Showing papers on "Decoupling (electronics) published in 1986"

An adaptive control scheme for mechanical manipulators. Compensation of nonlinearity and decoupling control

Abstract: This paper presents a new adaptive control scheme for mechanical manipulators. Making use of the fundamental properties of the manipulator equations, an adaptive algorithm is developed for compensating a nonlinear term in the dynamic equations and for decoupling the dynamic interaction among the joints. A computer simulation study is conducted to evaluate the performance of a manipulator control system composed of the manipulator, adaptive nonlinear compensator/decoupling controller and state feedback controller with integral action. Simulation results show that the manipulator control system with adaptive controller is insensitive to variations of manipulator configurations and payload.

A complete characterization of decoupling control laws for a general class of nonlinear systems

Abstract: In the past decade, conditions for feedback decoupling of nonlinear systems have been studied extensively; the class of control laws which decouple has received relatively little attention. In this paper, a characterization of the whole class of nonlinear decoupling control laws for real analytic nonlinear systems is obtained. This result is important from both mathematical and engineering viewpoints. For instance, we present an example where former results do not allow stable decoupling, while our result does. The main result is proved and several examples which illustrate its generality are presented.

A unifying approach to the decoupling of linear multivariate systems

Abstract: A unifying approach to the decoupling problem (diagonal, triangular, block decoupling) is introduced. The key element is the interactor, a polynomial matrix of unique structure associated with the transfer matrix of the system. Necessary and sufficient conditions for block decoupling are derived and the stability questions are resolved using the block coupling zeros. The results obtained (for decoupling via state feedback, state feedback plus input dynamics and constant output feedback) are conceptually simple, unify and expand those existing, and easily lead to constructive decoupling algorithms.

A multivariable generalized self-tuning controller with decoupling design

Abstract: This note describes a multivariable generalized self-tuning controller with decoupling which combines the classical pole-zero placement strategy with the optimal strategy for self-tuning control. The controller uses techniques of updating weighting polynomial matrices on line and eliminating the tracking errors without use of an integrator, and decouples the multivariable system.

Process for the production of bipolar transistors and complementary MOS transistors on a common silicon substrate

Abstract: A process for the simultaneous production of bipolar transistors and CMOS transistors on a substrate using very large circuit integration (VLSI) semiconductor technology, modified by additional process steps in such a way that a decoupling of the two types of transistors is obtained with respect to the process. This is achieved by the use of a protective oxide above the active zones of the CMOS transistors during the production of the bipolar-specific base zones and by employing a gate electrode material in two layers, the second layer being used for the emitter and collector zone, resulting in a decoupling of phosphorus doping used for forming MOS gates, and arsenic doping used for polysilicon emitters. The use of the same resist mask for the gate structuring and the production of the emitter contact, and also for the production of the source/drain terminal zones, serves to keep the implanted phosphorus out of the emitter zone. The process is used to produce VLSI circuits containing high speed CMOS and bipolar transistors.

Ultrasonic decoupling sleeve.

Abstract: A decoupling sleeve (50) for inclusion in a fluid conduit of an ultrasonically-operated instrument (10), such as a surgical instrument, which is irrigated by irrigating fluid at the operative site. The decoupling sleeve (50) includes a tubular thin-walled body portion defining spaced openings (62), and a collar member (56) for retaining the decoupling sleeve (50) in a tip cap (26) for the instrument. The inclusion of the decoupling sleeve (50) in the irrigating fluid conduit (34) intermediate a portion of an ultrasonically-operated tool (18) and the interior of the tip cap (26) defining the fluid conduit empedes the transmission of ultrasonic energy through the fluid medium in the conduit, thus reducing objectionable cavitation and bubble formation at the operative site.

High voltage surge protection for electrical power line

Abstract: A surge protection device comprising an inductor and a limiting bridge stage (10) with two oppositely biased power diodes (15,16) each connected in series with a high-valued capacitor, features an inductor connected in a first stage including a spark-gap (6) to ensure decoupling by the inductor from the second limiting bridge stage. A time-delay relay (10A) is disposed at the terminals of each power diode/capacitor combination to enable charging of the capacitors through a resistor (20) and auxiliary diodes (21, 22) connected between the relay and the power line on the one hand and between the power diode and the capacitor on the other hand, and the subsequent blocking of the bridge once the capacitors have been charged.

