542 results about "Repetitive control" patented technology

A communication network (10) utilized for providing communications between a first party and a second party includes a surveillance server (26) within a core network (10) to provide communication surveillance capability. The core network (10) may be a packet data network, and the surveillance server (26) is operable responsive to trigger information to establish communications surveillance. Communication surveillance may be established by creating duplicate bearer packets of those data packets carrying the communicated data between the parties, creating duplicate control packets of those data packets carrying in-band or out-of-band call control information between the parties and within the packet data network, and / or various combinations thereof. The duplicate bearer packets and the duplicate control packets are routed to appropriate authorized law enforcement agencies for providing surveillance.

The invention discloses an unposition sensor for a permanent magnet linear motor. Before a motor starts, a designated trigger signal is inputted into an inverter, a corresponding line inductance value is solved, the calculation is realized by combining the existing inductive parameters of the motor for preliminarily obtaining an initial position of a linear servo motor and then high-frequency voltage is immediately introduced to judge the direction of a magnetic pole of the rotor; after the motor starts, the position of the rotor is detected at the low-speed phase in real time by a method of combining the injection of the high-frequency voltage with the repetition of a controller; position information of the rotor is acquired at the middle-high speed phases in real time by a method of combining a sliding-mode observer based on an extended counter electromotive force model with a saturation function algorithm. According to the unposition sensor disclosed by the invention, an initial position detection method, a rotating high-frequency injection method, repeated control and the sliding-mode observer are combined together, so that the position information of the linear servo motor can be accurately and effectively detected, the defects caused by the existence of a mechanical sensor are overcome and the reliability of the system is improved.

The invention provides a neural-fuzzy PID control method of a four-rotor aircraft based on repetitive control compensation. The method comprises the following steps that S10) a dynamic model of a four-rotor unmanned aerial vehicle (UAV) is established; S20) neural-fuzzy PID control based on repetitive compensation is carried out; S21) a grid structure in which a neural network generates fuzzy inference (rules) and a PID parameter can be adjusted by itself is designed; and S22) repetitive compensation control is carried out. According to the method provided by the invention, repetitive control based on an internal model principle is embedded into self-adjusting PID closed-loop control in which fuzzy inference is generated on the basis of neural network, neural-fuzzy PID control based on repetitive compensation is formed, the system is still in the closed-loop state, neural-fuzzy PID carries out real-time control adjustment on an output error, a repetitive compensation controller carries out adjustment when the system is in the stable state, output signals can effectively track input signals in the stable state, neural-fuzzy PID adjusts the input signals when interference is relatively high, the signal error is reduced, and the tracking precision of the aircraft system is improved.

The invention relates to a two-stage photovoltaic grid-connected control system based on the combination of pole allocation and repetitive control, which can invert the direct current output by a photovoltaic cell into alternating current well and transmit the alternating current to a power system, so that the harmonic wave content is low, the power supply quality is good, the utilization ratio of a system is high, the stability of the system can be improved to a certain extent and the properties of the whole photovoltaic system are improved. The two-stage photovoltaic grid-connected control system based on the combination of pole allocation and repetitive control has the advantages that: (1) due to the adoption of numerical control, the antijamming capacity is high and the system can achieve high precision and stability; (2) the system has clear assignment, obvious control effect, reliability and high robustness, wherein a preceding-stage Boost converter can realize maximum power tracking; and a last-stage inverter achieves direct current side voltage stabilization and grid-connected inversion; and (3) a control algorithm is advanced, wherein a dead zone effect of the inverter and the harmonic wave caused by partial non-linear loads are avoided by a repetitive control technique; and precise control is realized through the state feedback-based pole allocation.

A method for controlling an automatic movement maneuver of a motor vehicle between an initial position and a final position includes establishing a path between the initial position and the final position of the vehicle and recording the path in a memory. The method also includes initiating automatic movement of the vehicle from the initial position, automatically moving the vehicle along the path, and automatically stopping the vehicle in the final position. Additionally, the method includes emitting a repetitive control signal from a mobile terminal and slaving the automatic movement of the vehicle along the path to a reception of the repetitive control signal by the vehicle.

