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1. 发明申请

WO2014209950A4 METHOD FOR AUTOMATICALLY SETTING CONTROLLER BANDWIDTH 审中-公开
标题翻译：自动设置控制器带宽的方法
公开(公告)号：WO2014209950A4
公开(公告)日：2015-06-18
申请号：PCT/US2014043788
申请日：2014-06-24
申请人： LINESTREAM TECHNOLOGIES
发明人： TIAN GANG , EI-SHAER AHMED H
IPC分类号： G05B13/00
CPC分类号： G05B11/01
摘要： 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.
摘要翻译：为受控机械系统稳健地稳定控制器带宽被确定为系统的估计惯性和主导系统参数的函数，该参数定义了对带宽的限制。在一个或多个实施例中，导出带宽模型，其定义在合理的系统不确定性范围内稳健地稳定控制器带宽和系统增益之间的关系。使用该模型，给定的运动控制系统可以确定合适的控制器带宽，只给定系统增益的估计值和约束带宽的主要参数。在双惯性系统的例子中，系统增益和主导参数可以分别包括系统惯性和机械耦合刚度。因此，可以将系统惯性和耦合刚度的估计提供给系统，该系统确定以估计为特征的运动控制系统的合适的控制器带宽。

2. 发明申请

WO2013158849A3 METHOD FOR AUTOMATICALLY ESTIMATING INERTIA 审中-公开
标题翻译：自动估计算法的方法
公开(公告)号：WO2013158849A3
公开(公告)日：2013-12-12
申请号：PCT/US2013037122
申请日：2013-04-18
申请人： LINESTREAM TECHNOLOGIES
发明人： TIAN GANG
IPC分类号： G05B11/28 , G05B13/00 , H02P5/00
CPC分类号： H02P23/14 , G05B19/404 , G05B2219/37388 , G05B2219/41163 , G05B2219/41381
摘要： 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.
摘要翻译：提供了用于估计受控机械系统的惯性和摩擦系数的系统和方法。在一个或多个实施例中，惯性估计器可以产生在测试序列期间随时间连续变化的转矩指令信号。响应于时变转矩指令信号的运动系统的速度在测试序列期间被测量和记录。然后，惯性估计器基于发送到运动系统的转矩指令数据和所测量的速度数据来估计运动系统的惯性和/或摩擦系数。还提供了系统和方法，用于生成用于控制运动控制系统中的点对点移动的轨迹的基于约束的时间最优运动轮廓。

3. 发明申请

WO2014209950A3 METHOD FOR AUTOMATICALLY SETTING CONTROLLER BANDWIDTH 审中-公开
标题翻译：自动设置控制器带宽的方法
公开(公告)号：WO2014209950A3
公开(公告)日：2015-04-30
申请号：PCT/US2014043788
申请日：2014-06-24
申请人： LINESTREAM TECHNOLOGIES
发明人： TIAN GANG , EI-SHAER AHMED H
IPC分类号： G05B13/00
CPC分类号： G05B11/01
摘要： 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.
摘要翻译：受控机械系统的稳定控制器带宽被确定为系统估计的惯性和限定带宽限制的主要系统参数的函数。在一个或多个实施例中，导出了在一定范围的合理的系统不确定性下稳定控制器带宽和系统增益之间的关系的带宽模型。使用该模型，给定的运动控制系统可以确定合适的控制器带宽，只给出系统增益的估计和限制带宽的主要参数。在一个二惯性系统的例子中，系统增益和主要参数可分别包括系统惯性和机械耦合刚度。因此，可以向系统提供系统惯性和耦合刚度的估计，该系统确定了用于估计特征的运动控制系统的合适的控制器带宽。

4. 发明申请

WO2013158849A4 METHOD FOR AUTOMATICALLY ESTIMATING INERTIA 审中-公开
标题翻译：自动估计算法的方法
公开(公告)号：WO2013158849A4
公开(公告)日：2014-01-30
申请号：PCT/US2013037122
申请日：2013-04-18
申请人： LINESTREAM TECHNOLOGIES
发明人： TIAN GANG
IPC分类号： G05B11/28 , G05B13/00 , H02P5/00
CPC分类号： H02P23/14 , G05B19/404 , G05B2219/37388 , G05B2219/41163 , G05B2219/41381
摘要： 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.
摘要翻译：提供了用于估计受控机械系统的惯性和摩擦系数的系统和方法。在一个或多个实施例中，惯性估计器可以产生在测试序列期间随时间连续变化的转矩指令信号。响应于时变转矩指令信号的运动系统的速度在测试序列期间被测量和记录。然后，惯性估计器基于发送到运动系统的转矩指令数据和所测量的速度数据来估计运动系统的惯性和/或摩擦系数。还提供了系统和方法，用于生成用于控制运动控制系统中的点对点移动的轨迹的基于约束的时间最优运动轮廓。

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