU grid-side pulse rectifier, proving the passivity of the EMU grid-side pulse rectifier and solving a desired balance point of the rectifier according to the model, obtaining a passive control law based on the EL model according to the desired balance point and the model, online adjusting the value of injection damping with the combination of a fuzzy control principle to realize the design of a fuzzy passive controller and the application in the EMU grid-side pulse rectifier. According to the method, an energy function quickly converges to the desired energy function, the DC voltage overshoot of the EMU grid-side rectifier and the volatility are reduced, based on the traditional passive control, combined with the fuzzy control theory, the value of the injection damping is online adjusted, the self-tuning of the injection damping is realized, and the dynamic performance and robustness of the rectifier are improved.

The invention discloses a non-isolated photovoltaic inverter leakage current suppression method and system. The method comprises the steps: obtaining a power grid voltage and a power grid phase, and converting a sampling value of an inverter side current into a direct current component through coordinate transformation; using a first-order passive controller to obtain an output voltage direct current component, and acquiring a three-phase modulation wave and a zero-sequence injection component through coordinate inverse transformation; and summing a three-phase output current at an inverter side to obtain a common-mode resonance current, enabling the common-mode resonance current to be subtracted from a reference value, using a second-order time-domain passive controller for inhibiting the common-mode resonance current, and injecting an output variable passing through the second-order time-domain passive controller into a three-phase modulation wave to serve as an input variable of a carrier modulation strategy. According to the invention, the common-mode resonance current and the leakage current are successfully suppressed, outstanding steady-state and transient performance is shown, and sinusoidal waveform of the output current at the inverter side and stability of the system are realized.

The invention discloses a design method of a passive controller used for a rectifier of a railway high-speed train. The method comprises the following steps of: step 1, building a mathematical model in a dq coordinate system of a grid-side pulsed rectifier of the railway high-speed train; step 2, building an Euler-Lagrange mathematical model of the grid-side pulsed rectifier of the railway high-speed train; step 3, deducing and proving the passivity of the grid-side pulsed rectifier of the railway high-speed train according to the mathematical model built in the step 1 and solving an expectedbalance point of the rectifier; and step 4, injecting damping and acquiring a passive control law based on the Euler-Lagrange model according to the expected balance point acquired in the step 3 and the mathematical model acquired in the step 2. The method provided by the invention improves the stability of the rectifier and reduces the direct-current voltage overshoot of the grid-side rectifier of the railway high-speed train; and basing on the damping injecting method, the energy function is quickly convergent to the expected energy function, so shat the dynamic performance of the control system is improved.

The invention relates to an MMC-PET control method for supplying power to a passive network on the basis of power grid voltage faults. The method comprises the steps of 1) carrying out positive and negative zero sequence separation on input voltage and current for an MMC-PET input stage, and controlling the positive and negative sequences of the current, 2) verifying the strict passivity of an MMC-PET input stage converter according to an EL mathematical model of the MMC-PET input stage converter, 3) designing a passive controller and a zero sequence current PI controller for positive and negative current generated when a power grid fails, 4) adopting constant direct current voltage and reactive power control for outer loop control of the MMC-PET input stage, 5) adopting circulation suppression of the MMC-PET input stage under the condition of unbalanced power grid voltage, 6) adopting phase-shifting voltage-sharing control for the middle isolation stage of an MMC-PET, and 7) for a three-phase voltage type full-bridge inverter at the output side of the MMC-PET, adopting current decoupling control for an inner loop, adopting fixed alternating voltage control and fixed reactive powercontrol for an outer loop. The method provided by the invention has the advantages of fast dynamic response, wide application range, remarkable control effect and the like.

The invention provides an active filter current control method insensitive to load current components, and belongs to the technical field of filters. The invention aims to solve the problem that an existing active filter may contain some compensation capacitor current in output current through detection and calculation, so that the phenomenon of inaccuracy and unstable control of the active filtercan be caused. The method is characterized in that an inner ring of a series-parallel converter adopts a passive controller to design and track current, and a port controlled dissipation hamilton PCHD model is established, an inner ring passive controller is designed by adopting a virtual damping injection method; a transition process is arranged by a tracking differentiator by the outer ring according to the system bearing capacity, so that the system overshoot is reduced, the nonlinear function is adopted for performing nonlinear combination on the error, and the control precision is improved. The result shows that the dynamic static property is excellent, the robustness is relatively strong, the feasibility of the adopted mixed passive control is verified, and a new idea is provided for the control strategy.

The invention discloses a control method of an APF (active power filler) and particularly relates to an APF output current and instruction current prediction method. The method includes: instruction current and APF output current are substituted into a passive control law through one-beat prediction; a passive controller generates modulated waves through operation, and pulse signals for controlling an APF switching tube are generated after PWM (pulse width modulation); prediction of the instruction current is realized through one-order linear interpolation, and a prediction value of the APF output current at a next sampling moment is obtained by means of Kalman optimal prediction based on an APF discrete mathematical model. By prediction of the instruction current and the APF output current, intrinsic sampling delay of a digital system can be offset, and compensation performance of the active power filler is improved.

The invention discloses a passive robustness control method. The method comprises the steps of acquiring three features in a power system, wherein the three features comprises a system nonlinearity a(x), parameter uncertainty b(x), and wind speed randomness d(t); combining the three features, so as to obtain disturbance Psi(x, u, t); introducing a virtual state xn+1 to represent the disturbance Psi(x, u, t); introducing a disturbance observer, and estimating the represented disturbance in real time; and introducing a robustness passive controller, compensating the disturbance estimated in real time, and controlling output of active power and reactive power of a double-feed induction generator in the power system. The method is applied to the power system containing the double-feed induction generator. When the power system containing the double-feed induction generator is disturbed, the output of the active power and reactive power of the double-feed induction generator is adjusted based on the robustness passive control of the disturbance observer, so as to make the power system more stable.