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公开(公告)号：US11353830B2
公开(公告)日：2022-06-07
申请号：US16644547
申请日：2019-01-18
申请人： OMRON Corporation
发明人： Kenji Nakajima , Mamoru Egi
摘要： A servo control method includes a step of adjusting a feedback gain used in feedback control of a controlled object, the feedback control being performed based on difference information between a target value concerning an instruction and a feedback signal from the controlled object, so that the controlled object is operated by following the instruction, and a step of adjusting a feedforward gain used in feedforward control of the controlled object after the adjustment of the feedback gain.
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公开(公告)号：US10853727B2
公开(公告)日：2020-12-01
申请号：US16486836
申请日：2019-02-05
发明人： Eiki Kitagawa , Masato Ehara
摘要： A machine learning system using a neural network to output an output value corresponding to values of operating parameters of the machine. When the value of an operating parameter of a machine is outside a preset range, the number of nodes of the hidden layer one layer before the output layer of the neural network is increased and training data obtained by actual measurement for a newly acquired value of an operating parameter of the machine is used to learn the weights of the neural network so that the difference between the output value changing in accordance with the values of the operating parameters of the machine and training data corresponding to the values of the operating parameters of the machine becomes smaller.
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3.发明申请公开(公告)号：US20200238931A1
公开(公告)日：2020-07-30
申请号：US16775855
申请日：2020-01-29
申请人： Robert Bosch GmbH
发明人： Jochen Fassnacht , Tunan Shen
摘要： A method for determining an electrical capacitance in an intermediate circuit of an electric drive system. The electric drive system includes at least one first electrical energy source, which feeds the intermediate circuit, a drive unit, which has an inverter and an electrical load, the inverter being electrically connected on the input side with the intermediate circuit and on the output side with the electrical load, and a DC voltage converter, which is electrically connected with the intermediate circuit and measures a voltage in the intermediate circuit by high frequency sampling. The electrical capacitance in the intermediate circuit is determined from the voltage in the intermediate circuit measured by the DC voltage converter. Also described is a motor vehicle, which includes an electric drive system for implementing the method.
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公开(公告)号：US20200099221A1
公开(公告)日：2020-03-26
申请号：US16609522
申请日：2018-03-20
摘要： The invention lies in the field of current stabilisation in a power generation system comprising a plurality of elementary power groups connected in parallel. It relates to a control system for regulating the elementary power groups. According to the invention, the control system comprises a global current control system (510) and a plurality of local current control systems each associated with an elementary power source of the power generation system. The global current control system (510) comprises: ▪a divider (511) arranged to deliver a fixed current set point In_fix, ▪correction unit (512) arranged to deliver a variable current set point In_var and to take either a steady state or a transitory state, the variable current set point In_var being determined as a function of a correction signal Scorr in the transitory state, ▪an adder (513) arranged to deliver a global current set point In_glob as the sum of the fixed current set point In_fix and the variable current set point In_var, and ▪a scenario management unit (514) arranged to detect when the state of at least one elementary power source (2201-220N) switches from an OFF-state to an ON-state, or vice versa, to determine the correction signal Scorr and to trigger the transitory state of the correction unit for a predetermined transitory period τtrans when a change of state is detected.
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公开(公告)号：US10372089B2
公开(公告)日：2019-08-06
申请号：US15503245
申请日：2015-09-14
发明人： Shun-ichi Azuma , Yuki Minami
摘要： A predicted value shaping system is provided for calculating a highly accurate control value by shaping of a predicted value. A prediction governor for calculating a control value (v) for controlling a controlled object includes: a result value acquisition unit that acquires a previous target value of the controlled object, that is, a result value (r(t−1)); a predicted value acquisition unit that acquires a predicted value (r^(t)) obtained by predicting the target value of the controlled object; and a control value calculation unit that calculates a control value (v(t)) for controlling the controlled object by applying the result value (r(t−1)) and the predicted value (r^(t)) to a predicted value shaping algorithm (G) to correct the predicted value (r^(t). The predicted value shaping algorithm (G) uses parameters of a control model (P) of the controlled object.
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公开(公告)号：US20190123672A1
公开(公告)日：2019-04-25
申请号：US16093192
申请日：2017-04-27
摘要： A motor control apparatus includes: an oscillation instruction unit outputting an oscillation instruction signal; a filter unit performing filtering processing having frequency characteristic defined by a filter parameter; an oscillation forcing unit configuring a control loop in an oscillation period together with the filter unit, a current control unit, a motor, and a velocity calculation unit and causing the control loop to oscillate during the oscillation period in which the oscillation instruction signal is in the on-state; an amplitude evaluation unit acquiring, as an evaluation value, the amplitude ratio of an input signal to an output signal of the oscillation forcing unit when the control loop oscillates; and a filter adjustment unit comparing evaluation values provided when filter parameter candidates are set in the filter unit sequentially, selecting one of the filter parameters achieving a smaller evaluation value, and setting the selected filter parameter in the filter unit.
