6 results about "Settling time" patented technology

The invention discloses a crisscross optimization robust model predictive control method for an automatic sweeping robot. The crisscross optimization robust model predictive control method is adaptive to a trajectory tracking system with parameter uncertainty. According to the method, a discrete time controlled system with parameter uncertainty, a reference trajectory system and a tracking error system are constructed, performance evaluation indexes are defined, the stable control gain range of a basic RMPC controller is determined by solving a minimum and maximum optimization problem and linear matrix inequality constraints, and a multi-objective optimization function is combined in the range to achieve the stable control of the RMPC controller. The optimal additional control gain is iteratively searched by means of a crisscross algorithm, an optimized controller is formed, the stability and the dynamic performance are considered, the influence caused by parameter uncertainty can be overcome, the rising time and the adjusting time of trajectory tracking are remarkably shortened, the tracking error and the energy consumption are reduced, and the tracking efficiency is improved. And the dual requirements of the automatic sweeping robot on real-time response and control precision are met.

This invention provides a high-precision anti-disturbance control method for UAV gimbals under transient impact loads, belonging to the field of precision servo control technology. It employs a cascade control architecture: the outer loop uses model predictive control (MPC) and introduces control increment constraints to plan an overshoot-free velocity trajectory; the inner loop uses linear active disturbance rejection control (LADRC) and establishes an extended state observer to estimate and compensate for the total disturbance of multi-stage transient impacts in real time. This invention, using the aforementioned high-precision anti-disturbance control method for UAV gimbals under transient impact loads, reduces the settling time to 0.18 s and lowers the maximum dynamic position error during firing to 0.0005 rad, achieving precise steady-state maintenance under high-impact environments.

This invention discloses a method and system for tuning channel PI parameters based on contextual Bayesian optimization. The method includes: First, performing Bayesian optimization under multiple typical operating conditions with the objective of minimizing the settling time, constructing an offline stability knowledge base that integrates operating condition context information, and training a context-aware stability prediction Gaussian process model; Second, for the target operating condition, adaptively selecting knowledge transfer or local exploration paths based on model prediction uncertainty to construct a stability feasible region; Subsequently, within the feasible region, combining channel water level control accuracy and gate action stability indicators, dynamically constructing a comprehensive performance objective function and performing Bayesian optimization to obtain the optimal PI parameters; Finally, continuously updating the knowledge base and model through data closure. This invention achieves safe, efficient, and adaptive tuning of channel PI parameters under varying operating conditions, fundamentally ensuring the operational stability of the water conveyance system.

This invention belongs to the field of magnetic levitation bearing technology, specifically relating to a control method and system for magnetic levitation bearings. By combining auxiliary fourth-order LESO with integral sliding mode control, the anti-disturbance capability is significantly improved, and the suppression effect on various disturbances is superior to traditional control. By employing a saturation function and an external integrator, the problems of control chattering and integral saturation are solved. With the help of piecewise fal function TD and other designs, dynamic and steady-state performance are balanced, achieving zero steady-state error levitation and greatly shortening the settling time. The control method proposed in this invention features core parameter correlation design, requires no complex tuning, is compatible with existing hardware, and can be directly embedded into the controller, making engineering implementation simpler.

Frequency-selective feedback circuits and methods for an amplifier (particularly LNAs) that improve power supply rejection in feedback circuits, reduce non-linearities caused by low-frequency noise coupled to the input of the LNA, and improve settling times of the quiescent bias-point of the LNA. Some embodiments allow multiple modes of operation to allow selection of gain versus linearity characteristics. One aspect of the present invention includes an input matching feedback circuit configured to be coupled between an input terminal of an amplification core and a feedback node in the output signal path of the amplification core, the input matching feedback circuit including a power supply rejection resistor configured to provide a low-impedance path to a reference potential for low-frequency noise.

This invention discloses a fractional phase-locked loop (PLL) based on multi-path quantization noise compensation. It introduces a data synchronization circuit based on the falling edge of the reference clock, ensuring that the divider signals of all paths have reached steady state before the phase detector is triggered by the next rising edge of the PFD, thus completely eliminating dynamic timing interference in the mixed-signal path. By introducing a multi-path retimer with a sign bit, the compensable quantization noise range is expanded. The current-DAC type charge pump proposed in this invention adopts a charge pump architecture based on a source switch array and a static discharge current. The source switch array utilizes the low impedance characteristics of the source nodes of the current source transistors, significantly improving the switching speed and reducing the settling time. The static discharge current forces the loop to maintain a fixed non-zero phase offset in the locked state, permanently shifting the charge pump operating point out of the nonlinear region and deeply suppressing fractional spurious emissions.