A switching regulator having a current limit with adaptive cycle skipping. A buck type switching regulator circuit is provided, including an energy storage component, such as an inductor or capacitor, and a switch for controllably providing an input current to the energy storage component. A control unit controls the on time and the off time of the switch by providing cyclically recurring control pulses to the switch that cause the switch to be on during the pulses and off otherwise. A current monitor circuit monitors a current corresponding to the input current applied to the energy storage component during the periodic control pulses. An overcurrent signal generator generates an overcurrent signal pulse upon detection of the monitored current at a level above a predetermined level corresponding to an overcurrent condition. A state machine responds to the overcurrent signal pulse and suppresses a number of the cyclically recurring control pulses, thereby controlling the period between the recurring control pulses that are not suppressed, in accordance with a predetermined algorithm that increases the number each time an overcurrent signal pulse is detected in successive periods.

A method and system for decoding and storing encoded control data delivered via the horizontal overscan area of a video signal. An interactive device such as an interactive toy performs behavior defined by control data that can be encoded into a video signal that can be broadcast or played-back from video tape. The interactive device is equipped with a non-volatile memory that permits the control data to be stored for performance subsequent to the transmission session (e.g., a televised program). The interactive device also may be equipped to perform behavior during the transmission session. The control data is delivered as a series of control data words that include genus codes and sequence codes. Genus codes identify the interactive device to which the data word is directed, so that a particular interactive device will respond (i.e., perform behavior) only in accordance with the control data words including the appropriate genus code. Because video transmissions are subject to video signal deterioration, error grading is used to minimize the effect of such signal deterioration. During a given control data transmission session, control data words will be repeated, so that an interactive device receives several control data words with the same sequence number. Based on the relative gradings, the interactive device will replace previously received control data words of lower quality than subsequently received data words having the same sequence number.

The invention relates to a discrete sliding mode repetitive control method for a periodic servo system, which comprises the following steps: identifying a difference equation model of the current servo system, and converting the difference equation model into a state space model; selecting a linear switching function; forming a discrete reaching law, and constructing an ideal switching dynamic state according to the formed discrete reaching law; constructing a discrete sliding mode repetitive controller model according to the ideal switching dynamic state; and using current control variables as the control command for a controlled servo system to enable the servo system to change with reference signals. The invention can weaken the system chattering, and simultaneously inhibit the influence of periodic disturbance on the system, thereby improving the control quality and realizing the accurate control on periodic tracking tasks.

An exponent preprocessing unit preprocesses an n-bit exponent k and exponentiates a base A by the preprocessed exponent k. A bit string storing unit stores a bit string including a sign bit and the exponent k. A reading unit reads a bit pattern composed of the sign bit and a bit sequence made up of a predetermined number of bits. A bit pattern generating unit generates a new bit pattern from the read bit pattern. An operation pattern specifying unit specifies an operation pattern based on the read bit pattern. An operating unit performs an operation according to the specified operation pattern and writes the new bit pattern over the previous bit pattern. The reading unit reads a next bit sequence starting from a different bit in the bit string storing unit. A repeat controlling unit repeats these procedures n+1 times.

The invention discloses a permanent magnet synchronous motor control algorithm of a small-capacity thin-film capacitor transducer system. By precisely controlling motor alternating-axis current, the aberration rate of power grid input current is effectively decreased, the precise control over motor direct-axis current is achieved, and the requirement for speed under the low voltage condition of a DC bus is ensured; by feeding back the voltages of the DC bus, the stability of the whole system is improved. By means of the system, a power factor correcting circuit is omitted, a small-capacity thin-film capacitor is used instead, the whole control system is small in size, cost is reduced, but the control over the rear end is difficult due to the fluctuation of voltages on the capacitor, so a DC component of alternating-axis and direct-axis reference current of a motor is obtained according to the average torque, the alternating-axis and direct-axis reference current is correspondingly adjusted according to the change of bus voltage, an internal model controller or repeated controller or a PR controller is adopted as the current controller, and the alternating-axis and direct-axis reference current of the motor rapidly tracks period demand signals.

