MX171411B - Aparato y metodo que emplean algoritmo de programacion para ganancia adaptable - Google Patents
Aparato y metodo que emplean algoritmo de programacion para ganancia adaptableInfo
- Publication number
- MX171411B MX171411B MX007645A MX764587A MX171411B MX 171411 B MX171411 B MX 171411B MX 007645 A MX007645 A MX 007645A MX 764587 A MX764587 A MX 764587A MX 171411 B MX171411 B MX 171411B
- Authority
- MX
- Mexico
- Prior art keywords
- parameter
- control signal
- receive
- user
- internal model
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
- G05B13/044—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance not using a perturbation signal
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Carbon Steel Or Casting Steel Manufacturing (AREA)
Abstract
La presente invención se refiere a un sistema de autosintonización o auto-ajuste para controlar un proceso que tiene por lo menos un parámetro medido, caracterizado porque comprende: un estimador de parámetro modular para recibir el parámetro medido y calcular un parámetro estimado empleando un algoritmo de estimación; un controlador de PID conectado al convertidor de parámetros PID para regular el proceso; un convertidor de parámetros IMC que contiene un algoritmo de modelo interno y conectado al estimador para aplicar el algoritmo de modelo interno al parámetro estimado para generar una señal de control de modelo interno; generadores de itinerario de ganancia conectados al convertidor de parámetros IMC modular para recibir un índice con corrección anticipada y la señal de control de modelo interno para generar una señal de control con itinerario de ganancia; un controlador IMC conectado al generador de itinerario de ganancia, para recibir la señal de control con itinerario de ganancia para regular el proceso; un convertidor de parámetros definido por usuario modular, conectado al estimador para recibir el parámetro estimado y generar una señal de control de parámetro estimado; un controlador definido por el usuario conectado con el convertidor de parámetro definido por el usuario, para recibir la señal de control definida por el usuario para controlar el proceso.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/916,775 US4768143A (en) | 1986-10-09 | 1986-10-09 | Apparatus and method using adaptive gain scheduling algorithm |
Publications (1)
Publication Number | Publication Date |
---|---|
MX171411B true MX171411B (es) | 1993-10-26 |
Family
ID=25437822
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX007645A MX171411B (es) | 1986-10-09 | 1987-08-05 | Aparato y metodo que emplean algoritmo de programacion para ganancia adaptable |
Country Status (12)
Country | Link |
---|---|
US (1) | US4768143A (es) |
EP (1) | EP0263616B1 (es) |
JP (1) | JPH01109402A (es) |
KR (1) | KR880005495A (es) |
CN (1) | CN1023157C (es) |
AU (1) | AU596448B2 (es) |
CA (1) | CA1281430C (es) |
DE (1) | DE3786977T2 (es) |
ES (1) | ES2043663T3 (es) |
HK (1) | HK37394A (es) |
IN (1) | IN168995B (es) |
MX (1) | MX171411B (es) |
Families Citing this family (68)
Publication number | Priority date | Publication date | Assignee | Title |
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US4922412A (en) * | 1986-10-09 | 1990-05-01 | The Babcock & Wilcox Company | Apparatus and method using adaptive gain scheduling |
US4881160A (en) * | 1987-03-09 | 1989-11-14 | Yokogawa Electric Corporation | Self-tuning controller |
DE3811086A1 (de) * | 1987-04-03 | 1988-10-20 | Hitachi Ltd | Pid-reglersystem |
JPH01302402A (ja) * | 1988-03-17 | 1989-12-06 | Toshiba Corp | プロセス最適化制御装置 |
US4959767A (en) * | 1988-11-23 | 1990-09-25 | Elsag International B.V. | Parameter estimation technique for closed loop system |
IL94626A (en) * | 1989-07-06 | 1994-05-30 | Cabot Corp | Carbon black process control system |
GB2252424B (en) * | 1990-11-24 | 1994-10-05 | Dowty Aerospace Gloucester | Adaptive control servosystems |
US5347447A (en) * | 1991-10-28 | 1994-09-13 | Kabushiki Kaisha Toshiba | Adaptive control system and method thereof |
JP2750648B2 (ja) * | 1992-11-16 | 1998-05-13 | 本田技研工業株式会社 | 漸化式形式のパラメータ調整則を持つ適応制御器 |
FR2705174A1 (fr) * | 1993-05-12 | 1994-11-18 | Philips Laboratoire Electroniq | Appareil comprenant un circuit ayant une réponse entrée/sortie contrôlable par un signal de commande et méthode d'approximation. |
