CN102393640A - Low frequency broadening non-linear feedback control apparatus and method thereof - Google Patents
Low frequency broadening non-linear feedback control apparatus and method thereof Download PDFInfo
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Abstract
The invention provides a low frequency broadening non-linear feedback control apparatus and a method thereof. The apparatus is characterized in that: a receiving module receives an input signal and transmits the input signal to a non-linear control module; the non-linear control module carries out non-linear modulation on a signal input by the receiving module, transmits a modulated signal to a reference output module, and combined with a feedback signal output by a feedback control module, the non-linear control module carries out non-linear modulation and transmits a modulated signal to the reference output module; the reference output module computes difference between the modulated signal and a reference signal, and determines whether the modulated signal satisfies an expected requirement or not, if so, the modulated signal is output as an output signal, if not, the modulated signal is transmitted to the feedback control module. Through the non-linear control module and the feedback control module, the input signal output various orders of harmonic waves of a plurality of frequency components, amplitude is restricted, line spectrum is broadened, and under an effect of an appropriate parameter, reduction of input line spectrum energy is realized.
Description
Technical field
What the present invention relates to is a kind of closed-loop control device, relates in particular to a kind of nonlinear Feedback Control device of low frequency broadening.The present invention also relates to a kind of nonlinear Feedback Control method of low frequency broadening.
Background technology
Two kinds of control forms the most basic are open loop control and closed-loop control in the control theory.Every kind of control forms all has the characteristics of self, has only the effect of forward control between open-cycle controller and the controlled device, is memoryless system, poor anti jamming capability.Closed-loop control system need constantly be measured feedback signal, and does input and feedback signal poor, judges that system exports the requirement that whether meets the expectation; As do not satisfy and then feed back to controller to difference; Continue recording geometry output, obtain relevant status of processes information, constantly regulate the control input according to designing requirement and make system's output change as expected; And then the result of acquisition expectation; Closed-loop system is claimed feedback control system again, usually has this phenomenon at numerous areas such as various biosystems, physical system and economy and commerce, designs the physical model that closed-loop control system more approaches practical application thus.
Design is simple relatively near system architecture, control procedure, and relatively accurate mathematical model is a step very crucial in the design control system.After the controlling index of having confirmed controlled mathematical model and output, need through simulation and its performance index of experimental check, and constantly regulate controllable parameter, obtain to meet the feedback controller of performance standard.
Feedback control system is improved system performance through introducing feedback; The complicacy of system and the number of components and parts have also been increased simultaneously; But its original advantage is to cause system to have instability to a certain degree, the instability of this system architecture in the control procedure, possibly make the big big change of serviceability of system.
Line spectrum is the principal character of the detection in hydroacoustic electronic warfare of modern passive sonar, tracking and recognition objective, is the main harm of the stealthy performance of submarine sound.In order to improve the disguise on naval vessel, must reduce low frequency spectrum lines.In recent years, each state all actively carries out the research of vibration and noise reducing, and has obtained huge development.Through adopting technology such as inhaling vibration isolation, multi-functional overlayer, noise-reduced propeller, greatly reduce the radiated noise on naval vessel.If can convert line spectrum to continuous spectrum, can change the spectrum structure of radiated noise, and the low frequency energy that will concentrate originally is distributed on the frequency band of broad, reduce the line spectrum peak value, the reduction detectivity.
Summary of the invention
The object of the present invention is to provide and a kind ofly can realize the low frequency broadening, make the nonlinear Feedback Control device of the low frequency broadening that the incoming line spectrum energy reduces.The present invention also aims to provide a kind of nonlinear Feedback Control method of low frequency broadening.
The objective of the invention is to realize like this:,
The nonlinear Feedback Control device of low frequency broadening of the present invention comprises receiver module, nonlinear Control module, with reference to output module and feedback control module; The receiver module receiving inputted signal, and said input signal is passed to the nonlinear Control module; The nonlinear Control module; Signal to the receiver module input carries out non-linear modulation; And the signal after will modulating is passed to reference to output module; The nonlinear Control module combines the feedback signal of feedback control module output to carry out non-linear modulation, and the signal after will modulating is passed to reference to output module; With reference to output module, signal and reference signal after the modulation is poor, the requirement that whether meets the expectation of the signal after judgement is modulated; If satisfy; Signal after then will modulating is as the output of output signal, if do not satisfy, the signal after then will modulating is passed to feedback control module.
