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    • 2. 发明授权
    • Adaptive notch filter
    • 自适应陷波滤波器
    • US08392000B2
    • 2013-03-05
    • US12795273
    • 2010-06-07
    • Jason LevinPetros Ioannou
    • Jason LevinPetros Ioannou
    • G06F19/00
    • G05B19/41835G05B2219/41217G05B2219/41232H03H21/0021
    • The control of flexible systems is often difficult due to the exact frequencies of the elastic modes being hard to identify. These flexible modes may change over time, or vary between units of the same system. The variation in the modal dynamics may cause a degradation in performance or even instabilities unless compensated for by the control scheme. Controllers designed for these types of systems use notch filters for mode suppression. However variation in the parameters of the flexible modes may cause the need for wide notch filters. An adaptive scheme is proposed which uses an online estimator based on plant parameterization. The scheme may not use probe signals and may not rely on exact parameter identification of the unknown parameters. Instead it may continuously update itself to cancel the effect of the flexible modes by been able to identify the effect of the modal dynamics on the performance of the system. The adaptive notch filter can be designed narrower, adding less phase lag at lower frequencies, thereby allowing an increase in bandwidth and disturbance rejection capability. Simulation and experimental verification of the adaptive mode suppression scheme is given through the use of a laser beam pointing system. The adaptive scheme is compared to a non-adaptive scheme, and is able to decrease the standard deviation of the experimentally measured tracking error by 14% even when the flexible dynamics are unknown.
    • 灵活系统的控制通常是困难的,因为弹性模式的确切频率难以识别。 这些灵活的模式可能随着时间的推移而变化,或者在相同系统的单元之间变化。 模态动力学的变化可能导致性能下降甚至不稳定,除非由控制方案补偿。 为这些类型的系统设计的控制器使用陷波滤波器进行模式抑制。 然而,灵活模式的参数的变化可能导致需要宽的陷波滤波器。 提出了一种使用基于工厂参数化的在线估计器的自适应方案。 该方案可能不使用探测信号,也可能不依赖于未知参数的精确参数识别。 相反,它可以通过能够识别模态动力学对系统性能的影响而不断更新自己以消除灵活模式的影响。 自适应陷波滤波器可以设计得更窄,在较低频率下增加较少的相位滞后,从而允许增加带宽和抗干扰能力。 通过使用激光束指向系统给出了自适应模式抑制方案的仿真和实验验证。 将自适应方案与非自适应方案进行比较,即使灵活动态未知,也能将实验测量的跟踪误差的标准偏差降低14%。