US5453925A (en) * | 1993-05-28 | 1995-09-26 | Fisher Controls International, Inc. | System and method for automatically tuning a process controller |
US6330484B1 (en) | 1993-08-11 | 2001-12-11 | Fisher-Rosemount Systems, Inc. | Method and apparatus for fuzzy logic control with automatic tuning |
US5587899A (en) * | 1994-06-10 | 1996-12-24 | Fisher-Rosemount Systems, Inc. | Method and apparatus for determining the ultimate gain and ultimate period of a controlled process |
US5748467A (en) * | 1995-02-21 | 1998-05-05 | Fisher-Rosemont Systems, Inc. | Method of adapting and applying control parameters in non-linear process controllers |
DE19548909A1 (de) * | 1995-12-27 | 1997-07-03 | Siemens Ag | Verfahren zur Regelung eines verzögerungsbehafteten Prozesses mit Ausgleich sowie Regeleinrichtung zur Durchführung des Verfahrens |
US6049739A (en) * | 1996-02-27 | 2000-04-11 | Melvin; Kenneth P. | System and method for controlling processes |
DE19722431A1 (de) * | 1997-05-28 | 1998-12-03 | Siemens Ag | Verfahren zur Regelung eines verzögerungsbehafteten Prozesses mit Ausgleich sowie Regeleinrichtung zur Durchführung des Verfahrens |
DE19734208A1 (de) * | 1997-08-07 | 1999-02-11 | Heidenhain Gmbh Dr Johannes | Verfahren und Schaltungsanordnung zur Ermittlung optimaler Reglerparamter für eine Drehzahlregelung |
US6046560A (en) * | 1998-03-20 | 2000-04-04 | Trw Inc. | Electric assist steering system having an improved motor current controller with gain scheduler |
SG82592A1 (en) | 1998-12-30 | 2001-08-21 | Univ Singapore | A novel predictive and self-tuning pi control apparatus for expanded process control applications |
US6298454B1 (en) * | 1999-02-22 | 2001-10-02 | Fisher-Rosemount Systems, Inc. | Diagnostics in a process control system |
US7113834B2 (en) * | 2000-06-20 | 2006-09-26 | Fisher-Rosemount Systems, Inc. | State based adaptive feedback feedforward PID controller |
US6980869B1 (en) * | 2000-11-20 | 2005-12-27 | National Instruments Corporation | System and method for user controllable PID autotuning and associated graphical user interface |
US8180464B2 (en) * | 2002-04-18 | 2012-05-15 | Cleveland State University | Extended active disturbance rejection controller |
US8041436B2 (en) * | 2002-04-18 | 2011-10-18 | Cleveland State University | Scaling and parameterizing a controller |
US20030197056A1 (en) * | 2002-04-19 | 2003-10-23 | Dunham Matthew K. | Identification card printer data encoder module |
US7344105B2 (en) * | 2004-06-03 | 2008-03-18 | The Procter & Gamble Company | Method of controlling the winding of a roll of web material |
CN1945468B (zh) * | 2006-09-30 | 2010-12-08 | 中国科学院电工研究所 | 扫描式pi参数自寻优控制器 |
US7706899B2 (en) * | 2008-03-28 | 2010-04-27 | Mitsubishi Electric Research Laboratories, Inc. | Method and apparatus for adaptive cascade proportional-integral-derivative controller |
US7805207B2 (en) * | 2008-03-28 | 2010-09-28 | Mitsubishi Electric Research Laboratories, Inc. | Method and apparatus for adaptive parallel proportional-integral-derivative controller |
US9437884B2 (en) * | 2008-05-13 | 2016-09-06 | GM Global Technology Operations LLC | Self-tuning thermal control of an automotive fuel cell propulsion system |
US9995766B2 (en) * | 2009-06-16 | 2018-06-12 | The Regents Of The University Of California | Methods and systems for measuring a property of a macromolecule |
US9314921B2 (en) | 2011-03-17 | 2016-04-19 | Sarcos Lc | Robotic lift device with human interface operation |
US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
US8942846B2 (en) | 2011-04-29 | 2015-01-27 | Raytheon Company | System and method for controlling a teleoperated robotic agile lift system |
US8977388B2 (en) | 2011-04-29 | 2015-03-10 | Sarcos Lc | Platform perturbation compensation |
US8892258B2 (en) | 2011-04-29 | 2014-11-18 | Raytheon Company | Variable strength magnetic end effector for lift systems |
US8710777B2 (en) | 2012-04-20 | 2014-04-29 | Linestream Technologies | Method for automatically estimating inertia in a mechanical system |
US9041337B2 (en) | 2012-05-18 | 2015-05-26 | Linestream Technologies | Motion profile generator |
US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
JP6154159B2 (ja) * | 2013-03-04 | 2017-06-28 | 株式会社ミクニ | 流量制御装置、流量制御方法 |
US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
US10061275B2 (en) | 2014-07-29 | 2018-08-28 | Linestream Technologies | Optimized parameterization of active disturbance rejection control |
