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.
G05B 13/00 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
G05B 19/04 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers
G05B 19/19 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
H02P 21/00 - Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
A motor control wizard implements a simple workflow for creating an application-specific program for operation of a motor control system. The wizard prompts for selection of an application area, which sensitizes the system to tune certain motor control parameters in accordance with the demands of the selected application area. The wizard also prompts for selection of a target devices, such as a particular type of motor with a set of basic operating parameters. With the target device and application area known, the wizard runs an automatic adaptation step without requiring additional user-settable parameters. The adaptation step yields an adapted motor control program based characteristics of the motor control system obtained via the adaptation step. The wizard then confirms operation of the motor using the adapted program. Additional features allow the user to fine tune parameters beyond this set of initial configuration parameters.
G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
3.
AUTOMATIC DETERMINATION OF MAXIMUM ACCELERATION FOR MOTION PROFILES
A maximum acceleration identification system determines a suitable maximum acceleration for transitioning a given motion/motor system to a target position or velocity, taking the friction of the motion system into consideration. The maximum acceleration determined by the maximum acceleration identification system can then be used by the motion control system as the acceleration limit for generating motion profiles. Thus, motion profiles can be generated that are closer to the true maximum acceleration supported by the motion system without violating the mechanical and electrical constraints of the system as characterized in part by the viscous friction, resulting in a more time-optimal move. In some embodiments, the maximum acceleration identification system can automatically set the maximum acceleration of the control system's profile generator to be equal to the derived value, thereby eliminating the need for the maximum acceleration to be selected and set by the system designer.
As speed operation range identification system for motion systems driven by permanent magnet synchronous motors (PMSMs) or induction motors leverages both characteristics of the motor as well as dynamic characteristics of the motion system - including the friction and load - to identify suitable maximum speeds for operation of the motion system in the normal speed and field weakening regions. The identification system can model both motor characteristics as well as real-time dynamics of the controlled mechanical system that may vary during operation. The system can apply an optimization algorithm to this model to determine suitable maximum speeds for operation in the normal speed and/or field weakening regions. The determined maximum speeds can be used to perform substantially real-time adjustments to motion profile limits or current reference values generated by the motor controller in order to ensure that the speed of the system remains below the determined maximum.
G01L 3/24 - Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
H02P 6/18 - Circuit arrangements for detecting position without separate position detecting elements
H02P 6/182 - Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Systems and methods for estimating an inertia, a Coulomb friction coefficient, and a viscous friction coefficient for a controlled mechanical system are provided. In one or more embodiments, an inertia and friction estimation system 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 estimation system then estimates the inertia and the friction coefficients of the motion system based on the torque command data sent to the motion system and the measured velocity data. In some embodiments, the estimation system estimates the inertia and the friction coefficients based on integrals of the torque command data and the velocity data.
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.
H02P 21/00 - Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
H02K 21/00 - Synchronous motors having permanent magnetsSynchronous generators having permanent magnets
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor positionElectronic commutators therefor
H02P 6/06 - Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
H02P 21/14 - Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Cascaded active disturbance rejection control (ADRC) controllers are used in place of proportional-integral-derivative (PID) controllers for control of multiple plants comprising a facility, thereby achieving high stabilization across the facility. This configuration substantially damps cross-talk between systems, and yields consistent control of perturbations to the plants. Cascaded ADRC controllers can yield less waste, greater efficiency, less wear and tear on physical equipment, a higher quality product, and/or improved time efficiency. PID controllers can be retrofitted with ADRC controllers in two or more related plants. Alternatively, ADRC controllers can be designed for implementation in newly instantiated facilities comprising at least two related plants where ADRC is selected at the outset for process control.
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
G05B 13/04 - 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
8.
OPTIMIZED PARAMETERIZATION OF ACTIVE DISTURBANCE REJECTION CONTROL
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.
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
9.
METHOD FOR AUTOMATICALLY SETTING CONTROLLER BANDWIDTH
Robustly stabilizing controller bandwidth for a controlled mechanical system is determined as a function of the system's estimated inertia and dominant system parameters that define constraints on the bandwidth. In one or more embodiments, a bandwidth model is derived that defines a relationship between robustly stabilizing controller bandwidth and system gain over a range of reasonable system uncertainties. Using the model, a suitable controller bandwidth can be determined for a given motion control system given only estimates of the system gain and the dominant parameters(s) that constrain the bandwidth. In an example two-inertia system, the system gain and dominant parameter can comprise system inertia and mechanical coupling stiffness, respectively. Accordingly, estimates of the system inertia and coupling stiffness can be provided to the system, which determines a suitable controller bandwidth for the motion control system characterized by the estimates.
G05B 13/00 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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. Systems and methods are also provided for generating a constraint-based, time-optimal motion profile for controlling the trajectory of a point-to-point move in a motion control system.
G05B 11/28 - Automatic controllers electric in which the output signal is a pulse-train using pulse-height modulationAutomatic controllers electric in which the output signal is a pulse-train using pulse-width modulation
G05B 13/00 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
H02P 5/00 - Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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