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Surface-PMSM Sensorless Control Strategy Based on Reduced-Order Linear Kalman Filter Cooperating with Prediction Error Rolling Compensation

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IEEE Transactions on Power Electronics 2025年第8期40卷 10804-10815页

作者： Xu, Sang Shen, Anwen Tang, Qipeng Wang, Miaomiao Luo, Pan Luo, Xin Xu, Jinbang National Key Laboratory of Science and Technology on Multispectral Information Processing Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China Science and Technology on Reactor System Design Technology Laboratory Chengdu China

Kalman filter (KF) is increasingly attracted for sensorless control of surface permanent magnet synchronous motors (SPMSMs) due to its strong robustness against measurement and system noise. However, conventional method suffers from poor position and speed estimation accuracy under dynamic conditions, and high computational cost. In order to solve these problems, an enhanced sensorless control strategy based on reduced-order linear Kalman filter (RLKF) cooperating with prediction error rolling compensation is introduced in this paper. Differing from conventional method, a reduced-order linear state equation encompassing rotor position, speed and torque disturbance is constructed. Then, by obtaining the prediction error of system output using the motor current equation in the predictive reference frame, the optimal estimation of rotor position and speed in KF algorithm is achieved based on the reduced-order model. This not only simplifies the calculation process, but also enhances the position and speed estimation accuracy under dynamic conditions. Meanwhile, a prediction error rolling compensation algorithm is developed to minimize the estimation deviations caused by motor parameters variations. Additionally, the system's dynamic performance is further improved with an adopted speed controller based on torque disturbance feedforward and acceleration feedback. Finally, experimental results verify the effectiveness and feasibility of the proposed strategy.1 © 1986-2012 IEEE.

关键词： Permanent magnets

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Beyond Performance of Learning Control Subject to Uncertainties and Noise: A Frequency-Domain Approach Applied to Wafer Stages

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 198-214页

作者： Fazhi Song Ning Cui Shuaiqi Chen Kai Zhang Yang Liu Xinkai Chen Jiubin Tan IEEE the Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology the Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technology the State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology the Center of Ultraprecision Optoelectronic Instrument Engineering Harbin Institute of Technology the Key Laboratory of UltraPrecision Intelligent Instrumentation Ministry of Industry and Information Technology the Department of Electronic and Information Systems Shibaura Institute of Technology

The increasingly stringent performance requirement in integrated circuit manufacturing, characterized by smaller feature sizes and higher productivity, necessitates the wafer stage executing a extreme motion with the accuracy in terms of nanometers. This demanding requirement witnesses a widespread application of iterative learning control(ILC), given the repetitive nature of wafer scanning. ILC enables substantial performance improvement by using past measurement data in combination with the system model knowledge. However, challenges arise in cases where the data is contaminated by the stochastic noise, or when the system model exhibits significant uncertainties, constraining the achievable performance. In response to this issue, an extended state observer(ESO) based adaptive ILC approach is proposed in the frequency *** being model-based, it utilizes only a rough system model and then compensates for the resulting model uncertainties using an ESO, thereby achieving high robustness against uncertainties with minimal modeling effort. Additionally, an adaptive learning law is developed to mitigate the limited performance in the presence of stochastic noise, yielding high convergence accuracy yet without compromising convergence speed. Simulation and experimental comparisons with existing model-based and data-driven inversion-based ILC validate the effectiveness as well as the superiority of the proposed method.

关键词： Extended state observer learning control model uncertainties motion control stochastic noise

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Synchronized optimization of chilled water temperature in compression refrigeration system based on PII-AWOA

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ISA Transactions 2025年 162卷 198-208页

作者： Dong, Na Li, Xianzheng Li, Changbin Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin300072 China

The widespread adoption of air conditioning systems has heightened concerns over energy consumption. Despite extensive research on optimizing compression refrigeration systems, achieving global optimization remains challenging. This paper addresses this issue by proposing a novel optimization strategy for vapor compression refrigeration systems. Central to this strategy is the optimization of chilled water temperature, a critical factor influencing overall system efficiency. This variable is synchronized with evaporating pressure (Pe) and condensing pressure (Pc) to achieve simultaneous optimal settings. Simulation results underscore the efficacy of this approach in significantly reducing energy consumption during steady-state operation. Moreover, an Adaptive Whale Optimization Algorithm based on Population Information Interactions (PII-AWOA) is developed to enhance optimization performance. Firstly, a population information utilization strategy is designed to improve the selection of optimal individuals in the original algorithm. In addition, adaptive measures are introduced to equalize the exploration and exploitation capabilities of the algorithm. Finally, individual neighborhoods are divided within the population, enabling ordinary individuals to utilize the information of others in their neighborhood, thereby realizing inter-individual information interaction. Experimental results indicate that the PII-AWOA algorithm demonstrates superior precision in convergence on multiple test functions and effectively mitigates the risk of local minima. Comparative analyses with the ZOA algorithm highlight the superior convergence speed and enhanced energy-saving capabilities of the proposed PII-AWOA algorithm. © 2025 International Society of Automation

关键词： Risk assessment

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Automatic Shape Design and Optimization of Missiles Based on Hex Mesh Generation and CFD Simulation 11th

Automatic Shape Design and Optimization of Missiles Based on...

