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Novel static decoupling algorithm for the multi-axis wheel force sensor based on the Informer network

MEASUREMENT 2025年 241卷

作者： Chen, Peiyang Li, Yuzheng Gao, Hao Zhang, Xiaolong Du, Heng Ren, Tianyu Fuzhou Univ Sch Mech Engn & Automat Fuzhou 350108 Peoples R China Sanming Univ Coll Electromech Engn Sanming 365001 Peoples R China Fuzhou Univ Fluid Power & Electrohydraul Intelligent Control L Fuzhou 350108 Peoples R China Tongji Univ Sch Mech Engn Shanghai 200092 Peoples R China

Ensuring the stability of heavy multi-axle vehicles necessitates the accurate calibration and decoupling of Multiaxis Wheel Force Sensors (MWFS). Traditional methods often neglect the temporal coupling present in MWFS output data, leading to reduced accuracy. This paper introduces an Improved decoupling algorithm (IDI) based on the Informer network, designed to temporally decouple MWFS and enhance precision. The decoupling embedding layer (DE) performs linear decoupling of the MWFS, while the Token embedding layer (TE) and Informer encoder extract timing coupling features. The highway network and linear fully-connected layer then provide nonlinear decoupling compensation. Experimental results demonstrate that the IDI algorithm significantly outperforms traditional methods like Extreme Learning Machine (ELM) and Back Propagation Network (BPNN), achieving at least a 41.12% improvement in accuracy in the highly coupled Mz channel. In conclusion, the IDI algorithm not only achieves high-precision decoupling of MWFS but also presents a robust framework for modeling various sensor types.

关键词： decoupling algorithm Informer Temporal coupling Multi-axis Wheel Force Sensor

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decoupling algorithm for Online Identification of Inductance in Permanent Magnet Synchronous Motors Based on Virtual Axis Injection Method and Sensorless Control

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ENERGIES 2024年第24期17卷 6308-6308页

作者： Chen, Kai Xiao, Long Zhang, Botao Yang, Mingjie Yang, Xianhua Guo, Xing Fuzhou Univ Coll Elect Engn & Automat Fuzhou 350108 Peoples R China Minnan Univ Sci & Technol Sch Elect & Elect Engn Quanzhou 362700 Peoples R China Wuhan Univ Sci & Technol Coll Comp Sci & Technol Wuhan 430065 Peoples R China

Among the existing sensorless control algorithms for permanent magnet synchronous motors (PMSMs), the model reference adaptive system (MRAS) is widely utilized due to its merits of good robustness, high stability, and rapid response. Nevertheless, the performance of the sensorless control is largely determined by the identified inductance parameters. The virtual-rotary-axis high-frequency injection (VHFSI) method is an online identification strategy for PMSM inductance parameters which is not affected by the observed rotor position errors among inductance identification algorithms. However, the existing PMSM inductance online identification algorithm based on VHFSI has ignored the influence of the error components, resulting in low accuracy and the weak dynamic performance of the inductance identification algorithm. In response to the problems existing in the original method, this paper improves VHFSI by designing a feedforward decoupling algorithm to compensate for the error components. Theoretical verification and simulation results indicate that the improved identification algorithm enhances the accuracy of inductance parameter identification, significantly improves the dynamic tracking performance of inductance identification, and combines it with the MRAS sensorless control method to constitute a sensorless control system for the motor, thereby enhancing control performance and system stability.

关键词： motor parameter identification permanent magnet synchronous motor (PMSM) sensorless control virtual rotary axis injection decoupling algorithm

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A slope-based decoupling algorithm to simultaneously control dual deformable mirrors in a woofer–tweeter adaptive optics system

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Chinese Physics B 2018年第7期27卷 248-256页

作者： Tao Cheng Wenjin Liu Boqing Pang Ping Yang Bing Xu Key Laboratory on Adaptive Optics Chinese Academy of Sciences Chengdu 610209 China University of Chinese Academy of Sciences Beijing 100049 China Institute of Optics and Electronics Chinese Academy of Sciences Chengdu 610209 China

We propose a slope-based decoupling algorithm to simultaneously control the dual deformable mirrors （DMs） in a woofer-tweeter adaptive optics system. This algorithm can directly use the woofer＇s response matrix measured from a Shack-Hartmann wave-front sensor to construct a slope-based orthogonal basis, and then selectively distribute the large- amplitude low-order aberration to woofer DM and the remaining aberration to tweeter DM through the slope-based orthogonal basis. At the same moment, in order to avoid the two DMs generating opposite compensation, a constraint matrix used to reset tweeter control vector is convenient to be calculated with the slope-based orthogonal basis. Numeral simulation demonstrates that this algorithm has a good performance to control the adaptive optics system with dual DMs simultaneously. Compared with the typical decoupling algorithm, this algorithm can take full use of the compensation ability of woofer DM and release the stroke of tweeter DM to compensate high-order aberration. More importantly, it does not need to measure the accurate shape of tweeter＇s influence function and keeps better performance of restraining the coupling error with the continuous-dynamic aberration.