US10126202B2 (en) | 2015-09-11 | 2018-11-13 | Linestream Technologies | Method for automatically estimating inertia, coulomb friction, and viscous friction in a mechanical system |
US9582754B1 (en) | 2016-05-17 | 2017-02-28 | Roger Collins | Adaptive feed forward method for temperature control |
US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
CN108089436B (zh) * | 2017-12-17 | 2022-02-08 | 北京世纪隆博科技有限责任公司 | 快速无超调智能控制器参数设计方法 |
US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
CN109116738B (zh) * | 2018-09-27 | 2021-04-13 | 杭州电子科技大学 | 一种工业加热炉的二自由度内模控制分析方法 |
US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
US10906191B2 (en) | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
US11689135B2 (en) | 2019-06-06 | 2023-06-27 | Abb Schweiz Ag | Automatically determining control parameters for a voltage regulator of a synchronous machine |
CN111283889B (zh) * | 2020-03-10 | 2022-02-22 | 北京沃夫动力科技有限责任公司 | 一种绳锯及绳锯自动控制方法 |
EP4217801A4 (en) | 2020-10-13 | 2024-11-06 | Schneider Electric Systems USA, Inc. | ADAPTIVE PID GAIN FOR A ZERO-ORDER PROCESS |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
US11794345B2 (en) | 2020-12-31 | 2023-10-24 | Sarcos Corp. | Unified robotic vehicle systems and methods of control |
CN112987672B (zh) * | 2021-03-05 | 2022-01-04 | 广东道氏技术股份有限公司 | 用于陶瓷渗花墨水混线生产的增益调度方法和装置 |
CN114509934B (zh) * | 2021-12-24 | 2024-06-07 | 浙江中控软件技术有限公司 | 基于专家内模控制的串级回路pid控制器参数整定方法 |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
US12172298B2 (en) | 2022-11-04 | 2024-12-24 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4349869A (en) * | 1979-10-01 | 1982-09-14 | Shell Oil Company | Dynamic matrix control method |
US4368510A (en) * | 1980-10-20 | 1983-01-11 | Leeds & Northrup Company | Automatic identification system for self tuning process controller |
US4407013A (en) * | 1980-10-20 | 1983-09-27 | Leeds & Northrup Company | Self tuning of P-I-D controller by conversion of discrete time model identification parameters |
US4563735A (en) * | 1982-03-26 | 1986-01-07 | Tokyo Shibaura Denki Kabushiki Kaisha | Process controlling method and system involving separate determination of static and dynamic compensation components |
US4539633A (en) * | 1982-06-16 | 1985-09-03 | Tokyo Shibaura Denki Kabushiki Kaisha | Digital PID process control apparatus |
JPS5930104A (ja) * | 1982-08-09 | 1984-02-17 | エレクトロニクス・リサ−チ・アンド・サ−ビス・オ−ガニゼイシヨン・インダストリアル・テクノロジイ・リサ−チ・インステイチユ−ト | アダプテイブ・モデリング制御システム |
JPS59167706A (ja) * | 1983-03-14 | 1984-09-21 | Toshiba Corp | 多入出力サンプル値i−pd制御装置 |
JPS6069702A (ja) * | 1983-09-26 | 1985-04-20 | Toshiba Corp | サンプル値プロセス制御装置 |
AU560995B2 (en) * | 1984-02-07 | 1987-04-30 | Toshiba, Kabushiki Kaisha | Process control apparatus |
JPS6121505A (ja) * | 1984-07-09 | 1986-01-30 | Toshiba Corp | プロセス制御装置 |
AU550917B2 (en) * | 1984-04-13 | 1986-04-10 | Toshiba, Kabushiki Kaisha | Process control apparatus with reference model |
-
1986
- 1986-10-09 US US06/916,775 patent/US4768143A/en not_active Expired - Fee Related
-
1987
- 1987-07-27 IN IN573/CAL/87A patent/IN168995B/en unknown
- 1987-08-05 MX MX007645A patent/MX171411B/es unknown
- 1987-09-18 CA CA000547300A patent/CA1281430C/en not_active Expired - Fee Related
- 1987-09-22 ES ES87308370T patent/ES2043663T3/es not_active Expired - Lifetime
- 1987-09-22 DE DE87308370T patent/DE3786977T2/de not_active Expired - Fee Related
- 1987-09-22 EP EP87308370A patent/EP0263616B1/en not_active Expired - Lifetime
- 1987-09-22 CN CN87106500A patent/CN1023157C/zh not_active Expired - Fee Related
- 1987-09-23 AU AU78893/87A patent/AU596448B2/en not_active Ceased
- 1987-10-05 KR KR870011114A patent/KR880005495A/ko not_active IP Right Cessation
- 1987-10-09 JP JP62253930A patent/JPH01109402A/ja active Pending
-
1994
- 1994-04-21 HK HK37394A patent/HK37394A/xx unknown
Also Published As
Publication number | Publication date |
---|---|
EP0263616B1 (en) | 1993-08-11 |
CN87106500A (zh) | 1988-06-29 |
JPH01109402A (ja) | 1989-04-26 |
HK37394A (en) | 1994-04-29 |
KR880005495A (ko) | 1988-06-29 |
CN1023157C (zh) | 1993-12-15 |
IN168995B (es) | 1991-08-10 |
AU596448B2 (en) | 1990-05-03 |
EP0263616A2 (en) | 1988-04-13 |
DE3786977D1 (de) | 1993-09-16 |
ES2043663T3 (es) | 1994-01-01 |
CA1281430C (en) | 1991-03-12 |
AU7889387A (en) | 1988-04-14 |
US4768143A (en) | 1988-08-30 |
DE3786977T2 (de) | 1993-11-25 |
EP0263616A3 (en) | 1989-07-05 |
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