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11th International Conference on Numerical Geometry, Grid Generation, and Scientific Computing, NUMGRID 2022

作者： Zheng, Xiaopeng Duan, Junyi Wei, Hongkui Wang, Chao Luo, Zhongxuan Lei, Na Zhang, Yue Li, Jiawei Dalian University of Technology Dalian China State Key Laboratory of Intelligent Manufacturing System Technology Beijing China

ISBN: (纸本)9783031596513

Modern aircraft development increasingly requires intelligent shape design capabilities to satisfy high-performance demands. The rapid and automatic optimization technology for missile shape, as one of the critical technologies in the modern aircraft development, has attracted wide attention. Computational fluid dynamics-based (CFD-based) optimization algorithms are considered as effective technologies and widely used, while requiring multiple iterations of numerical simulations resulting in significant time cost. To overcome the problem, we introduce structured hex mesh to speed up the process. Our algorithm can be divided into four parts. First, extract a set of parameters to control the missile shape. Second, construct a structured hex mesh for the external flow field according to the current missile shape. Third, mesh deformation algorithms are proposed to adapt to the missile shape changes. Fourth, optimize the missile shape control parameters based on the CFD simulation results. The critical technology is to construct an external flow field mesh. We propose a direct construction method to quickly generate structured hex meshes, which can also adapt to the different missile shapes. We improve the Laplace optimization method for geometry optimization, which is indispensable in the boundary layer mesh construction. We also propose a mesh deformation method, which introduces hex mesh topology optimization. The proposed algorithm has significant advantages in speed of mesh generation and numerical simulation and it is fully automatic, users do not need to adjust mesh or parameters manually. The experiment results demonstrate the efficiency and efficacy of our mesh generation and shape design algorithm. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Computational fluid dynamics

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A Noise-Excitation Generative Adversarial Network for Actuator Fault Diagnosis of Multi-legged Robot

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无人系统（英文） 2023年第2期11卷 159-173页

作者： Liling Ma Jian Guo Jiehao Li Junzheng Wang State Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China

This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnosis problem with insufficient *** found that it is difficult for methods based on classification and prediction to learn failure patterns without enough data.A straightforward solution is to use massive amounts of normal data to drive the diagnostic *** introduce frequency-domain information and fuse multi-sensor data to increase the features and expand the difference between normal data and fault data.A GAN-based framework is designed to calculate the probability that the enhanced data belongs to the normal *** uses a generator network as a feature extractor,and uses a discriminator network as a fault probability evaluator,which creates a new use of GAN in the field of fault *** the many learning strategies of GAN,we find that a key point that can distinguish the two types of data is to use the hidden layer noise with appropriate discrimination as the *** also design a fault location method based on binary search,which greatly improves the search efficiency and engineering value of the entire *** have conducted a lot of experiments to prove the diagnostic effectiveness of our architecture in various road conditions and working *** compared FD-GAN with popular diagnostic *** results show that our method has the highest accuracy and recall rate.

关键词： Actuator fault diagnosis multi-legged robot generative adversarial network attention mechanism

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A trajectory-level robot skill learning method based on fuzzy systems

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Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Adaptive Dead Zone Compensation Control Method for Electro-Hydrostatic Actuators Under Low-Speed Conditions

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Chinese Journal of Mechanical Engineering 2024年第6期37卷 199-211页

作者： Haoyi Jiang Zhenfei Ling Fengqi Zhou Maowen Sun Hao Liu Lilin Xu Yeming Yao Xiaoping Ouyang Huayong Yang State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemNanjing 210000China

This study proposes an accurate dead zone compensation control method for electro-hydrostatic actuators(EHAs)under low-speed ***,the nonlinear dead zone characteristics under low-speed conditions are summarized based on numerous EHA *** adaptive compensation function(ACF)is then constructed for the dead ***,this study proposes an adaptive dead zone compensation control method for EHAs by integrating the ACF with a virtual decomposition controller(VDC)based on the established EHA *** stability of the proposed control method is also ***,the proposed control method is verified using an EHA *** test results show that the dead zone trajectory tracking errors of EHAs are significantly reduced when combined with the ***,since most EHAs are controlled by adjusting the motor speed,the method presented in this study is simpler and easier to use than methods that employ flow compensation.

