公开(公告)号：US20070073442A1

公开(公告)日：2007-03-29

申请号：US11236507

申请日：2005-09-28

申请人： Farhad Aghili

发明人： Farhad Aghili

IPC分类号： G06F19/00

CPC分类号： B25J9/1605 ,  G05B2219/39186 ,  G05B2219/39343 ,  G05B2219/40311 ,  G05B2219/40318 ,  G05B2219/40323 ,  G05B2219/42012

摘要： A system for replicating the behavior of a target robotic manipulator with respect to a payload and worksite, has a real-time simulator capturing the dynamics of the target robot manipulator; a mock-up of the payload and worksite; and an emulating robotic manipulator for interacting with said payload and worksite. The emulating robotic manipulator is controlled by the real-time simulator in a control loop to replicate the dynamical behavior of said target robotic manipulator in its environment by matching the impedance of the emulating robotic manipulator with that of the target robotic manipulator.

摘要翻译： 用于复制目标机器人操纵器相对于有效载荷和工作现场的行为的系统具有捕捉目标机器人操纵器的动力学的实时模拟器; 有效载荷和工地的模型; 以及用于与所述有效载荷和工作现场相互作用的仿真机器人操纵器。 仿真机器人操纵器由控制回路中的实时模拟器控制，以通过将仿真机器人操纵器的阻抗与目标机器人操纵器的阻抗相匹配来复制其环境中的所述目标机器人操纵器的动力学行为。

公开(公告)号：US20060116783A1

公开(公告)日：2006-06-01

申请号：US11289439

申请日：2005-11-30

申请人： Farhad Aghili ,  Mehrzad Namvar

发明人： Farhad Aghili ,  Mehrzad Namvar

IPC分类号： G06F19/00

CPC分类号： G05B5/01 ,  F15B21/087 ,  G05B13/042 ,  G05B17/02

摘要： A combined scheme of identification and torque control is provided for rotary hydraulic actuators. The composite controller consists of a dynamic feedback linearizing inner loop cascaded with a robust linear feedback outer loop. The proposed controller allows the actuator to generate desired torque irrespective of the actuator motion. In fact, the controller reduces significantly the impedance of the actuator as seen by its external load, making the system an ideal source of torque suitable for many robotics and automation applications. An identification method to extract the parameters of non-linear model of actuator dynamics and to estimate a bound for modeling uncertainty, used for synthesis of the outer optimal controller, is also presented. Results are illustrated experimentally on a pitch actuator of a Schilling industrial robot.

摘要翻译： 为旋转液压执行器提供了识别和转矩控制的组合方案。 复合控制器由一个动态反馈线性化内环与一个鲁棒的线性反馈外环级联组成。 所提出的控制器允许致动器产生期望的扭矩，而与致动器运动无关。 事实上，控制器可以显着降低执行器的阻抗，如外部负载所示，使系统成为适用于许多机器人和自动化应用的理想转矩源。 还提出了一种用于提取执行器动力学非线性模型参数并估计用于合成外部最优控制器的建模不确定性的界限的识别方法。 结果在实验上用Schilling工业机器人的螺距执行机构进行了说明。

公开(公告)号：US07688016B2

公开(公告)日：2010-03-30

申请号：US11236507

申请日：2005-09-28

申请人： Farhad Aghili

发明人： Farhad Aghili

IPC分类号： B25J9/18

CPC分类号： B25J9/1605 ,  G05B2219/39186 ,  G05B2219/39343 ,  G05B2219/40311 ,  G05B2219/40318 ,  G05B2219/40323 ,  G05B2219/42012

摘要： A system for replicating the behavior of a target robotic manipulator with respect to a payload and worksite, has a real-time simulator capturing the dynamics of the target robot manipulator; a mock-up of the payload and worksite; and an emulating robotic manipulator for interacting with said payload and worksite. The emulating robotic manipulator is controlled by the real-time simulator in a control loop to replicate the dynamical behavior of said target robotic manipulator in its environment by matching the impedance of the emulating robotic manipulator with that of the target robotic manipulator.