The nonlinear Feedback Control device of low frequency broadening of the present invention can also comprise:
1, also comprise the external excitation injection module, said excitation injection module is injected into external excitation in the control system.
2, also comprise the characteristic judge module, said characteristic judge module judges whether the output signal is in the chaotic motion state, if being in the chaotic motion state then exports, then system output signal is not passed to feedback control module if do not satisfy.
3, said receiver module receives the single-frequency input signal.
4, said nonlinear Control module; Signal to the receiver module input carries out non-linear modulation; Produce the high-order harmonic wave signal that wave amplitude is modulated, perhaps combine the feedback signal of feedback control module output to carry out non-linear modulation, produce the high-order harmonic wave signal that wave amplitude is modulated.
The nonlinear Feedback Control method of low frequency broadening of the present invention is:
Step (1) receiving inputted signal;
Step (2) is carried out non-linear modulation to the signal that receives, and the signal after the output modulation;
Signal and reference signal after step (3) will be modulated are poor, judge the requirement that whether meets the expectation of signal after the modulation, if satisfy, the signal after then will modulate is as the output of output signal, flow process end; If do not satisfy, then go to step (4);
The modulation signal that step (4) requires not meeting the expectation carries out close-loop feedback and handles the acquisition feedback signal, returns execution in step (2).
The nonlinear Feedback Control method of low frequency broadening of the present invention can also comprise:
1, between step (2) and step (3), inject external excitation, and with the mixed signal of external excitation and modulation signal as new modulation signal.
2, the signal after the said judgement modulation whether meet the expectation require be: judge that whether the output signal is in the chaotic motion state, if being in the chaotic motion state then exports, if do not satisfy then, goes to step (4).
3, the sampled signal of said reception is the single-frequency sampled signal.
4, said signal to reception carries out non-linear modulation for producing the high-order harmonic wave signal that wave amplitude is modulated.
Input signal is through the nonlinear Control module; Output has increased a lot of frequency contents, and the harmonic wave of these frequency contents passes through the modulation of nonlinear Control module once more through feedback, and output has more frequency content very much; So back and forth; System is output as each order harmonics of multiple frequency content, and amplitude receives modulation, line spectrum broadening, under the effect of proper parameter, can realize the reduction of incoming line spectrum energy.
Description of drawings
Fig. 1 is the structural representation of the nonlinear feedback control system of low frequency broadening;
Fig. 2 is the process flow diagram of the nonlinear Feedback Control method of low frequency broadening;
Fig. 3 (a)-Fig. 3 (b) is that signal is exported synoptic diagram through the system behind the gamma controller, and wherein, Fig. 3 (a) is an output amplitude change curve in time, and Fig. 3 (b) is that output power is with frequency variation curve figure;
Fig. 4 (a)-Fig. 4 (d) is the power spectrum curve figure of embodiment 1; Wherein, Fig. 4 (a) is input signal self power spectrum curve figure; Fig. 4 (b) is the power spectrum curve figure of second nonlinear harmonic wave, and Fig. 4 (c) is the power spectrum curve figure of third-order non-linear harmonic wave, and Fig. 4 (d) is the power spectrum curve figure of nonlinear Control module 2 outputs;
Fig. 5 (a)-Fig. 5 (d) is the phasor of nonlinear Control module 2 outputs among the embodiment 1; Wherein, the phasor when Fig. 5 (a) is 10s for time delay, the phasor when Fig. 5 (b) is 10s for time delay; Phasor when Fig. 5 (c) is 15s for time delay, the phasor when Fig. 5 (d) is 20s for time delay;
System's output when Fig. 6 (a)-Fig. 6 (d) is the no external excitation of embodiment 2 after the feedback is figure dynamically, and wherein, Fig. 6 (a) be time-histories figure, and Fig. 6 (b) be a power spectrum chart, and Fig. 6 (c) is a phasor, and Fig. 6 (d) is the Lyapunov index acquisition curve map that i and system export of counting;
Fig. 7 (a)-Fig. 7 (d) is the dynamic figure of system's output after the have external excitation time feedback of embodiment 3, and Fig. 7 (a) be time-histories figure, and Fig. 7 (b) be a power spectrum chart, and Fig. 7 (c) is a phasor, and Fig. 7 (d) is the Lyapunov index acquisition curve map that i and system export of counting;
Fig. 8 (a)-Fig. 8 (d) is the dynamic figure of system's output after the have external excitation time feedback of embodiment 4, and Fig. 8 (a) be time-histories figure, and Fig. 8 (b) be a power spectrum chart, and Fig. 8 (c) is a phasor, and Fig. 8 (d) is the Lyapunov index acquisition curve map that i and system export of counting;
Fig. 9 (a)-Fig. 9 (d) is the dynamic figure of system's output after embodiment 5 the have external excitation time feedback, and Fig. 9 (a) be time-histories figure, and Fig. 9 (b) be a power spectrum chart, and Fig. 9 (c) is a phasor, and Fig. 9 (d) is the Lyapunov index acquisition curve map that i and system export of counting.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, hereinafter will combine accompanying drawing that embodiments of the invention are elaborated.Need to prove that under the situation of not conflicting, embodiment among the application and the characteristic among the embodiment be combination in any each other.
