Observer design for autonomous discrete-time nonlinear systems

We obtain a necessary and sufficient condition for a discrete-time nonlinear system to be locally state equivalent to the nonlinear observer form. The result looks similar to the continuous counterpart except for the fact that Ad-operation is utilized instead of ad-operation.     

直流电动机参数测定

根据直流电机的可逆原理并利用常规的实验仪表，可以简便、准确地测出直流电动机的主要参数－电磁转矩、输出转矩和效率．     

An automatic torque ripple compensation system for direct drive motors

A serious problem in motion control is the occurrence of torque ripple. Since a direct drive (DD) motor with a magnet rotor uses a rare-earth magnet, the torque ripple is more serious than that of conventional servomotors. This paper presents an auto-compensation of torque ripple using a software-implemented torque observer. The frequency and amplitude of torque ripple can be obtained in the controller by using the estimated torque from an observer, and the autonomous generation of a compensating current component for a torque ripple is possible. The proposed algorithm has been verified by experiments.     

基于预前控制异步电机直接转矩控制方案的研究

在传统异步电动机直接转矩控制方案中，由于负载的变化规律不可预测，因此其常会带来较大的开关频率的变化，为此提出了一种基于预前控制的异步电动机直接转矩控制的方法。该方法依据前一个周期的磁链和转矩误差，对下一个开关周期所应施加到异步电动机的定子电压矢量进行预测，然后借助空间矢量PWM的方法，合成此开关电压矢量。样机实验结果表明，该方案不但能维持逆变器的开关频率基本恒定，而且还具有比传统直接转矩控制更为优良的动静态特性。     

三相异步电动机运行指标的分析

利用电机学理论分析了影响电机起动转矩、起动电流、最大转矩和最小转矩的因素。     

Steady-state torque control system with secondary-current feedback for three-phase squirrel-cage induction motors

This paper presents a highly stable steady-state torque control system with a feedback of a secondary current signal. The torque control system is constructed with a feedback of the secondary current (I₂) signal using a quick response magnetic-field sensor constructed with an amorphous core multivibrator bridge, which can solve the secondary resistance change problem for temperature variation in the IM. Moreover, we added a state feedback to the system to improve the response speed for the unit step function of a torque order. The I₂ sensor method has advantages especially at a low-speed range, in which conventional method using an integrator shows control errors.     

用线性状态观测器重构交流矢量控制系统中的负载扰动

在异步电动机磁场定向数学模型的基础上,给出了恒磁条件下异步电动机的解耦模型及传动系统的线性状态方程,并提出了重构负载扰动转矩的线性状态观测器。利用重构的负载转矩在矢量控制系统中进行扰动前馈,明显地提高了系统的抗负载扰动能力,从而为进一步提高矢量控制系统的动态性能开辟了一条有效的途径。     

Construction of a control system for disturbance rejection using a dual observer

A well‐known control system which can reduce the adverse effects of disturbances is a disturbance observer. However, in many cases of mechanical systems, system disturbances which do not satisfy the matching condition may be imposed. Therefore, it may be difficult to reduce the adverse effects of the disturbances by the traditional disturbance observer. In this paper, a method of control system synthesis for disturbance rejection using a dual observer is proposed. This method is based on the zeroing induced by the disturbance localization problem. This problem may be solved by dividing the state space into observable subspace and unobservable subspace. As compared with an H_∞ controller based on perfect observation, the usefulness of the proposed control system for disturbance rejection is demonstrated by numerical simulations for a two‐mass spring system. © 2002 Scripta Technica, Electr Eng Jpn, 138(4): 50–60, 2002; DOI 10.1002/eej.1138     

Bioprocess applications of model-based estimation techniques

The last decade has seen the development of a number of approaches for estimating those variables which are difficult to measure on-line in industrial process situations. Whilst a range of techniques is available, a common element is the use of process knowledge in the form of a system model. In the case of bioprocess systems, although a large range of models has been presented in the literature, their use in estimation schemes on an industrial scale has been limited. A number of reasons can be identified for their low level of utilisation. Of particular significance is the uncertainty which exists in quantifying system performance and the process-model mismatch which inevitably results. The level of ‘pre-defined model’ uncertainty, together with the knowledge gained during the course of the fermentation, serves to dictate estimator structure. The paper considers a range of estimation strategies and contrasts, through industrial applications, their performance characteristics and utility.     

预测控制算法的统一格式及其在电加热炉的应用

本文根据常用的两类预测控制算法推出一种新型预测控制算法。并将其应用于一双输入/双输出的力学持久机电加热炉的温度控制系统上,获得了满意的结果:控温精度为±1.5℃/300℃,且适用于非最小相位系统。