关键词： dual deformable mirrors decoupling algorithm adaptive optics

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decoupling algorithm in view of multivariable electrical drives control

Decoupling algorithm in view of multivariable electrical dri...

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20th Annual American Control Conference (ACC)

作者： Benkhoris, MF Tali-Maamar, N Terrien, F CRTT Lab Atlantique Rech Genie Elect F-44602 St Nazaire France

ISBN: (纸本)0780372980

This paper deals with decoupling algorithm in view of control of multivariable electrical drive which concern multi star synchronous motor (NSSM) supplied by PWM inverters. This electrical drive is nonlinear and multivariable. The developed approach allows using conventional regulators. Two algorithms, based on diagonalization of transfer matrix and compensation of rotating terms are established. Proposed methods are applied, to the double star synchronous machine (DSSM).

关键词： multivariable systems diagonalization decoupling algorithm multi star synchronous motor modeling

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A decoupling algorithm FOR LARGE PRESSURIZED HEAVY WATER REACTORS

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NUCLEAR TECHNOLOGY 2010年第3期172卷 278-286页

作者： Khan, Nafisah Lu, Lixuan Univ Ontario Inst Technol Fac Energy Syst & Nucl Sci Oshawa ON L1H 7K4 Canada

This paper presents a decoupling algorithm for a large pressurized heavy water, reactor to facilitate the design of a decentralized control system. The reactor models are generally high-order systems, which increases the difficulty of designing control systems. A convenient method of model reduction while maintaining the important dynamic characteristics of the process is through decoupling. The new decoupling algorithm proposed in this paper is used to create a decoupled system for decentralized controller design. To demonstrate the performance of this algorithm, a 72nd-order system was decoupled into three partitions, each containing 20, 27, and 25 states. Both a centralized controller based on the original model and decentralized controllers based on the decoupled model are designed. The advantage of the decentralized controller is shown through a fail-safe study.

关键词： decentralized control state-space control decoupling algorithm

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Research on static decoupling algorithm for piezoelectric six axis force/torque sensor based on LSSVR fusion algorithm

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2018年 110卷 509-520页

作者： Li, Ying-jun Wang, Gui-cong Yang, Xue Zhang, Hui Han, Bin-bin Zhang, Yong-liang Univ Jinan Sch Mech Engn Jinan 250022 Shandong Peoples R China Shandong Inst Metrol Jinan 250014 Shandong Peoples R China

Six axis force/torque sensors with characteristics of high precision, high reliability, and high dynamic, have become one of the major bottlenecks restricting the development of the robot. Aiming at the existing decoupling problem of piezoelectric six axis force/torque sensor with four point support structure, this paper presents the research and application on static decoupling method. Firstly, initial experimental data for decoupling of piezoelectric six axis force/torque sensor is obtained by making a calibration experiment. And then, experimental data are analyzed according to evaluate indicator. The linear decoupling algorithm based on the least square (LS) method is performed. Fusion decoupling algorithm based on Least Square Support Vector Machine Regression (LSSVR) is adopted to optimize multi-dimensional nonlinear characteristics of sensor output. The mapping relation between input and output of the sensor is identified. After LSSVM fusion algorithm decoupling, the maximum nonlinear error and cross coupling error are 0.89%, and 0.1%, respectively. The results show that the decoupling of LSSVR fusion algorithm can reduce the nonlinear error and cross coupling error of the fabricated piezoelectric six axis force/torque sensor. It has important significance to improve the measurement accuracy of robot force feedback with piezoelectric six axis force/torque sensors. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： Piezoelectric six axis force/torque sensor Cross coupling Least square (LS) LSSVR decoupling algorithm

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An improved decoupling algorithm for low Mach number near-critical fluids

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COMPUTERS & FLUIDS 2017年 145卷 8-20页

作者： Hu, Zhan-Chao Zhang, Xin-Rong Peking Univ Coll Engn Dept Energy & Resources Engn Beijing 100871 Peoples R China Peking Univ Beijing Engn Res Ctr City Heat Beijing 100871 Peoples R China

