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An enhanced equivalent input disturbance approach to current control of PMSM with periodic and aperiodic disturbances

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Science China(Information Sciences) 2025年第03期68卷 272-285页

作者： Tao YANG Youwu DU Bo LI Weihua CAO Chuanke ZHANG jinhua she School of Electrical & Information Jiangsu University of Technology School of Automation China University of Geosciences School of Engineering Tokyo University of Technology

The current-loop control of a permanent magnet synchronous motor(PMSM) system suffers from periodic and aperiodic disturbances, which result in current ripples and degrade control performance. This paper presents an enhanced equivalent-input-disturbance(EID) approach to reject periodic and aperiodic disturbances in the current loop of a *** additional quasi-resonant compensators(QRCs) are integrated into a conventional EID estimator with a low-pass filter(LPF) to handle the disturbances. The configuration of an enhanced EID(EEID)-based control system for PMSM current loop is explained. An analysis in the frequency domain shows the mechanism of the presented method for rejecting periodic and aperiodic disturbances simultaneously. It reveals that the sensitivity reduction of the system for aperiodic disturbances is mainly determined by the bandwidth of the LPF and that for periodic disturbances is determined by the parameters of the *** stability of the system is analyzed using the Nyquist stability criterion. The design algorithm for system parameters is provided. Compared to the conventional EID approach, the proposed method provides an additional degree of freedom to deal with periodic disturbances. The design of the QRCs is independent of each other, which makes the proposed method flexible and easy to implement. The effectiveness and the superiority of the EEID approach are validated by simulation results of a PMSM system.

关键词： equivalent input disturbance (EID) disturbance rejection permanent magnet synchronous motor (PMSM) periodic and aperiodic disturbances quasi-resonant compensator

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Reduced-order Modeling of Human Body for Brain Hypothermia Treatment

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International Journal of Automation and computing 2016年第2期13卷 159-167页

作者： jinhua she Hiroshi Hashimoto Min Wu School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

Brain hypothermia treatment （BHT） is an active therapy for severe brain injury. It makes the temperature of the brain track a given temperature input curve so as to reduce the risk of tissue damage. BHT requires a brain-temperature control system because of environmental disturbances and changes in the human body. The thermal models of the human body devised so far are usually of a very high order and are not suitable for controlling brain temperature. This paper presents a method of finding a reducedorder thermal model of the human body for use in BHT. It combines minimal realization and balanced realization. Unlike other methods, this method yields a reduced-order model that is based on system theory and that takes the frequency characteristics of human thermal sensation into account. It features high precision in the frequency band for BHT and is suitable for the control of brain temperature.

关键词： Balanced realization brain hypothermia treatment (BHT) minimal realization model reduction human thermal sensation thermal model.

Development of electric cart for improving walking ability — application of control theory to assistive technology

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Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： jinhua she Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

Disturbance Rejection for Systems With Uncertainties Based on Fixed-Time Equivalent-Input-Disturbance Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2384-2395页

作者： Qun Lu Xiang Wu jinhua she Fanghong Guo Li Yu the School of Aeronautical Engineering Taizhou UniversityJiaojiang 318000 the Zhejiang Dafeng Industry Co. Ltd.Hangzhou 315400China the Zhejiang Provincial United Key Laboratory of Embedded Systems Zhejiang University of TechnologyHangzhou 310023China IEEE the School of Engineering Tokyo University of TechnologyTokyo 192-0982Japan

This paper presents a fixed-time equivalent-inputdisturbance(EID)approach to deal with the problem of robust output-feedback control for perturbed uncertain *** method uses the basic structure of the conventional EID approach and treats uncertainties and disturbances as a lumped disturbance on the control-input channel.A fixed-time state observer enables state estimation,which resolves the causality issue in an EID-based control system,is finished in a fixed *** implicit Lyapunov function,the homogeneity with dilation,the input-tostate stability,and the small-gain theorem are used to analyze the convergence and robustness of the EID-based system with measurement *** and experimental results are presented to demonstrate the effectiveness and superiority of the proposed method.

