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1. 发明授权

US09720387B2 Scaling and parameterizing a controller 有权
公开(公告)号：US09720387B2
公开(公告)日：2017-08-01
申请号：US14723709
申请日：2015-05-28
申请人： Cleveland State University
发明人： Zhiqiang Gao
IPC分类号： G05B5/01 , G05B11/42 , G05B13/02 , G05B13/04 , G05B15/02 , G05B19/416
CPC分类号： G05B13/024 , G05B5/01 , G05B11/42 , G05B13/042 , G05B15/02 , G05B19/416 , G05B2219/33347
摘要： Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

2. 发明授权

US09268315B2 Extended active disturbance rejection controller 有权
标题翻译：扩展主动干扰抑制控制器
公开(公告)号：US09268315B2
公开(公告)日：2016-02-23
申请号：US14097624
申请日：2013-12-05
申请人： Cleveland State University
发明人： Zhiqiang Gao , Gang Tian
IPC分类号： G05B13/02 , G05B5/01 , G05B11/42 , G05B13/04
CPC分类号： G05B13/048 , G05B5/01 , G05B11/42 , G05B13/02 , G06F17/10
摘要： Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.
摘要翻译：提出了使用基于扩展主动干扰抑制控制（ADRC）的控制器来控制系统或设备的多种设计，系统，方法和过程。扩展的ADRC控制器接收来自工厂的传感器信息。传感器信息与扩展状态观察器结合使用，预测器与估计和预测工厂的当前状态以及系统干扰和系统动态的共同估计结合使用。扩展状态观察者估计和预测结合使用一部分基于扩展状态观察者估计和预测以及工厂遵循的期望轨迹而产生系统输入的控制规则。

3. 发明申请

US20140195013A1 EXTENDED ACTIVE DISTURBANCE REJECTION CONTROLLER 有权
标题翻译：扩展的主动干扰抑制控制器
公开(公告)号：US20140195013A1
公开(公告)日：2014-07-10
申请号：US14097624
申请日：2013-12-05
申请人： Cleveland State University
发明人： Zhiqiang Gao , Gang Tian
IPC分类号： G05B13/02
CPC分类号： G05B13/048 , G05B5/01 , G05B11/42 , G05B13/02 , G06F17/10
摘要： Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.
摘要翻译：提出了使用基于扩展主动干扰抑制控制（ADRC）的控制器来控制系统或设备的多种设计，系统，方法和过程。扩展的ADRC控制器接收来自工厂的传感器信息。传感器信息与扩展状态观察器结合使用，预测器与估计和预测设备的当前状态以及系统干扰和系统动态的共同估计结合使用。扩展状态观察者估计和预测结合使用一部分基于扩展状态观察者估计和预测以及工厂遵循的期望轨迹而产生系统输入的控制规则。

4. 发明授权

US09052705B2 Scaling and parameterizing a controller 有权
标题翻译：缩放和参数化控制器
公开(公告)号：US09052705B2
公开(公告)日：2015-06-09
申请号：US14042983
申请日：2013-10-01
申请人： Cleveland State University
发明人： Zhiqiang Gao
IPC分类号： G05B11/42 , G05B13/02 , G05B13/04 , G05B5/01
CPC分类号： G05B13/024 , G05B5/01 , G05B11/42 , G05B13/042 , G05B15/02 , G05B19/416 , G05B2219/33347
摘要： Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.
摘要翻译：描述控制器缩放和参数化。可以通过使用缩放和参数化来改进的技术包括但不限于控制器设计，调整和优化。这里描述的缩放和参数化方法适用于基于传递函数的控制器，包括PID控制器。参数化方法也适用于状态反馈和基于状态观察器的控制器，以及线性有源扰动抑制控制器。要强调的是，该摘要被提供以符合要求抽象的规则，允许搜索者或其他读者快速确定申请的主题。提交它的理解是，它不会用于解释或限制权利要求的范围或含义。