The nonlinear feedback control system of low frequency broadening comprises receiver module 1, nonlinear Control module 2, with reference to output module 3, feedback control module 4 and external excitation injection module 5,
With reference to output module 3; Signal v (t) after being used for modulating or z (t) and reference signal e (t) are poor; Judge the requirement that whether meets the expectation of signal after the modulation, if satisfy, the signal after then will modulating is exported as system output signal y (t); If do not satisfy, the signal after then will modulating is passed to feedback control module 4;
External excitation injection module 5 is used for external excitation signal u (t) is injected into control system.
Wherein external excitation injection module 5 is optional, and the position in external excitation signal u (t) injected system also is optional,
Can be arranged on nonlinear Control module 2 and with reference between the output module 3, signal v (t) after external excitation signal u (t) and the modulation or the mixed signal of z (t) are input to reference to output module 3;
Perhaps be arranged on reference between output module 3 and the feedback control module 4, external excitation signal u (t) with the modulation that requires that do not meet the expectation after signal v (t) or the mixed signal of z (t) be input to feedback control module 4;
Perhaps be arranged between feedback control module 4 and the nonlinear Control module 2, external excitation signal u (t) is input to nonlinear Control module 2 with the mixed signal of feedback signal f (t).
Specify implementation process of the present invention:
The input signal of receiver module 1 is simple signal
The controlling models that nonlinear Control module 2 adopts is:
After then passing through the modulation of nonlinear Control module 2, the signal after the modulation of output does
Visible by following formula; The modulation output item of nonlinear Control module 2 has produced high-order harmonic wave; Promptly even time and odd harmonic; Wave amplitude is modulated,
the approximate n power that is proportional to input amplitude of subharmonic amplitude.
Measure the harmonic components of nonlinear Control module 2 output terminals, harmonic components is sued for peace, and carry out normalization with fundamental frequency (input signal) component and represent, obtain the total harmonic distortion value.For amplitude is the sinusoidal signal of A, and through third-order non-linear control module 2, the output total harmonic distortion does
Judge the above-mentioned harmonic distortion requirement that whether meets the expectation with reference to output module 3, if satisfy, the signal v (t) after then will modulate is as system output signal y (t) output, if satisfied, the signal v (t) after then will modulating is passed to feedback control module 4;
The feedback model of feedback control module 4 is output self feed back process, and promptly feedback control module 4 will directly be passed to nonlinear Control module 2 from the signal that receives with reference to output module 3;
The frequency content that feedback control module 4 receives is ω, 2 ω, and 3 ω, nonlinear Control module 2 input signals do
Signal after the modulation of output can calculate according to the controlling models controlling models of third-order non-linear control module 2;
By that analogy, after the modulation of nonlinear Control module 2, will produce combination frequency is ω
nO ω
mAll combination components, amplitude combination A
mAnd A
nComponent, as follows:
The amplitude corresponding A of these components
mAnd A
nThe product of amplitude, thereby make the energy change of original signal, frequency band expanding.
One row frequency is that f=1kHz, amplitude are 1 single frequency sinusoidal signal sin (2 π ft) input nonlinear Control module 2, and controlling models is
parameter value:
SF is 10 times of signal frequencies.The time-domain diagram of process nonlinear Control module 2 outputs and spectrogram are shown in the (a) and (b) of Fig. 3.
Time-domain diagram by Fig. 3 (a) learns that signal is under the process situation of above-mentioned nonlinear Control module 2, and the time domain wave amplitude changes; Spectrogram by Fig. 3 (b) learns that simple signal increases through spectrum component behind the controller, has become 3 discrete line spectrums.Explanation thus, for the line spectrum broadening, the nonlinear Control module 2 in the control system of the present invention is major influence factors that system's output characteristic changes.