NMR local coil with improved decoupling

Abstract: A local coil for use in NMR imaging includes a pair of loop-gap resonators which are geometrically arranged to be intrinsically isolated. The local coil also includes passive decoupling means to completely decouple the local coil during excitation. In a first embodiment, the pair of loop-gap resonators are disposed axially and the passive decoupling means comprises a pair of back-to-back diodes across the loop-gap resonators. In a second embodiment, the pair of loop-gap resonators are disposed in a plane and the passive decoupling means comprises two single turn loops inside each loop-gap resonator with back-to-back diodes across an open segment of each single turn loop. During excitation, the diodes fire thereby lowering the Q and shifting the resonant frequency of the local coil. Using a combination of intrinsic isolation and passive decoupling, the local coil is completely decoupled from the excitation field. During periods of reception, the diodes revert to their nonconducting state and the intrinsic isolation continues to function providing some degree of noise immunity for the local coil.

Apparatus for measuring weak magnetic fields having a DC-SQUID array and gradiometer array

Abstract: Apparatus comprising a gradiometer array having a plurality of gradiometers, with which at least one SQUID array having a multiplicity of DC-SQUIDs is associated therewith forms, with the respective coupling coils, modulation coils and superconducting shielding rings serving for the magnetic decoupling, a thin-film structure. Furthermore, metallic coupling by ground planes is provided for at least part of the common leads. By the metallic coupling and magnetic decoupling of the parallel measuring channels, a simple embodiment with few contacts is obtained which makes possible parallel signal processing without crosstalk.

Decoupling of Secondary Systems for Seismic Analysis

Abstract: Interest in the decoupling of such secondary systems as floor-mounted equipment centers on two decoupled models, the ''cascading'' model and the ''lumped'' model. A set of decoupling criteria is derived which addresses both models. The solution is based on the two-degree-of-freedom system. Error in predicted frequency given by each decoupled model is presented. Similar results for response error are derived based on broad-band input to the supporting system. The broad-band input would be applicable to subsystems supported by primary structures. Recommendations are made for extension of the problem to arbitrary multiple-degree-of-freedom systems. The findings of this study will provide the analyst with the information necessary to choose the best decoupled model and will indicate whether decoupling should be attempted.

Adaptive decoupling of a class of multivariable dynamic systems using output feedback

Abstract: The dynamic behaviour of a multivariable industrial system is rarely, if ever, completely known, owing to parameter uncertainties, measurement inaccuracies and other fluctuations. In some cases, the dynamic behaviour may be slowly time-varying. The design of constant precompensators or low-order dynamic compensators through a one-shot procedure to achieve exact decoupling of such systems is neither realistic nor practical. In the paper an adaptive decoupling algorithm is proposed for controller design, by specifying the closed-loop behaviour of the system in the form of a reference model, so that the controller parameters can be estimated online as the process develops. The approach uses the deterministic autoregressive moving average (DARMA) model for system representation. The performance of the algorithm is assessed using both dynamic and steady-state decoupling criteria. Simulation results demonstrate the ability of the algorithm to adapt the controller parameters to changes in the system parameters. Therefore, the algorithm will be more attractive for decoupling either unknown or slowly time-varying systems than the one shot technique of designing constant precompensators or low-order dynamic compensators to achieve exact decoupling.

Detrebling versus Decoupling Antitrust Damages: Lessons from the Theory of Enforcement

Abstract: This continent compares two alternative systems of private antitrust enforcement. In one (referred to as the "damage multiplier approach"), the plaintiff receives what the defendant pays; in the other (the"decoupling approach"), this constraint is not imposed. Reducing treble damages to single damages("detrebling") would be an example of the first approach. Making the defendant pay treble damages while only giving the plaintiff single damages would be an example of the second approach. It is shown, using the principles of the the economic theory of enforcement, that the decoupling approach is preferable to the damage multiplier approach, and that the optimal system of decoupling could award the plaintiff more or less than what the defendant pays. Several additional issues are raised that need to be considered before decoupling can be recommended in practice.

Decoupling Control Synthesis for an Oblique-Wing Aircraft

Abstract: Interest in oblique-wing aircraft has surfaced periodically since the 1940's. This concept offers some substantial aerodynamic performance advantages but also has significant aerodynamic and inertial cross-coupling between the aircraft longitudinal and lateral-directional axes. This paper presents a technique for synthesizing a decoupling controller while providing the desired stability augmentation. The proposed synthesis procedure uses the concept of a real model-following control system. Feedforward gains are selected on the assumption that perfect model-following conditions are satisfied. The feedback gains are obtained by using eigensystem assignment, and the aircraft is stabilized by using partial state feedback. The effectiveness of the control laws developed in achieving the desired decoupling is illustrated by application to linearized equations of motion of an oblique-wing aircraft for a given flight condition.