关键词： Electro-hydrostatic actuator Dead zone Compensation Control Low-speed

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Path-Dependent Progressive Failure Analysis for 3D-Printed Continuous Carbon Fibre Reinforced Composites

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Chinese Journal of Mechanical Engineering 2024年第4期37卷 84-93页

作者： Yuan Chen Lin Ye School of System Design and Intelligent Manufacturing(SDIM) Southern University of Science and TechnologyShenzhen 518055China Shenzhen Key Laboratory of Intelligent Manufacturing for Continuous Carbon Fibre Reinforced Composites Southern University of Science and TechnologyShenzhen 518055China

In order to predict the damage behaviours of 3D-printed continuous carbon fibre(CCF)reinforced composites,when additional short carbon fibre(SCF)composite components are employed for continuous printing or special functionality,a novel path-dependent progressive failure(PDPF)numerical approach is ***,a progressive failure model using Hashin failure criteria with continuum damage mechanics to account for the damage initiation and evaluation of 3D-printed CCF reinforced polyamide(PA)composites is developed,based on actual fibre placement trajectories with physical measurements of 3D-printed CCF/PA ***,an elastic-plastic model is employed to predict the plastic damage behaviours of SCF/PA ***,the accuracy of the PDPF model was validated so as to study 3D-printed CCF/PA composites with either negative Poisson's ratio or high *** results demonstrate that the proposed PDPF model can achieve higher prediction accuracies in mechanical properties of these 3D-printed CCF/PA *** analyses show that the stress distribution is generally aggregated in the CCF areas along the fibre placement paths,and the shear damage and matrix tensile/compressive damage are the key damage *** study provides a new approach with valuable information for characterising complex 3D-printed continuous fibre-matrix composites with variable mechanical properties and multiple constituents.

关键词： 3D printing Continuous carbon fibre Modelling Energy absorption Negative Poisson's ratio

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A hybrid attention model based on first-order statistical features for smoke recognition

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Science China(Technological Sciences) 2024年第3期67卷 809-822页

作者： GUO Nan LIU JiaHui DI KeXin GU Ke QIAO JunFei Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Artificial Intelligence InstituteBeijing 100124China Faculty of Information Technology Beijing University of TechnologyBeijing 100124China

Smoke and fire recognition are of great importance on foreseeing fire disasters and preventing environmental pollution by monitoring the burning process of objects(e.g., straw, fuels). However, since fire images suffer from problems like the variability of the features, complexity of scenarios, interference from background, changeable weather conditions as well as image quality problems, identifying smoke and fire accurately and promptly from a given image still remains a substantial challenge. Automatically learning the features of smoke images by CNNs has improved the target recognition ability compared to traditional approaches,nonetheless, convolutions and pooling operations in CNNs may cause severe information loss which may lead to *** tackle the above problems, this paper proposed a hybrid attention model based on the characteristics of smoke images. This model adopted multiple optimized attention mechanism in several stages to quickly and precisely capture the important features,achieving state-of-the-art performance on smoke and fire recognition in terms of accuracy and speed. Our proposed module mainly consists of two stages: pooling and attention. In the first stage, we conducted several newly proposed first-order pooling methods. Through traversing the data space in a larger scope, features are better reserved, thus constructing a more intact feature space of smoke and fire in an image. In the second stage, feature maps are aggregated together to perform channel and spatial attention. The channel and spatial dependencies allow us to quickly catch the important features presented in an image. By fully exploring the feature space and prominent salient features, characteristics of smoke and fire are better presented so as to obtain better smoke and fire detection results. Experiments have been conducted on public smoke detection dataset and new proposed fine-grained smoke and fire detection database. Experimental results revealed that the propose

关键词： hybrid attention first-order pooling smoke and fire detection deep convolutional neural networks

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Femtosecond laser-acoustic modeling and simulation for AlCu nanofilm nondestructive testing

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Frontiers of Mechanical Engineering 2024年第5期19卷 59-71页

作者： Zhongyu WANG Jing MIN Jing HU Zehan WANG Xiuguo CHEN Zirong TANG Shiyuan LIU State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Optics Valley Laboratory Wuhan 430074China

Photoacoustic detection has shown excellent performance in measuring thickness and detecting defects in metal ***,existing research on ultrafast lasers mainly focuses on using picosecond or nanosecond lasers for large-scale material processing and *** theoretical study of femtosecond laser sources for photoacoustic nondestructive testing(NDT)in nanoscale thin film materials receives much less emphasis,leading to a lack of a complete physical model that covers the entire process from excitation to *** this study,we developed a comprehensive physical model that combines the two-temperature model with the acoustic wave generation and detection *** the basis of the physical model,we established a simulation model to visualize the ultrafast lasermaterial interaction *** damage threshold of the laser source is determined,and the effect of key parameters(laser fluence,pulse duration,and wavelength)for AlCu nanofilms on the femtosecond photoacoustic NDT process is discussed using numerical results from the finite element *** numerical results under certain parameters show good agreement with the experimental results.

关键词： femtosecond photoacoustic nondestructive testing metal nanofilm ultrafast laser-matter interaction modeling and simulation semiconductor manufacturing

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