The method of said characteristic judge module 6 recognition systems output signal dynamic characteristic has:
(1) time plot of observation signal and phase path.When system was in the chaotic motion state, the time history curve showed as " in a jumble " usually and has certain repeated characteristic.Phase path figure shows certain fractal characteristic.
(2) power spectrumanalysis method.Frequency be the periodic signal of f through after the linear system, power spectrum is at frequency f and higher hamonic wave 2f thereof, 3f, there is the spike that has the δ functional form at III place and linear combination frequency place.When fork even chaos take place in system; Power spectrum will change the characteristic of its original line spectrum, although its power spectrum still has spike, their what can broadening some; And the noise background in broadband can appear on the power spectrum; The power spectrum that is chaotic signal is some line spectrums of stack on the continuous wide spectrum, so if continuous power spectrum is arranged, think that then chaos possibly exist.
(3) Lyapunov index calculation.Convergence of Lyapunov exponential representation adjacent orbit or the speed of dispersing.Positive Lyapunov index has been represented some diverging rates near track, is the logarithmic growth rate of the averaging time of ultimate range between two approaching tracks, and its expression path obviously depends on starting condition.If promptly path is dispersed, then the Lyapunov index can be judged the existence of chaos greater than zero.
(4) phase space reconfiguration method.The phase space reconfiguration method is to come the method for reconstruct attractor with the behavior of research system dynamics according to limited data; Time series expand to three-dimensional or more the phase space of higher-dimension go; Could reveal seasonal effect in time series chaos information fully, seasonal effect in time series phase space that Here it is is rebuild.In the computation process; Only need the one-component of investigation system, obtain and embed dimension m and delay time T, and will handle as new dimension in the observed reading that some regular time postpones on the point; Just can reconstruct the phase space of an equivalence, carry out follow-up data to the data that obtain then and handle.
Frequency input signal is 1kHz, and amplitude is that 1 the output signal of sinusoidal signal after nonlinear Control module 2 carries out following emulation, and controlling models does
Simulation parameter: SF is taken as 10 times of signal frequencies,
Signal self power spectrum and signal are through cx
2, dx
3,
The power spectrum simulation result of back output is like the (a) and (b) of Fig. 4, (c) with (d).(2) utilize carry out phase space reconfiguration at back 2000 of the output signal, embed dimension and all get 2, get 5,10,15 and 20 time delay respectively.Then through the phasor of nonlinear Control module 2 like the (a) and (b) of Fig. 5, (c) with (d).
Draw from Fig. 4 and Fig. 5: signal is many more through the exponent number of nonlinear Control module 2, and the output spectrum composition is many more, and spectrum is moved to high band.See that from phase Fig. 5 the output signal still is the cycle, but not chaos phenomenon.This shows the non-linear spectrum structure that can change system in this model, to occur, but the change of essence can not take place in system's output, does not have the appearance of chaos phenomenon.
The structured flowchart of control system is as shown in Figure 1; Not having this moment the external drive masterpiece to be used for system
feedback control module 4 is that frequency is 1kHz for output self feed back process
input signal; Amplitude is that 1 the output signal of sinusoidal signal after nonlinear Control module 2 carries out following emulation; Controlling models is
simulation parameter:
embed dimension dimension
time delay
and get back 2000 points and carry out phase space reconfiguration; System's outputting power is learned rule figure such as Fig. 6; Through the time-histories figure of feedback loop output signal (a); Power spectrum chart (b); Phasor (c), calculating Lyapunov index obtain the to count figure (d) of i and y (i).
See from time-domain diagram and spectrogram; The modulated back of signal amplitude alters a great deal with power spectral value, phasor still be cycle status or quasi-periodicity state, calculating acquisition Max Ly=-0.0165 (linear fit length is 50) from analogous diagram 6 (d); Less than zero, illustrative system is in non-chaos state.Obviously, signal makes the amplitude of output change through nonlinear Control module 2, and frequency content increases, but from the Ly index, system's output still is in non-chaos state.Show that the control under the no external excitation effect does not have the essential structure of change system output.