Efficient utilization of a shared pool of time-frequency slot resources in a return channel among a plurality of remote terminals in a satellite communication system. Within the shared pool of time-frequency slot resources for data, allowing access through circuit-switched TDM allocations, reservation allocations, or random access. Within the shared pool of time-frequency resources for control, allowing duplicate control burst transmissions in random access. Other improvements in the control channel include self-allocation by the remote terminals or hub-allocation to the remote terminals.

The invention discloses a method for realizing a software phase-locked loop with an unfixed sampling frequency. The method comprises the following steps: firstly adopting an analog phase-locked loop digital controlled oscillator of the DSP period counter to obtain digital controlled oscillator output signals; then working out the phase error between the mains voltage and a reference signals in the DQ-transformation phase demodulation mode by using the digital controlled oscillator output signals as the reference signals; and establishing a closed loop transfer function secular equation of a phase-locked loop system and determining the parameters of the designed loop filter based on the digital controlled oscillator output signals and the phase error between the mains voltage and the reference signals. The invention can maintain the fixed number of the sampling points in the primitive period, and is used for repeatedly controlling various grid-connected converting devices, such as active electric filters, new energy-powered grid-connected converters and the like. By adopting the DQ-transformation phase demodulation mode, the invention can well inhibit the harmonic and unbalanced mains, resist the fluctuation of the mains voltage, and ensure the reliable operation of the phase-locked loop under the conditions of multiple mains voltage zero passage, voltage harmonics, voltage fluctuation and mains voltage imbalance.

Methods, systems, and computer readable media are disclosed for analyzing a simulation model. The method includes defining the simulation model utilizing a Computer-Aided Engineering (CAE) tool. A parametric volume including mesh elements at least partially bounding a design object of the simulation model is formed. The parametric volume includes at least one T-spline control point. The method also includes adjusting at least one control point on the parametric volume to deform a portion of the simulation model correlated to the control point. The deformed simulation model is simulated to develop a simulation result. The control point adjusting and the simulating may be repeated.

The invention discloses an output current wave shape control method for a triphase Active Power Filter (APF). A T-shaped filter and a current wave shape controller are adopted to control the output current wave shape of the triphase AFT. The output filter for each phrase bridge arm of an inverter is a capacity connected to the middle point of two inductances connected with each other in series, and form a T-shaped structure, namely T-shaped filter; the calculation method for wave shape controlling is conducting Alfa, Beta, Omicron transformations to instruction current of the triphase APF, actual output current and the voltage of the power network, so as to realize decoupling of the wave shape controlling of the abc triphase output current; and respectively conducting pole assignment to the single-phrase system under decoupled Alfa, Beta, Omicron axis system, and correcting the error between the APF actual output current an the instruction current, so as to get instruction voltage of each phrase under the alfa, beta, Omicron axis system; and at last sending the instruction voltage to a space vector modulating module, so as to confirm the on-off signal of each bridge arm switch tube, thereby causing the actual output current of the PFA to accurately track the instruction current.

The invention discloses a magnetic suspension rotor harmonic current suppression method based on an FIR filter and a fractional-order repetitive controller. The method comprises the steps: firstly, a magnetic suspension rotor dynamic model containing mass unbalance and sensor harmonic wave is established; then, the FIR filter is a low-pass filter with the linear phase characteristic, and the fractional-order repetitive controller can be obtained through approximation of a fractional delay filter. The method provided by the invention can achieve harmonic current suppression in a constant rotation speed through online updating of the fractional delay filter and is suitable for harmonic current suppression of a magnetic suspension rotor with mass unbalance and sensor harmonic wave; the FIR low-pass filter and the fractional-order repetitive controller are combined and used, and the harmonic current suppression can be achieved through the linear phase characteristic of the FIR filter and the online updating of the fractional-order repetitive controller.

The invention discloses a magnetic suspension rotor harmonic current suppression method based on a frequency self-adaptive fractional compensation repetition controller. The method comprises the steps that a magnetic suspension rotor dynamic model with unbalanced mass and sensor harmonics is established; after high-band signal amplitude attenuation and phase lag, which are caused by a low-pass filter Q (s), are considered, the disturbance suppression ability of a system is reduced; the low-pass filter Q (s) is moved to the branch of the repetition controller from the inside feedback loop; a fractional order compensation link is replaced by a fractional delay filter; and through online updating of the coefficients of the fractional delay filter, precise harmonic current suspension at any frequency can be realized. According to the invention, precise harmonic current suspension of a magnetic suspension flywheel or a magnetic suspension gyroscope at any rated speed can be realized, and the method is suitable for current suppression of magnetic suspension rotor harmonics with mass imbalance and sensor harmonics.

