This work proposes a new strategy to improve the rotor position estimation of a permanent magnet synchronous motor(PMSM) over wide speed range. Rotor position estimation of a PMSM is performed by using sliding mode ob...This work proposes a new strategy to improve the rotor position estimation of a permanent magnet synchronous motor(PMSM) over wide speed range. Rotor position estimation of a PMSM is performed by using sliding mode observer(SMO). An adaptive observer gain was designed based on Lyapunov function and applied to solve the chattering problem caused by the discontinuous function of the SMO in the wide speed range. The cascade low-pass filter(LPF) with variable cut-off frequency was proposed to reduce the chattering problem and to attenuate the filtering capability of the SMO. In addition, the phase shift caused by the filter was counterbalanced by applying the variable phase delay compensation for the whole speed area. High accuracy estimation result of the rotor position was obtained in the experiment by applying the proposed estimation strategy.展开更多
Quadrotor unmanned aerial vehicles have become the most commonly used flying robots with wide applications in recent years.This paper presents a bioinspired control strategy by integrating the backstepping sliding mod...Quadrotor unmanned aerial vehicles have become the most commonly used flying robots with wide applications in recent years.This paper presents a bioinspired control strategy by integrating the backstepping sliding mode control technique and a bioinspired neural dynamics model.The effects of both disturbances and system and measurement noises on the quadrotor unmanned aerial vehicle control performance have been addressed in this paper.The proposed control strategy is robust against disturbances with guaranteed stability proven by the Lyapunov stability theory.In addition,the proposed control strategy is capable of providing smooth control inputs under noises.Considering the modeling uncertainties,the adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates to improve tracking effectiveness.Finally,the simulation results demonstrate that the proposed control strategy provides satisfactory tracking performance for a quadrotor unmanned vehicle operating under disturbances and noises.展开更多
Detecting duplicates in data streams is an important problem that has a wide range of applications. In general, precisely detecting duplicates in an unbounded data stream is not feasible in most streaming scenarios, a...Detecting duplicates in data streams is an important problem that has a wide range of applications. In general, precisely detecting duplicates in an unbounded data stream is not feasible in most streaming scenarios, and, on the other hand, the elements in data streams are always time sensitive. These make it particular significant approximately detecting duplicates among newly arrived elements of a data stream within a fixed time frame. In this paper, we present a novel data structure, Decaying Bloom Filter （DBF）, as an extension of the Counting Bloom Filter, that effectively removes stale elements as new elements continuously arrive over sliding windows. On the DBF basis we present an efficient algorithm to approximately detect duplicates over sliding windows. Our algorithm may produce false positive errors, but not false negative errors as in many previous results. We analyze the time complexity and detection accuracy, and give a tight upper bound of false positive rate. For a given space G bits and sliding window size W, our algorithm has an amortized time complexity of O（√G/W）. Both analytical and experimental results on synthetic data demonstrate that our algorithm is superior in both execution time and detection accuracy to the previous results.展开更多
Aimed at the problems of large torque ripple,obvious chattering and poor estimation accuracy of back-EMFs in traditional permanent magnet synchronous motor(PMSM)control system with sliding mode observer(SMO),an improv...Aimed at the problems of large torque ripple,obvious chattering and poor estimation accuracy of back-EMFs in traditional permanent magnet synchronous motor(PMSM)control system with sliding mode observer(SMO),an improved control strategy for PMSM based on a fuzzy sliding mode control(FSMC)and a two-stage filter sliding mode observer(TFSMO)is proposed.Firstly,a novel reaching law(NRL)used in the speed loop based on hyperbolic sine function is studied,and fuzzy control ideal is shown to achieve the self-turning of the parameter for the reaching law,thus a fuzzy integral sliding mode controller based on the novel reaching law is designed in speed loop.Then the suppression effect upon chattering caused by the novel reaching law is analyzed strictly by discrete equation.Secondly,in order to restrain the high frequency components and measurement noise in back-EMFs,a two-stage filter structure based on a variable cut-off frequency low-pass filter(VCF-LPF)and a modified back-EMF observer(MBO)is conceived,and the rotor position is compensated reasonably.As a result,a TFSMO is designed.The stability of the proposed control strategy is proved by Lyapunov Criterion.The simulation and experiment results show that,compared with traditional SMO,the controller suggested above can obtain very nice system respond when the motor starts and is subjected to external disturbances,and effectively improve the problems about torque ripple,chattering and the estimation accuracy of back-EMF.展开更多
基金Project(2012(PS-2012-090))supported by the Pukyong National University Research Abroad Fund,Korea
文摘This work proposes a new strategy to improve the rotor position estimation of a permanent magnet synchronous motor(PMSM) over wide speed range. Rotor position estimation of a PMSM is performed by using sliding mode observer(SMO). An adaptive observer gain was designed based on Lyapunov function and applied to solve the chattering problem caused by the discontinuous function of the SMO in the wide speed range. The cascade low-pass filter(LPF) with variable cut-off frequency was proposed to reduce the chattering problem and to attenuate the filtering capability of the SMO. In addition, the phase shift caused by the filter was counterbalanced by applying the variable phase delay compensation for the whole speed area. High accuracy estimation result of the rotor position was obtained in the experiment by applying the proposed estimation strategy.