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公开(公告)号：US10220519B2
公开(公告)日：2019-03-05
申请号：US15521730
申请日：2015-10-09
申请人： Azbil Corporation
发明人： Shigeru Kawase
摘要： A contact control device (100) includes a disturbance correction timing control unit (42) that selectively outputs a first reference speed signal indicating a first reference speed or a second reference speed signal indicating a second reference speed lower than the first reference speed. When a movable part (12) comes closer to a second component (B) beyond a first reference position between a fixed part (11) and the second component (B), the disturbance correction timing control unit (42) switches its output signal from the first reference speed signal to the second reference speed signal and switches a gain in proportional compensation from a first gain to a second gain lower than the first gain.
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公开(公告)号：US20190026644A1
公开(公告)日：2019-01-24
申请号：US15752686
申请日：2016-08-13
摘要： Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust Lyapunov controller includes an inner closed loop Lyapunov controller and an outer closed loop error stabilizer. In another example, a method includes monitoring a system output of a process plant; generating an estimated system control input based upon a defined output reference; generating a system control input using the estimated system control input and a compensation term; and adjusting the process plant based upon the system control input to force the system output to track the defined output reference. An inner closed loop Lyapunov controller can generate the estimated system control input and an outer closed loop error stabilizer can generate the system control input.
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公开(公告)号：US10177573B2
公开(公告)日：2019-01-08
申请号：US15267654
申请日：2016-09-16
发明人： Vadim Shapiro , Dmitriy Khots , Ilya Markevich
摘要： A method and apparatus of coordinated voltage control for electric power systems with at least two substations and at least one load, a method of controlling distribution of reactive power between substations within a power system of similar parameters, and a method of reduction of interaction between voltage control modules in the said power system are disclosed. The purpose of coordinated control is to maintain acceptable voltage with minimal deviation from the set point across all elements of the power system. Disclosed coordinated control is accomplished via each substation's transformers equipped with on load tap changers (OLTC) and electrical generators Automatic Voltage Regulators (AVR) using proportional-integral-derivative control embedded in coordinated master controllers. The purpose of controlling the distribution of reactive power is to minimize power losses, maintain each busbar voltage in accordance to selected set point, maintain active and reactive power reserves, and minimizing the reactive power drawn from the transmission system by manipulating transformer's OLTC, generator's AVR, and energizing capacitors and inductors. Control of reactive power flow through the network is accomplished by the following steps: Sensing and measuring active and reactive power flow rates, and all controlled busbars voltages. Computing each voltage/reactive power controller set point and controlled variable. Using PID algorithm to compute each controller output to maintain network voltages and reactive power flows in accordance to defined set points. Implementing control actions based on computed output values. Finally, reducing the interaction between various voltage control mechanisms. It is important to ensure smooth system operation. This is accomplished by counteracting potentially destabilizing interactions between high and low level substations and corresponding control modules using specialized set point correction coefficients.
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公开(公告)号：US10175659B2
公开(公告)日：2019-01-08
申请号：US15304983
申请日：2015-03-25
发明人： Wilfried Tautz
摘要： A controller (15) which receives a target value (g*) related to a piston (3) of the hydraulic cylinder unit (1) and an actual value (g) related to the piston (3) of the hydraulic cylinder unit (1). On the basis of the difference (δg) of the values, the controller determines a provisional manipulated variable (u′). A linearization unit (17) downstream of the controller (15) multiplies the provisional manipulated variable (u′) by a linearization factor (F) and outputs the product to a valve control unit (7) as a final manipulated variable (u) such that the actual value (g) is brought toward the target (g*) at an adjustment speed. On the basis of working pressures (pA, pB) on both sides of the piston (3) and/or working pressures (pP, pT) on the feed side and on the outflow side of the valve control unit (7) and a target piston force (FKL) to be applied by the piston (3), the linearization unit (17) determines target values (pA*, pB*) for the working pressures (pA, pB). The linearization unit determines the linearization factor (F) dynamically as a function of an actual position(s) of the piston (3), the target values (pA*, pB*), and the working pressures (pP, pT) on the feed side and on the outflow side of the valve control unit (7).
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