The invention discloses a composite control method for a grid-connected inverter based on repetitive control and a disturbance observer. The method comprises the following steps: (1) acquiring network voltage, grid-connected current and capacitance current; (2) acquiring network voltage phase angle through PLL phase locking of the network voltage, converting the grid-connected current and the capacitance current to alpha belta coordinates through transformation of coordinates; (3) adjusting the network voltage phase angle, as well as the grid-connected current and the direct current reference signal thereof both under the alpha belta coordinates through repetitive control; (4) subtracting the output value of the disturbance observer and the capacitance current under the alpha belta coordinates from the output value of the repetitive control; (5) converting the output value after final subtraction to abc coordinates through transformation of coordinates, and generating PWM (Pulse Width Modulation) impulses to control the output of a three-phase full-bridge inverter, so that the grid-connected power generation of the distributed power generation system is achieved. According to the composite control method, the dynamic property of the overall grid-connected control system is good, the steady accuracy is high and the robustness is strong; the composite control method is an accurate and efficient inverter control method, and has a bright development future.

The invention discloses a repetitive-control-based method for controlling a compensation current of a DSTATCOM (Distribution Static Synchronous Compensator). The method comprises the following steps of: (1) acquiring a grid voltage, a load current and the compensation current; (2) extracting current commands from the load current; and (3) carrying out repetitive control and PI (Proportional-Integral) control according to the current commands, and then, outputting voltage commands to the DSTATCOM. According to the repetitive-control-based method for controlling the compensation current of the DSTATCOM, the no-static-error tracking of the low-order harmonics, comprising fundamental harmonics, of the DSTATCOM can be achieved, the compensation accuracy of the DSTATCOM is improved, the compensation bandwidth of the DSTATCOM is increased, and the compensation capability and accuracy of the DSTATCOM with unbalanced loads are improved, so that the DSTATCOM can have harmonic compensation and suppression capabilities, the use of passive filters at the outlet side of the DSTATCOM is reduced, the harmonic performance of the compensation current of the DSTATCOM is improved, the harmonic output is reduced, and the pollution to a power grid is reduced.

The invention discloses a discrete repetition control method based on the attraction law, and the method comprises the steps: generating a periodically symmetric reference signal through a given link; constructing a periodic feedback link; constructing an ideal error dynamic state based on a limited time inverse hyperbolic cosine attraction law; constructing an e / v signal conversion module according to the ideal error dynamic state, wherein an output signal is used for discretizing a correction amount of a repetition controller; calculating an output signal of the repetition controller, enabling the output signal to serve as the input of a servo object, and enabling a servo system to change along with a reference signal. The method employs a time domain design, is good in control precision, and completely inhibits a periodic interference signal.

The invention discloses a compound control method of a photovoltaic grid-connected inverter, relating to a photovoltaic grid-connected inverter. The control method of the traditional inverter has the defects of larger harmonic distortion of the output current of the inverter and poor wave form quality. The compound control method is characterized by comprising the steps of: detecting a DC busbar voltage and a three-phase current outputted by an inverter, calculating a d shaft current reference value according to the DC busbar voltage; converting the three-phase current output by the inverter into a d shaft current measured value and a q shaft current measured value; obtaining a current difference; respectively calculating according to the current difference to obtain a PI control voltage compensating value, a resonance control voltage compensating value and a repeating control voltage compensating value by a PI control module, a resonance control module and a repeating control module; and generating a PWM (Pulse Width Modulation) wave by the PWM control module according to a composition result of the PI control voltage compensating value, a resonance control voltage compensating value and a repeating control voltage compensating value. According to the invention, specific subharmonics and periodic disturbance are inhibited, stability of the inverter is ensured, and dynamic property of the inverter is improved.