关键词： Disturbance rejection equivalent-input-disturbance(EID)approach fixed-time stability measurement noise output feedback control

Robust disturbance rejection for a fractional-order system based on equivalent-input-disturbance approach

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Science China(Information Sciences) 2018年第7期61卷 200-211页

作者： Ruijuan LIU jinhua she Min WU Fenfang ZHU Zhuoyun NIE School of Applied Mathematics Xiamen University of Technology Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology School of Automation China University of Geosciences School of Information Science and Engineering National Huaqiao University

This paper presents a disturbance rejection method that is based on the equivalent-inputdisturbance approach for uncertain fractional-order(FO) systems. An FO observer is used to reconstruct the plant states and estimate the disturbances. A disturbance estimator is incorporated in the construction of the FO control system to actively compensate for the entire disturbance. A robust stability condition for the control system and the parameters of the controller are derived using an indirect Lyapunov *** presented method effectively rejects disturbances and handles modeling uncertainties without requiring prior knowledge of the disturbance. Comparison simulations on both numerical and practical examples demonstrate the effectiveness of the proposed method.

关键词： fractional-order system disturbance rejection equivalent-input-disturbance uncertain system Lyapunov method state observer stability

DESIGN OF AN EXPERT CONTROL SYSTEM FOR LEACHING PROCESS

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中国有色金属学会会刊：英文版 1999年第1期9卷 139-146页

作者： Wu, Min Peng, Zhihong Gui, Weihua Nakano, Michio jinhua, she Central South Univ of Technology Changsha China

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关键词： leaching process expert control system mathematical model rule model

Improved potential energy-shaping for port-controlled Hamiltonian systems

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控制理论与应用（英文版） 2012年第3期10卷 385-390页

作者： Liangcheng CAI Yong HE Min WU jinhua she School of Information Science and Engineering Central South UniversityChangsha Hunan 410083China Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha Hunan 410083China School of the Computer Science Tokyo University of TechnologyTokyo 192-0982Japan

This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function. Second, an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function. Finally, a numerical example is given to show the effectiveness of the proposed method.

关键词： Port-controlled Hamiltonian (PCH) systems Improved potential energy-shaping (IPES) Asymptoticalstabilization

Selection of Suitable Maximum-heart-rate Formulas for Use with Karvonen Formula to Calculate Exercise Intensity

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International Journal of Automation and computing 2015年第1期12卷 62-69页

作者： jinhua she Hitoshi Nakamura Koji Makino Yasuhiro Ohyama Hiroshi Hashimoto Graduate School of Bionics Computer and Media Sciences Tokyo University of Technology 1404-1 KatakuraHachioji Tokyo 192-0982 Japan Interdisciplinary Graduate School of Medical and Engineering University of Yamanashi4-3-11 Takeda Kofu 400-8511 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology 1-10-40 HigashiooiShinagawa-ku Tokyo 140-0011 Japan

The Karvonen formula, which is widely used to estimate exercise intensity, contains maximum heart rate, H Rmax, as a variable. This study employed pedaling experiments to assess which of the proposed formulas for calculating H Rmaxwas the most suitable for use with the Karvonen formula. First, two kinds of experiments involving an ergometer were performed: an all-in-one-day experiment that tested eight pedaling loads in one day, and a one-load-per-day experiment that tested one load per day for eight days.A comparison of the data on 7 subjects showed that the all-in-one-day type of experiment was better for assessing H Rmaxformulas,at least for the load levels tested in our experiments. A statistical analysis of the experimental data on 47 subjects showed two of the H Rmaxformulas to be suitable for use in the Karvonen formula to estimate exercise intensity for males in their 20 s. In addition, the physical characteristics of a person having the greatest impact on exercise intensity were determined.

关键词： Borg CR10 scale Karvonen formula exercise intensity maximum heart rate pedaling statistical analysis

Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 427-438页

作者： Pan Yu Kang-Zhi Liu Xudong Liu Xiaoli Li Min Wu jinhua she the Faculty of Information Technology and the Beijing Institute of Artificial Intelligence Beijing University of TechnologyBeijing 100124China IEEE the Department of Electrical and Electronic Engineering Chiba UniversityChiba 263-8522Japan the Beijing Aerospace Automatic Control Institute Beijing 100854China the School of Automation China University of GeosciencesWuhan 430074China the School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan

In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed *** is of two-degree-of-freedom ***,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of *** condition for asymptotic disturbance rejection is ***,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection ***,a robust stabilization condition with less conservativeness is derived for the whole multi-agent ***,a design algorithm is ***,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.

关键词： Directed graph distributed control disturbance rejection dynamic uncertainties multi-agent systems robust control