This paper describes an improved decoupling algorithm for calculating low Mach number near-critical fluid flows, in which the c(p)-formulation of the energy equation is used (c(p) refers to the specific heat at constant pressure) and the pressure-velocity coupling is treated through the block-coupled method, together with a transformation of the continuity equation. The algorithm is validated by a 2D near-critical CO2 Rayleigh-Benard convection problem. After the mesh and time step independence studies, the correctness is presented through the stability behaviors of the hot boundary layer under different heating intensities and the typical evolution of the temperature field. The improved decoupling algorithm owns a better stability and can further reduce the CPU time. The advantages are even more obvious when the flow is convection-dominated. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Near-critical fluids Piston effect decoupling algorithm Block-coupled Rayleigh-Benard convection

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Projection-based decoupling algorithm for a woofer-tweeter adaptive optics system

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OPTICAL ENGINEERING 2018年第6期57卷

作者： Cheng, Tao Liu, WenJin Yang, KangJian He, Xing Yang, Ping Xu, Bing Chinese Acad Sci Key Lab Adapt Opt Chengdu Sichuan Peoples R China Univ Chinese Acad Sci Beijing Peoples R China Chinese Acad Sci Inst Opt & Elect Chengdu Sichuan Peoples R China

We propose a projection-based decoupling algorithm for a woofer-tweeter (W-T) adaptive optics system. This algorithm uses the response matrix of woofer deformable mirrors (DM) to construct a slope-based orthogonal basis, which can be used to distribute different spatial frequency aberrations to the dual DMs. At the same time, to restrain the cross coupling between the dual DMs, the command vector of the tweeter will be projected onto the slope-based orthogonal basis, and then the portion of the tweeter's command vector, which may generate opposite shape with the woofer can be calculated and eliminated accurately. Numerical simulation for this algorithm demonstrates that it can make the woofer and tweeter correct different spatial frequency aberrations simultaneously, and have more practical value compared with the traditional decoupling algorithm. Experimental results for this algorithm are consistent with the simulation results and proved that the cross coupling between the dual DMs can be restrained well for both static and dynamic aberrations. (C) 2018 Society of Photo-Optical Instrumentation Engineers (SPIE)

关键词： dual deformable mirrors decoupling algorithm adaptive optics

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MIXED FORMULATION, APPROXIMATION AND decoupling algorithm FOR A PENALIZED NEMATIC LIQUID CRYSTALS MODEL

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MATHEMATICS OF COMPUTATION 2011年第274期80卷 781-819页

作者： Girault, V. Guillen-Gonzalez, F. Univ Paris 06 Lab Jacques Louis Lions F-75252 Paris France Univ Seville Dept Educ Diferenciales & Anal Numer E-41080 Seville Spain

A linear fully discrete mixed scheme, using C-0 finite elements in space and a semi-implicit Euler scheme in time, is considered for solving a penalized nematic liquid crystal model (of the Ginzburg-Landau type). We prove: 1) unconditional stability and convergence towards weak solutions, and 2) first-order optimal error estimates for regular solutions (but without imposing the well-known global compatibility condition for the initial pressure in the Navier-Stokes framework). These results are valid in a general connected polygon or in a Lipschitz polyhedral domain (without any constraints on its angles). Finally, since the scheme couples the unknowns, we propose several algorithms for decoupling the computation of these unknowns and establish their rates of convergence in convex domains when the mesh size is sufficiently small compared to the time step.

关键词： Nematic liquid crystal Ginzburg-Landau penalization mixed formulation finite element method convergence stability error estimates decoupling algorithm

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Multi-variable PID neural network decoupling algorithm in scrap copper smelting process control

Multi-variable PID neural network decoupling algorithm in sc...

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4th International Seminar on Modern Cutting and Measurement Engineering

作者： Li Yingdao Guan Hongwei Zhong Weihong Song Zhihuan Ma Xiushui Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310003 Zhejiang Peoples R China Zhejiang Univ Ningbo Inst Technol Ningbo Zhejiang Peoples R China

ISBN: (纸本)9780819485700

In order to eliminate the coupling between the loops for control in the system of scrap copper smelting, we propose the methods to built the dynamic models of inverter-fan-furnace pressure loop and natural gas and combustion air flow-air fuel ratio-furnace temperature loop based on data-driven, established the thought of multi-variable control model with the amount of scrap copper, gas flow and speed of fan as input, temperature and pressure of furnace as output, then use the method of PID neural network to decouple. Simulation results show that the control system be with the features of fast response, small overshoot and without static error, and also multi-variable PID neural network adjusts the connection weights based on the effect produced by the changes of object parameters, achieve the decoupling of the coupling variables effectively;as with reference to the PID control requirements, making the whole system be simple and standard.

关键词： smelting process PID neural network scrap copper decoupling algorithm

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