Disclosed is an upper limb rehabilitation robot rehabilitation training motion control method. The process is as follows: 1, establishment of a state equation, i.e., hypothesis conditions are given based on Lagrange's upper limb rehabilitation robot dynamical model, and an upper limb rehabilitation robot system equation is converted into a specific expression form and compensated; 2, transformation of the state equation, i.e., an H-infinity robustness repletion controller is designed to enable the system to be asymptotically stable; and 3, then upper limb rehabilitation robot rehabilitation training motion control is carried out, and by taking a formula (34) as a basis, conditions meeting the requirements for establishing a theorem 1 are taken as control requirements. According to the invention, for the characteristic of an upper limb rehabilitation robot model, upper limb rehabilitation robot state feedback robustness repetition control is brought forward on the basis of an upper limb rehabilitation robot training model; and the design problem of a multi-period repetition controller is converted into a state feedback design through introduction of state feedback so that the tracking performance and robustness stability of a system can be improved. Siimulation results indicate that the method can realize high-precision rapid tracking and is quite good in system stability.

The embodiment of the invention provides a PWM (Pulse-Width Modulation) rectifier controlling method and a PWM rectifier. The PWM rectifier controlling method is a passivity control method based on repeated control and compensation, and comprises the following steps: a control law of the PWM rectifier based on the interconnection and damping configuration of port controlled dissipation Hamilton models is obtained with a Lagrange-Charpy integral method; and a composite controller including repeated control and passive control is used as a controller of the PWM rectifier, and the passive control is compensated by the repeated control according to the control law so as to suppress periodic interference. According to the embodiment of the invention, PWM rectification of a unit power factor can be realized, and at the same time the harmonic interference of a power grid is better suppressed under the condition of not detecting load harmonic current so as to improve power quality. Compared with the conventional PWM rectifier, the PWM rectifier disclosed by the invention has the functions of harmonic suppression and reactive compensation under the condition of not increasing hardware cost.

The invention relates to the technical field of electric power and electronics, and in particular relates to a single-phase inverter and a waveform control method thereof. The single-phase inverter comprises an input direct current power supply Vdc, a single-phase full bridge inverter circuit which is composed of 4 power switch tubes and 4 freewheeling diodes which are in antiparallel connection with 4 power switch tubes, a filter inductor L, a filter capacitor C, a load Z, a voltage sensor VSEN, a current sensor ISEN, an A / D conversion circuit, a digital controller and a driver circuit. According to the invention, when the harmonic content is large, the parameter K of an adjustable system is adjusted, so that a repetitive controller plays the main role and the system is stable; when the harmonic content is small, the parameter K of the adjustable system is adjusted, so that a PI controller plays the main role and the system has fast response speed; and the control scheme integrates the characteristics of repetitive control and PI control and gives full play to the advantages of compound control, so that the system has the advantages of good output waveform, fast dynamic response, strong adaptability to the load and the like.

The invention discloses a magnetic suspension rotor harmonic current suppression method based on a composite friction repetitive controller. Firstly, a magnetic suspension rotor dynamical model which comprises mass unbalance and sensor harmonic is established. Secondly, the composite friction repetitive controller is designed. The controller is obtained through parallelly connecting a double-mode friction repetitive controller and a phase shift notch filter. The double-mode friction repetitive controller comprises two branches, namely an odd-order harmonic suppression branch and an even-order harmonic suppression branch. The odd-order harmonic and the even-order harmonic can be suppressed in an enhanced manner through distributing the value of a control gain, and dynamic response performance is improved. A friction time delay link is replaced by a friction time delay filter, thereby improving harmonic current suppression precision. Furthermore the phase shift notch filter is introduced for performing additional suppression on fundamental frequency current, thereby reducing current overshoot and improving harmonic convergence speed. The magnetic suspension rotor harmonic current suppression method can realize harmonic current suppression in a fixed rotating speed and is suitable for magnetic suspension rotor harmonic current suppression in which mass unbalance and sensor harmonic exist.