The structured flowchart of control system is shown in 1, and feedback control module 4 has external high frequency driving source
to act on system for output self feed back process
this moment.Input signal is that frequency is 1kHz; Amplitude is 1 sinusoidal signal sin (2 π ft) input nonlinear Control module 2; Controlling models is for being
simulation parameter: embedding dimension dimension
time delay
is got back 2000 points and is carried out phase space reconfiguration;
exports the time-histories figure (a) of signal after feedback; Power spectrum chart (b); Phasor (c), calculating Lyapunov index obtain the to count figure (d) of i and Ly.External high frequency driving source amplitude is 10, and each dynamics state when frequency is 50kHz is as shown in Figure 7;
The difference of present embodiment and embodiment 3 is that external high frequency driving source amplitude is 1, and frequency is 50kHz, and each dynamics state is as shown in Figure 8.
The difference of present embodiment and embodiment 3 is that external high frequency driving source amplitude is 0.01, and frequency is 50kHz, and each dynamics state is as shown in Figure 9.
Comparison through embodiment 3,4 and 5, the maximum Max Ly=0.0084 of Fig. 7, the Max Ly=0.0102 of Fig. 8, the Max Ly=0.0322 of Fig. 9 (linear fit length is 50).From Fig. 7,8 and Fig. 9 see; After adding high-frequency sound source, see that signal all has significantly by the phenomenon of high-frequency signal modulation from time-histories figure A; And the degree that power spectrum is moved obviously increases; Phasor appears disorderly and unsystematic, and therefore the maximum Lyapunov exponent that calculates we can say that greater than 0 system's output presents chaos state under the effect of nonlinear block and external excitation high-frequency signal.Fig. 7,8 with Fig. 9 except the amplitude of high-frequency sound source is different; Other simulation parameter is all identical, and the power spectrum from each figure is seen, when the amplitude of external excitation is big among Fig. 7; The low-and high-frequency signal is after the gamma controller feedback; The low frequency signal energy is elevated, and along with the reducing of high frequency sound wave amplitude, the low frequency signal energy reduces.In view of this under the effect of high frequency external excitation feedback control system, it is a lot of not need big amplitude high-frequency signal that the low frequency signal energy is reduced.
Simulation result shows: a: during no external interference, signal output spectrum composition after FEEDBACK CONTROL increases, but sees from time-histories figure, and signal still is the cycle or quasi-periodic, and the Lyapunov index is less than zero.B: when the external interference input system was arranged, two signal interactions were seen from time-domain diagram, intermodulated, spectrum component increases; Signal output spectrum composition after FEEDBACK CONTROL is quite complicated; See that from phasor the output signal is disorderly and unsystematic, the Lyapunov index is zero greatly, is illustrated in to disturb under the effect of sound wave accent; System's output presents chaos state; Video stretching, and the magnitudes of acoustic waves of high frequency external disturbance is more little, and the spectrum value that the low frequency signal of behind feedback controller, exporting is lowered is big more.Explanation thus: NLS is the necessary condition of input spectrum broadening, and the nonlinear feedback control system under the outside high frequency components by a small margin is the effective realization approach that occurs chaos, signal energy reduction behind the sound wave via controller.
Utilize the nonlinear feedback control system and the method for low frequency broadening of the present invention, utilize nonlinear Control module 2, feedback control module 4 and external excitation injection module 5, and the chaotic dynamics judging means.Realize the output of input signal multiple spectra through the FEEDBACK CONTROL of system, thereby change the spectrum structure that submarine is radiated sound wave in the aqueous medium, reach the purpose that reduces underwater acoustic wave line spectrum composition.Through the sound wave nonlinear interaction all-bottom sound energy is reduced.The present invention is to containing the characteristics of non-linear component in the underwater moving target-radiated noise; Theory of chaotic dynamics is applied in the theoretical analysis of nonlinear Control; Through in the aqueous medium system, making up the closed-loop control system of sound wave nonlinear interaction; Convert total sound field of radiated sound field, object construction noise field and the compensate for emission field of the generation of moving target eddy current in the aqueous medium into irregular sound field through the nonlinear interaction between the sound wave; Be the chaos sound field, and then can make discrete line spectrum be converted into continuous wide spectrum, realize noise reduction.