摘要翻译： 用于复制目标机器人操纵器相对于有效载荷和工作现场的行为的系统具有捕捉目标机器人操纵器的动力学的实时模拟器; 有效载荷和工地的模型; 以及用于与所述有效载荷和工作现场相互作用的仿真机器人操纵器。 仿真机器人操纵器由控制回路中的实时模拟器控制，以通过将仿真机器人操纵器的阻抗与目标机器人操纵器的阻抗相匹配来复制其环境中的所述目标机器人操纵器的动力学行为。

公开(公告)号：US20120086598A1

公开(公告)日：2012-04-12

申请号：US12901150

申请日：2010-10-08

申请人： Farhad Aghili

发明人： Farhad Aghili

IPC分类号： G01S19/42 ,  G01S19/47

CPC分类号： G01S19/54 ,  G01S19/43 ,  G01S19/47

摘要： In order to determine positional information, about a mobile robot, Real Time Kinematic (RTK) Global Satellite Navigation System (GNSS) measurement data are obtained by at least two GNSS receivers mounted on the mobile robot. Estimates of the covariance matrices of the measurement data are computed. The RTK GNSS measurement data are combined according to the covariance matrices to obtain enhanced positional information. The results may be fused with data from an IMU to obtain driftless attitude and/or localization information.

摘要翻译： 为了确定关于移动机器人的位置信息，通过安装在移动机器人上的至少两个GNSS接收器获得实时运动（RTK）全球卫星导航系统（GNSS）测量数据。 计算测量数据的协方差矩阵的估计。 根据协方差矩阵组合RTK GNSS测量数据，获得增强的位置信息。 结果可以与来自IMU的数据融合以获得无漂移的态度和/或定位信息。

公开(公告)号：US08766578B2

公开(公告)日：2014-07-01

申请号：US13405575

申请日：2012-02-27

申请人： Farhad Aghili

发明人： Farhad Aghili

IPC分类号： H02P6/10

CPC分类号： H02P6/10 ,  G05B19/00 ,  H02P23/14

摘要： A method and apparatus are provided for ripple suppression of brushless DC motors at any given velocity irrespective of the limited bandwidth of the driver/amplifier supplying the excitation currents to the stator. In a preferred embodiment, Fourier coefficients of the current waveform are calculated as a function of rotor velocity by taking into account the driver/amplifier's finite bandwidth dynamics. For a given velocity, Fourier coefficients of the series approximating the waveform (control signal) are calculated as a function of the rotor velocity and the amplifier dynamics, to generate a waveform that results in no torque or velocity pulsations. When changing the motor speed, the coefficients are updated (recalculated) based on the new desired velocity (and amplifier dynamics), resulting in generation of an updated waveform that results in no torque or velocity pulsations at the new motor speed.

摘要翻译： 提供了一种方法和装置，用于以任何给定的速度波动抑制无刷直流电动机，而不管驱动器/放大器向定子提供激励电流的有限带宽。 在优选实施例中，通过考虑驱动器/放大器的有限带宽动态，计算电流波形的傅立叶系数作为转子速度的函数。 对于给定的速度，计算近似波形（控制信号）的系列的傅里叶系数作为转子速度和放大器动力学的函数，以产生导致没有扭矩或速度脉动的波形。 当改变电机速度时，系数将根据新的所需速度（和放大器动力学）进行更新（重新计算），从而产生更新的波形，导致新电机转速下没有转矩或速度脉动。