文摘Quadrotor unmanned aerial vehicles have become the most commonly used flying robots with wide applications in recent years.This paper presents a bioinspired control strategy by integrating the backstepping sliding mode control technique and a bioinspired neural dynamics model.The effects of both disturbances and system and measurement noises on the quadrotor unmanned aerial vehicle control performance have been addressed in this paper.The proposed control strategy is robust against disturbances with guaranteed stability proven by the Lyapunov stability theory.In addition,the proposed control strategy is capable of providing smooth control inputs under noises.Considering the modeling uncertainties,the adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates to improve tracking effectiveness.Finally,the simulation results demonstrate that the proposed control strategy provides satisfactory tracking performance for a quadrotor unmanned vehicle operating under disturbances and noises.
基金supported by the "Hundred Talents Program" of CAS and the National Natural Science Foundation of China under Grant No. 60772034.
文摘Detecting duplicates in data streams is an important problem that has a wide range of applications. In general, precisely detecting duplicates in an unbounded data stream is not feasible in most streaming scenarios, and, on the other hand, the elements in data streams are always time sensitive. These make it particular significant approximately detecting duplicates among newly arrived elements of a data stream within a fixed time frame. In this paper, we present a novel data structure, Decaying Bloom Filter （DBF）, as an extension of the Counting Bloom Filter, that effectively removes stale elements as new elements continuously arrive over sliding windows. On the DBF basis we present an efficient algorithm to approximately detect duplicates over sliding windows. Our algorithm may produce false positive errors, but not false negative errors as in many previous results. We analyze the time complexity and detection accuracy, and give a tight upper bound of false positive rate. For a given space G bits and sliding window size W, our algorithm has an amortized time complexity of O（√G/W）. Both analytical and experimental results on synthetic data demonstrate that our algorithm is superior in both execution time and detection accuracy to the previous results.
基金National Key R&D Program of China(No.2018YFB1201602)。
文摘Aimed at the problems of large torque ripple,obvious chattering and poor estimation accuracy of back-EMFs in traditional permanent magnet synchronous motor(PMSM)control system with sliding mode observer(SMO),an improved control strategy for PMSM based on a fuzzy sliding mode control(FSMC)and a two-stage filter sliding mode observer(TFSMO)is proposed.Firstly,a novel reaching law(NRL)used in the speed loop based on hyperbolic sine function is studied,and fuzzy control ideal is shown to achieve the self-turning of the parameter for the reaching law,thus a fuzzy integral sliding mode controller based on the novel reaching law is designed in speed loop.Then the suppression effect upon chattering caused by the novel reaching law is analyzed strictly by discrete equation.Secondly,in order to restrain the high frequency components and measurement noise in back-EMFs,a two-stage filter structure based on a variable cut-off frequency low-pass filter(VCF-LPF)and a modified back-EMF observer(MBO)is conceived,and the rotor position is compensated reasonably.As a result,a TFSMO is designed.The stability of the proposed control strategy is proved by Lyapunov Criterion.The simulation and experiment results show that,compared with traditional SMO,the controller suggested above can obtain very nice system respond when the motor starts and is subjected to external disturbances,and effectively improve the problems about torque ripple,chattering and the estimation accuracy of back-EMF.