Certainly; The present invention also can have other various embodiments; Under the situation that does not deviate from spirit of the present invention and essence thereof; Those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (9)
1. the nonlinear Feedback Control device of a low frequency broadening comprises receiver module, nonlinear Control module, with reference to output module and feedback control module; It is characterized in that: the receiver module receiving inputted signal, and said input signal is passed to the nonlinear Control module; The nonlinear Control module; Signal to the receiver module input carries out non-linear modulation; And the signal after will modulating is passed to reference to output module; The nonlinear Control module combines the feedback signal of feedback control module output to carry out non-linear modulation, and the signal after will modulating is passed to reference to output module; With reference to output module, signal and reference signal after the modulation is poor, the requirement that whether meets the expectation of the signal after judgement is modulated; If satisfy; Signal after then will modulating is as the output of output signal, if do not satisfy, the signal after then will modulating is passed to feedback control module.
2. the nonlinear Feedback Control device of low frequency broadening according to claim 1 is characterized in that: also comprise the external excitation injection module, said excitation injection module is injected into external excitation in the control system.
3. the nonlinear Feedback Control device of low frequency broadening according to claim 1 and 2; It is characterized in that: also comprise the characteristic judge module; Said characteristic judge module judges whether the output signal is in the chaotic motion state; If being in the chaotic motion state then exports, then system output signal is not passed to feedback control module if do not satisfy.
4. the nonlinear Feedback Control device of low frequency broadening according to claim 3 is characterized in that said receiver module, receives the single-frequency input signal.
5. the nonlinear Feedback Control method of a low frequency broadening is characterized in that:
Step (1) receiving inputted signal;
Step (2) is carried out non-linear modulation to the signal that receives, and the signal after the output modulation;
Signal and reference signal after step (3) will be modulated are poor, judge the requirement that whether meets the expectation of signal after the modulation, if satisfy, the signal after then will modulate is as the output of output signal, flow process end; If do not satisfy, then go to step (4);
The modulation signal that step (4) requires not meeting the expectation carries out close-loop feedback and handles the acquisition feedback signal, returns execution in step (2).
6. the nonlinear Feedback Control method of low frequency broadening according to claim 5 is characterized in that: between step (2) and step (3), inject external excitation, and with the mixed signal of external excitation and modulation signal as new modulation signal.
7. according to the nonlinear Feedback Control method of claim 5 or 6 described low frequency broadenings, it is characterized in that: whether the signal after the said judgement modulation meets the expectation and require is to judge whether the output signal is in the chaotic motion state.
8. the nonlinear Feedback Control method of low frequency broadening according to claim 7 is characterized in that: the sampled signal of said reception is the single-frequency sampled signal.
9. the nonlinear Feedback Control method of low frequency broadening according to claim 8 is characterized in that: said signal to reception carries out non-linear modulation for producing the high-order harmonic wave signal that wave amplitude is modulated.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102693342A (en) * | 2012-05-24 | 2012-09-26 | 哈尔滨工程大学 | Parameter selecting method for restraining sound wave energy in strong nonlinear medium |
| CN105388756A (en) * | 2014-08-27 | 2016-03-09 | 施耐德电气建筑有限公司 | Systems and methods for controlling energy input into a building |
| WO2017211966A1 (en) * | 2016-06-10 | 2017-12-14 | Abb Schweiz Ag | A robust automatic method to identify physical parameters of a mechanical load with integrated reliability indication |
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2011
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102693342A (en) * | 2012-05-24 | 2012-09-26 | 哈尔滨工程大学 | Parameter selecting method for restraining sound wave energy in strong nonlinear medium |
| CN105388756A (en) * | 2014-08-27 | 2016-03-09 | 施耐德电气建筑有限公司 | Systems and methods for controlling energy input into a building |
| CN105388756B (en) * | 2014-08-27 | 2018-07-06 | 施耐德电气建筑有限公司 | For controlling the system and method for being input to the energy in building |
| WO2017211966A1 (en) * | 2016-06-10 | 2017-12-14 | Abb Schweiz Ag | A robust automatic method to identify physical parameters of a mechanical load with integrated reliability indication |
| CN109564409A (en) * | 2016-06-10 | 2019-04-02 | Abb瑞士股份有限公司 | The steady automated process for indicating to identify the physical parameter of mechanical load using integrated reliability |
| US10969756B2 (en) | 2016-06-10 | 2021-04-06 | Abb Schweiz Ag | Robust automatic method to identify physical parameters of a mechanical load with integrated reliability indication |
| CN109564409B (en) * | 2016-06-10 | 2022-08-16 | Abb瑞士股份有限公司 | Robust automatic method for identifying physical parameters of mechanical loads with integrated reliability indication |
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Application publication date: 20120328 |