公开(公告)号：US20050230557A1

公开(公告)日：2005-10-20

申请号：US11019569

申请日：2004-12-23

申请人： Farhad Aghili

发明人： Farhad Aghili

IPC分类号： B64G5/00 ,  B64G7/00 ,  G06F19/00

CPC分类号： B64G7/00

摘要： The present invention provides an emulation system having a control system that allows the testing of a satellite control system with all of its hardware in place, i.e. fully integrated. The emulation methodology is applicable to the case of either a rigid spacecraft or a flexible spacecraft, provided that the spacecraft's sensors and actuators are stowed to the rigid part of spacecraft in the case of a flexible spacecraft. Practically, the latter condition is not restrictive, as the actuators and sensors are usually placed rigidly in the satellite bus, while the satellite solar panels constitute the flexible elements. The control system is used to tune the mass properties and dynamic behaviour of a rigid ground-spacecraft in a 1-G environment to those of a flight-spacecraft in 0-G. A six-axis force/moment sensor is placed at an interface of the ground-spacecraft and a manipulator. Signals received from the force/moment sensor, and in some cases signals relating to the position and velocity of manipulator joints, are received into the control system.

摘要翻译： 本发明提供了一种具有控制系统的仿真系统，该控制系统允许对其所有硬件就位的卫星控制系统进行测试，即完全集成。 仿真方法适用于刚性航天器或柔性航天器的情况，前提是在灵活的航天器的情况下，航天器的传感器和执行器被存放在航天器的刚性部分。 实际上，后一种情况并不是限制性的，因为致动器和传感器通常被固定地放置在卫星总线中，而卫星太阳能电池板构成柔性元件。 控制系统用于调整1-G环境中的刚性地面空间飞行器的质量属性和动力学行为与0-G中的飞行航天器的质量属性和动态特性。 六轴力/力传感器被放置在地面宇宙飞船和操纵器的界面处。 从力/力传感器接收到的信号，在某些情况下，与机械手接头的位置和速度相关的信号被接收到控制系统中。

公开(公告)号：US08994308B2

公开(公告)日：2015-03-31

申请号：US13624270

申请日：2012-09-21

申请人： Farhad Aghili

发明人： Farhad Aghili

IPC分类号： G05B5/00 ,  H02H7/08

CPC分类号： H02P25/22 ,  H02P29/032

摘要： A technique for controlling drive currents to respective windings of a multi-winding brushless motor comprises monitoring an output of the motor and a demand of the motor, determining whether a failure mode has occurred, the failure mode being an instantaneous complete or partial failure to generate demanded output; and, upon detection of a failure mode on a first winding, distributing a demand contribution that is not being produced by the first winding to one or more of the windings that are not in a failure mode. The demand may be torque demand, and the failure modes may include winding failure, and voltage and/or current saturation. Improved torque output is generated by the redistribution of demand among phases in the event of a failure mode.

摘要翻译： 用于控制多绕组无刷电动机各个绕组的驱动电流的技术包括监测电动机的输出和电动机的需求，确定故障模式是否已经发生，故障模式是瞬时完成或部分故障生成 要求产量; 并且在第一绕组上检测到故障模式时，将不是由第一绕组产生的需求贡献分配给不处于故障模式的一个或多个绕组。 需求可能是扭矩需求，故障模式可能包括绕组故障，电压和/或电流饱和。 改进的扭矩输出是通过在故障模式下的相间需求重新分配产生的。

公开(公告)号：US20140084833A1

公开(公告)日：2014-03-27

申请号：US13624270

申请日：2012-09-21

申请人： Farhad AGHILI

发明人： Farhad AGHILI

IPC分类号： H02P25/22

CPC分类号： H02P25/22 ,  H02P29/032

摘要： A technique for controlling drive currents to respective windings of a multi-winding brushless motor comprises monitoring an output of the motor and a demand of the motor, determining whether a failure mode has occurred, the failure mode being an instantaneous complete or partial failure to generate demanded output; and, upon detection of a failure mode on a first winding, distributing a demand contribution that is not being produced by the first winding to one or more of the windings that are not in a failure mode. The demand may be torque demand, and the failure modes may include winding failure, and voltage and/or current saturation. Improved torque output is generated by the redistribution of demand among phases in the event of a failure mode.

