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公开(公告)号：US10439526B2
公开(公告)日：2019-10-08
申请号：US15996603
申请日：2018-06-04
发明人： Gang Tian
摘要： A field oriented control (FOC) system and method provides smooth field-oriented startup for three-phase sensorless permanent magnet synchronous motors (PMSMs) despite the absence of load information. The system uses the rotor flux projection on the d- or q-axis to determine whether the stator flux current reference being applied during reference startup phase is sufficient to spin the PMSM, thereby providing smooth operation during the reference startup phase and saving energy relative to applying rated current. The system also determines a suitable initial value for the stator torque current reference to use at the start of closed-loop sensorless FOC control mode based on an angle difference between the reference and estimated angles. Since this angle difference is reflective of the load on the PMSM, the selected initial value allows the system to achieve a smooth transition from reference startup mode to closed-loop sensorless FOC control mode.
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公开(公告)号：US10222764B2
公开(公告)日：2019-03-05
申请号：US15294996
申请日：2016-10-17
发明人： Gang Tian
IPC分类号： G05B13/02 , G05B19/402
摘要： A motion control design system implements a performance specification-oriented design approach. The system allows a designer to define desired performance specifications that are to be satisfied by a motion system, and determines tuning parameters (e.g., controller bandwidth and associated tuning parameters) that will yield performance within the defined performance specifications. An identification process identifies system parameters of interest based on collected system data. After the user has entered the desired performance specifications, an optimization process determines a range of bandwidths that will satisfy all specified performance requirements, and selects an optimal bandwidth within this range. A tuning process generates the corresponding tuning parameters for a systematically designed motion controller. Rather than using an optimal solver, the design system stores relationships between performance specifications and the major tuning parameter as matrices or mapping functions, given system parameters as inputs, making the design system suitable for embedded systems.
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公开(公告)号：US20140139170A1
公开(公告)日：2014-05-22
申请号：US14164412
申请日：2014-01-27
发明人： Gang Tian
IPC分类号： G05B13/02
CPC分类号： G05B13/0265 , B25J9/1638 , G01M1/10 , G01M13/025 , G05B2219/41163
摘要： Systems and methods for estimating an inertia and a friction coefficient for a controlled mechanical system are provided. In one or more embodiments, an inertia estimator can generate a torque command signal that varies continuously over time during a testing sequence. The velocity of a motion system in response to the time-varying torque command signal is measured and recorded during the testing sequence. The inertia estimator then estimates the inertia and/or the friction coefficient of the motion system based on the torque command data sent to the motion system and the measured velocity data. In some embodiments, the inertia estimator estimates the inertia and the friction coefficient based on integrals of the torque command data and the velocity data.
摘要翻译： 提供了用于估计受控机械系统的惯性和摩擦系数的系统和方法。 在一个或多个实施例中，惯性估计器可以产生在测试序列期间随时间连续变化的转矩指令信号。 响应于时变转矩指令信号的运动系统的速度在测试序列期间被测量和记录。 然后，惯性估计器基于发送到运动系统的转矩指令数据和所测量的速度数据来估计运动系统的惯性和/或摩擦系数。 在一些实施例中，惯性估计器基于转矩指令数据和速度数据的积分来估计惯性和摩擦系数。
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4.发明申请公开(公告)号：US20180278187A1
公开(公告)日：2018-09-27
申请号：US15996603
申请日：2018-06-04
发明人： Gang Tian
摘要： A field oriented control (FOC) system and method provides smooth field-oriented startup for three-phase sensorless permanent magnet synchronous motors (PMSMs) despite the absence of load information. The system uses the rotor flux projection on the d- or q-axis to determine whether the stator flux current reference being applied during reference startup phase is sufficient to spin the PMSM, thereby providing smooth operation during the reference startup phase and saving energy relative to applying rated current. The system also determines a suitable initial value for the stator torque current reference to use at the start of closed-loop sensorless FOC control mode based on an angle difference between the reference and estimated angles. Since this angle difference is reflective of the load on the PMSM, the selected initial value allows the system to achieve a smooth transition from reference startup mode to closed-loop sensorless FOC control mode.
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5.发明申请公开(公告)号：US20180246482A1
公开(公告)日：2018-08-30
申请号：US15441482
申请日：2017-02-24
发明人： Gang Tian , Adam Reynolds
IPC分类号： G05B19/042 , H02J13/00
CPC分类号： G05B19/042 , G05B2219/37181
摘要： A system parameter identification system uses a combination of relay control and sinusoidal injection to derive accurate estimates of system parameters of a controlled system or process while satisfying the rate-limit associated with some control applications. The system uses rate-limited relay control with hysteresis to place the system in oscillation. The system then switches the control signal from relay-based control to open-loop sinusoidal control using oscillation frequency, amplitude, and phase information obtained during the relay control stage. During the sinusoidal control phase, the plant output passes through a bandpass filter at the oscillation frequency to get a clean sinusoidal signal. The phase difference between the input and output signals and the output/input amplitude ratio are then obtained and used to calculate of the system parameters.