A disk drive, such as a magnetic recording hard disk drive, has a head positioning servo control system that includes an improved repetitive controller included with the conventional feedback controller for suppressing periodic disturbances. The repetitive controller includes a low-pass filter (LPF) and a time-delay memory with a time delay matched to the period of the periodic disturbance. In a digital implementation, where the head position error signal (PES) is sampled, the time delay is the time for N samples. A subsequent PES sample is summed with the time-delay input sample from N samples earlier and this summed value is input to the LPF. The output of the LPF is added to the subsequent PES sample and the added value is input to the feedback controller. The value of N is adjustable, so the repetitive controller is adaptable to changes in frequency of the periodic disturbance.

The invention discloses a novel photovoltaic inverter control method based on BP neural network and dual-mode structure repetitive control. According to the invention the output of the photovoltaic grid-connected inverter is connected to a power network after LCL filtering to carry out a sampling link. The phase theta extracted by the improved PLL is fed into the dqalpha beta transform. The difference between the reference voltage of the DC side and the actual voltage of the DC side is inputted into the PI controller; Obtaining the actual current signal ig through abcalpha beta transformationfrom the sampled current of the power network side. The difference between the reference grid-connected current ig and the actual current signal ig in the alpha beta coordinate system after the dqalpha beta transformation is subjected to the alpha beta abc transformation, and then is fed into the composite controller together with the actual current signal ig and the reference grid-connected current ig. The signal processed by the composite controller is sent to the notch filter for processing, and then the processed signal is sent to the SVPWM module, so as to generate periodic switching signals for controlling the grid-connected photovoltaic inverter, thereby suppressing the harmonics of the grid-connected photovoltaic inverter into the power grid. The compensation effect of the invention is superior to the traditional photovoltaic grid-connected inverter.

The invention discloses a permanent magnet synchronous motor control algorithm for improving the transient stability of a small capacity DC bus capacitor voltage. According to the difference between a DC bus voltage and an absolute value of a grid voltage, a given component of a motor direct-axis current is adjusted, the transient stability of the DC bus voltage is improved, and the distortion rate of a grid input current is reduced. A small capacity thin-film capacitor is used for replacing a power factor correction circuit to extend the service life of the entire system. However, the capacitance of the thin-film capacitor is small and the capacitor voltage is susceptible to motor back electromotive force, which results in a series of problems of a high distortion rate of the grid input current and the like. For this reason, the invention adjusts the given component of the direct-axis current based on the difference between the DC bus voltage and the absolute value of the grid voltage, and adopts an internal model controller or a repetitive controller or a PR controller as a current controller to realize the fast tracking of period demand signals by d-q currents of the motor.

The invention provides a harmonic current suppression method and device of a permanent-magnet synchronous motor. The method comprises the steps of obtaining d-axis current deviation and / or q-axis current deviation of to-be-suppressed harmonic current; and extracting a to-be-suppressed harmonic current signal by using a fourier analysis method, then carrying out filtering and superposition, simultaneously carrying out angle compensation on an electrical angle of the motor and carrying out signal reconstruction by the electric angle and the harmonic current signal to obtain output of a repetitive controller; the repetitive controller and a PI controller form an overall current controller to act on vector control of the permanent-magnet synchronous motor. The harmonic current suppression method is simple in logic, only simple repetition is needed when different harmonic current is suppressed, and the size of the harmonic current can be well suppressed, thereby achieving the targets of suppressing torque pulsation and improving the torque control accuracy and meeting the application of the high-performance permanent-magnet synchronous motor in the field of an electric vehicle and the like.

The invention relates to a discrete repetitive controller on the basis of a power attraction law and a control method of the discrete repetitive controller. A given link generates periodic symmetric reference signals; a periodic feedback link is created; an ideal dynamic error is created on the basis of the power attraction law; according to the ideal dynamic error,an e / n signal conversion moduleis constructed,and an output signal of the e / n signal conversion module is used as a correction amount of the discrete repetitive controller; an output signal of the repetitive controller is calculated to serve as input of a servo object,so that a servo system changes along with the reference signals. Specific controller parameter setting work can be performed according to indexes representing a system convergence process,and a power monotone reduction region,a power absolute attraction layer and a steady-state error band boundary which represent a tracking error convergence process are provided. The discrete repetitive controller with time-domain design,good control precision,complete suppression of periodic interference signals and effective elimination of slow time-varying non-periodicinterference signals on the basis of the power attraction law and the control method of the discrete repetitive controller are provided.