摘要翻译： 用于控制多绕组无刷电动机各个绕组的驱动电流的技术包括监测电动机的输出和电动机的需求，确定故障模式是否已经发生，故障模式是瞬时完成或部分故障生成 要求产量; 并且在第一绕组上检测到故障模式时，将不是由第一绕组产生的需求贡献分配给不处于故障模式的一个或多个绕组。 需求可能是扭矩需求，故障模式可能包括绕组故障，电压和/或电流饱和。 改进的扭矩输出是通过在故障模式下的相间需求重新分配产生的。

公开(公告)号：US20130221887A1

公开(公告)日：2013-08-29

申请号：US13405575

申请日：2012-02-27

申请人： Farhad AGHILI

发明人： Farhad AGHILI

IPC分类号： H02P6/10

CPC分类号： H02P6/10 ,  G05B19/00 ,  H02P23/14

摘要： A method and apparatus are provided for ripple suppression of brushless DC motors at any given velocity irrespective of the limited bandwidth of the driver/amplifier supplying the excitation currents to the stator. In a preferred embodiment, Fourier coefficients of the current waveform are calculated as a function of rotor velocity by taking into account the driver/amplifier's finite bandwidth dynamics. For a given velocity, Fourier coefficients of the series approximating the waveform (control signal) are calculated as a function of the rotor velocity and the amplifier dynamics, to generate a waveform that results in no torque or velocity pulsations. When changing the motor speed, the coefficients are updated (recalculated) based on the new desired velocity (and amplifier dynamics), resulting in generation of an updated waveform that results in no torque or velocity pulsations at the new motor speed.

摘要翻译： 提供了一种方法和装置，用于以任何给定的速度波动抑制无刷直流电动机，而不管驱动器/放大器向定子提供激励电流的有限带宽。 在优选实施例中，通过考虑驱动器/放大器的有限带宽动态，计算电流波形的傅立叶系数作为转子速度的函数。 对于给定的速度，计算近似波形（控制信号）的系列的傅里叶系数作为转子速度和放大器动力学的函数，以产生导致没有扭矩或速度脉动的波形。 当改变电机速度时，系数将根据新的所需速度（和放大器动力学）进行更新（重新计算），从而产生更新的波形，导致新电机转速下没有转矩或速度脉动。

公开(公告)号：US07403826B2

公开(公告)日：2008-07-22

申请号：US11289439

申请日：2005-11-30

申请人： Farhad Aghili ,  Mehrzad Namvar

发明人： Farhad Aghili ,  Mehrzad Namvar

IPC分类号： G05B13/02

CPC分类号： G05B5/01 ,  F15B21/087 ,  G05B13/042 ,  G05B17/02

摘要： A combined scheme of identification and torque control is provided for rotary hydraulic actuators. The composite controller consists of a dynamic feedback linearizing inner loop cascaded with a robust linear feedback outer loop. The proposed controller allows the actuator to generate desired torque irrespective of the actuator motion. In fact, the controller reduces significantly the impedance of the actuator as seen by its external load, making the system an ideal source of torque suitable for many robotics and automation applications. An identification method to extract the parameters of non-linear model of actuator dynamics and to estimate a bound for modeling uncertainty, used for synthesis of the outer optimal controller, is also presented. Results are illustrated experimentally on a pitch actuator of a Schilling industrial robot.

摘要翻译： 为旋转液压执行器提供了识别和转矩控制的组合方案。 复合控制器由一个动态反馈线性化内环与一个鲁棒的线性反馈外环级联组成。 所提出的控制器允许致动器产生期望的扭矩，而与致动器运动无关。 事实上，控制器可以显着降低执行器的阻抗，如外部负载所示，使系统成为适用于许多机器人和自动化应用的理想转矩源。 还提出了一种用于提取执行器动力学非线性模型参数并估计用于合成外部最优控制器的建模不确定性的界限的识别方法。 结果在实验上用Schilling工业机器人的螺距执行机构进行了说明。