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公开(公告)号：US20180088538A1
公开(公告)日：2018-03-29
申请号：US15276937
申请日：2016-09-27
发明人： Gang Tian
CPC分类号： G05B11/01 , G05B13/021 , G05B23/0297
摘要： A curve fitting system implements a multi-level curve fitting approach to obtain a mapping between variables of interest. According to this approach, the system establishes first curve fitting relationships between a first variable of interest and a second variable of interest for sets of values of the independent variables. Then, second curve fitting relationships are established between the coefficients of the previously established curve fitting relationships and one of the independent variables for multiple value sets of the remaining independent variables. These recursive curve fitting operations are repeated until curve fitting relationships are obtained for all of the independent variables. The system then generates mapping data based on the curve fitting relationships, where the mapping data defines a mapping from the first independent variable to the second independent variable. This technique can be applied to determine functional relationships between tuning parameters and performance parameters of a motion system.
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公开(公告)号：US20160033944A1
公开(公告)日：2016-02-04
申请号：US14445345
申请日：2014-07-29
发明人： Ahmed El-Shaer , Gang Tian , Girish Yajurvedi
CPC分类号： G05B13/024 , G05B19/416 , G05B2219/41025
摘要： A system for tuning a control system uses a simplified tuning procedure to generate robustly stabilizing tuning parameters that reduce or eliminate undesired system oscillations in the presence of long system dead times or phase lag. A control method is used to establish a relationship between the plant parameters of a controlled system and the tuning parameters of a parameterized active disturbance rejection controller determined to be optimal or substantially optimal for the control system. The plant parameters include the system gain, time constant, and dead time. Corresponding tuning parameters include the controller bandwidth and a system gain estimate. Using the system gain estimate as a tuning parameter can alleviate the influence of large dead times or phase lags on system response. Once established, these fixed relationships can be used to determine suitable tuning parameters for specific motion or process control applications based on the system gain and dominant constraints of the system.
摘要翻译： 用于调谐控制系统的系统使用简化的调谐过程来产生鲁棒稳定的调谐参数，其在长系统死区时间或相位滞后的情况下减少或消除不期望的系统振荡。 控制方法用于建立受控系统的设备参数与参数化的主动干扰抑制控制器的调谐参数之间的关系，该参数化的主动干扰抑制控制器被确定为控制系统的最佳或基本最佳。 工厂参数包括系统增益，时间常数和死区时间。 相应的调谐参数包括控制器带宽和系统增益估计。 使用系统增益估计作为调谐参数可以减轻大死区时间或相位滞后对系统响应的影响。 一旦建立，这些固定关系可以用于基于系统增益和系统的主要约束来确定特定运动或过程控制应用的适当调谐参数。
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公开(公告)号：US10386808B2
公开(公告)日：2019-08-20
申请号：US15441482
申请日：2017-02-24
发明人： Gang Tian , Adam Reynolds
IPC分类号： G05B19/04 , G05B19/042 , G06F17/18
摘要： A system parameter identification system uses a combination of relay control and sinusoidal injection to derive accurate estimates of system parameters of a controlled system or process while satisfying the rate-limit associated with some control applications. The system uses rate-limited relay control with hysteresis to place the system in oscillation. The system then switches the control signal from relay-based control to open-loop sinusoidal control using oscillation frequency, amplitude, and phase information obtained during the relay control stage. During the sinusoidal control phase, the plant output passes through a bandpass filter at the oscillation frequency to get a clean sinusoidal signal. The phase difference between the input and output signals and the output/input amplitude ratio are then obtained and used to calculate of the system parameters.
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公开(公告)号：US10126717B2
公开(公告)日：2018-11-13
申请号：US15276937
申请日：2016-09-27
发明人： Gang Tian
摘要： A curve fitting system implements a multi-level curve fitting approach to obtain a mapping between variables of interest. According to this approach, the system establishes first curve fitting relationships between a first variable of interest and a second variable of interest for sets of values of the independent variables. Then, second curve fitting relationships are established between the coefficients of the previously established curve fitting relationships and one of the independent variables for multiple value sets of the remaining independent variables. These recursive curve fitting operations are repeated until curve fitting relationships are obtained for all of the independent variables. The system then generates mapping data based on the curve fitting relationships, where the mapping data defines a mapping from the first independent variable to the second independent variable. This technique can be applied to determine functional relationships between tuning parameters and performance parameters of a motion system.
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公开(公告)号：US10061275B2
公开(公告)日：2018-08-28
申请号：US14445345
申请日：2014-07-29
发明人： Ahmed El-Shaer , Gang Tian , Girish Yajurvedi
IPC分类号： G05B13/02 , G05B19/416
CPC分类号： G05B13/024 , G05B19/416 , G05B2219/41025
摘要： A system for tuning a control system uses a simplified tuning procedure to generate robustly stabilizing tuning parameters that reduce or eliminate undesired system oscillations in the presence of long system dead times or phase lag. A control method is used to establish a relationship between the plant parameters of a controlled system and the tuning parameters of a parameterized active disturbance rejection controller determined to be optimal or substantially optimal for the control system. The plant parameters include the system gain, time constant, and dead time. Corresponding tuning parameters include the controller bandwidth and a system gain estimate. Using the system gain estimate as a tuning parameter can alleviate the influence of large dead times or phase lags on system response. Once established, these fixed relationships can be used to determine suitable tuning parameters for specific motion or process control applications based on the system gain and dominant constraints of the system.
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