5. 发明申请

US20150261210A1 SCALING AND PARAMETERIZING A CONTROLLER 有权
标题翻译：扩展和参数控制器
公开(公告)号：US20150261210A1
公开(公告)日：2015-09-17
申请号：US14723709
申请日：2015-05-28
申请人： Cleveland State University
发明人： Zhiqiang Gao
IPC分类号： G05B19/416 , G05B15/02
CPC分类号： G05B13/024 , G05B5/01 , G05B11/42 , G05B13/042 , G05B15/02 , G05B19/416 , G05B2219/33347
摘要： Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.
摘要翻译：描述控制器缩放和参数化。可以通过使用缩放和参数化来改进的技术包括但不限于控制器设计，调整和优化。这里描述的缩放和参数化方法适用于基于传递函数的控制器，包括PID控制器。参数化方法也适用于状态反馈和基于状态观察器的控制器，以及线性有源扰动抑制控制器。要强调的是，该摘要被提供以符合要求抽象的规则，允许搜索者或其他读者快速确定申请的主题。提交它的理解是，它不会用于解释或限制权利要求的范围或含义。

6. 发明申请

US20170176981A9 SCALING AND PARAMETERIZING A CONTROLLER 有权
公开(公告)号：US20170176981A9
公开(公告)日：2017-06-22
申请号：US14723709
申请日：2015-05-28
申请人： Cleveland State University
发明人： Zhiqiang Gao
IPC分类号： G05B19/416 , G05B15/02
CPC分类号： G05B13/024 , G05B5/01 , G05B11/42 , G05B13/042 , G05B15/02 , G05B19/416 , G05B2219/33347
摘要： Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

7. 发明申请

US20140107813A1 SCALING AND PARAMETERIZING A CONTROLLER 有权
标题翻译：扩展和参数控制器
公开(公告)号：US20140107813A1
公开(公告)日：2014-04-17
申请号：US14042983
申请日：2013-10-01
申请人： Cleveland State University
发明人： Zhiqiang Gao
IPC分类号： G05B13/04
CPC分类号： G05B13/024 , G05B5/01 , G05B11/42 , G05B13/042 , G05B15/02 , G05B19/416 , G05B2219/33347
摘要： Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.
摘要翻译：描述控制器缩放和参数化。可以通过使用缩放和参数化来改进的技术包括但不限于控制器设计，调整和优化。这里描述的缩放和参数化方法适用于基于传递函数的控制器，包括PID控制器。参数化方法也适用于状态反馈和基于状态观察器的控制器，以及线性有源扰动抑制控制器。要强调的是，该摘要被提供以符合要求抽象的规则，允许搜索者或其他读者快速确定申请的主题。提交它的理解是，它不会用于解释或限制权利要求的范围或含义。

8. 发明申请

US20160154388A1 EXTENDED ACTIVE DISTURBANCE REJECTION CONTROLLER 审中-公开
标题翻译：扩展的主动干扰抑制控制器
公开(公告)号：US20160154388A1
公开(公告)日：2016-06-02
申请号：US15007281
申请日：2016-01-27
申请人： Cleveland State University
发明人： Zhiqiang Gao , Gang Tian
IPC分类号： G05B13/04 , G06F17/10
CPC分类号： G05B13/048 , G05B5/01 , G05B11/42 , G05B13/02 , G06F17/10
摘要： Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.
摘要翻译：提出了使用基于扩展主动干扰抑制控制（ADRC）的控制器来控制系统或设备的多种设计，系统，方法和过程。扩展的ADRC控制器接收来自工厂的传感器信息。传感器信息与扩展状态观察器结合使用，预测器与估计和预测设备的当前状态以及系统干扰和系统动态的共同估计结合使用。扩展状态观察者估计和预测结合使用一部分基于扩展状态观察者估计和预测以及工厂遵循的期望轨迹而产生系统输入的控制规则。

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