Read-only memory-programming arrangement

Abstract: The read-only memory (EPROM, EEPROM) is permanently connected to a circuit including a microcomputer. A contact device for connecting the terminals of the read-only memory to a programming unit is provided. The circuit includes electrical means for decoupling the read-only memory from the microcomputer. By means of the contact device, the circuit is fed signals or voltages which bring the outputs of the microcomputer and of any registers which may be assigned to the read-only memory into the high-impedance state. Decoupling of the operating voltage of the circuit and of the programming voltage fed to the programming unit is performed with the aid of a resistor.

Decoupling and pole-zero assignment of singular systems with dynamic state feedback

Abstract: This paper refers to the problem of designing a linear state feedback dynamic controller for single-input, single-output decoupling of linear, time-invariant, singular systems. Sufficient conditions are established for the state-feedback decoupling problem to have a solution. In the case where the system satisfies these conditions, the class of controller matrices which decouple the system is given. Finally a method is presented for pole-zero placement in the decoupled singular system and a structure is described for the realization of the generalized transfer function matrices.

MDS decoder circuit with high voltage suppression of a decoupling transistor

Abstract: A dynamic random access memory device having common signal lines to transmit row address signals and column address signals, uses change-over switches to transfer those signals to a row decoder. Voltage suppression circuitry limits high voltage applied to decoupling transistors provided at decoder outputs. An MOS transistor used as a voltage suppression device between the decoupling transistor and a word line activating transistor transfers word line activating signals.

Device for protecting an electrical power line against high transient overvoltages

Abstract: A device for protecting a polyphase electric power line against high transient overvoltages comprises at least two stages in series, the first stage being provided with a spark-gap and a decoupling inductor and being followed by a stage having a bridge limiter including two oppositely-biased power diodes each connected in series with a high-value capacitor, a time-delay contactor being placed at the terminals of each power-diode/capacitor assembly so as to permit charging of the capacitors through a resistor and auxiliary diodes and then to permit cut-off of the bridge limiter. The protection device has only one pair of high-value capacitors each connected in common in series with one of the power diodes of each phase, an auxiliary diode being associated with each capacitor.

Stator support for electric machine

Abstract: In a threephase generator, it is suggested, for the purpose of supporting the stator plates, to provide the latter with a decoupling ring which is held securely at the stator plates on the one hand and, on the other hand, by means of clamping in a fit of the housing parts of the threephase generator on both sides. The decoupling ring can consist of two decoupling ring portions which embrace the stator plates and, at a distance from the latter, form a common clamping place for the end shields of the housing; or a radial ring can be formed, which is securely connected along the circumference alternately with the surface of the stator plates on the one hand, and, on the other hand, with certain clamping places in the housing by means of coupling segments. The half-shells of the decoupling ring and the radial ring can be formed directly by the laminations of the stator plates by means of a corresponding shaping.

C.A.D. for Nonlinear Systems Decoupling, Perturbations Rejection and Feedback Linearization with Applications to the Dynamic Control of a Robot Arm

Abstract: We present a C.A.D. package for nonlinear systems to compute and simulate feedback control laws that decouple, reject the perturbations or linearize, possibly simultaneously.

High voltage solid state switch

Abstract: A high voltage switching circuit is provided for electrically coupling, or decoupling, a high voltage power supply to, or from, a load selectively in accordance with a control signal. The circuit converts the control signal to a radiant energy signal. A plurality of switching modules serially is coupled between the load and the high voltage power supply, each one of such modules including drive circuitry for converting the radiant energy into drive signals for a switching transistor which drives such transistor between a conducting and non-conducting condition selectively in accordance with the drive signal. With such arrangement, each of the modules develops its own drive signal in response to the radiant energy signal so that each drive signal is self-referenced to the reference potential of the module.

A reaction-diffusion system modelling the spread of bacterial infections

Abstract: We investigate a system of reaction-diffusion equations which model the spread of a bacterial infection in a human population. A decoupling technique together with global bifurcation theory is used to study the steady-state solutions of the system. The asymptotic behaviour of solutions is discussed by using sub and subersolutions and the quasimonotonicity of the system.

A decoupling approach to the design of the two-degree-of-freedom tracking control systems

Abstract: A general new decoupling configuration of the two-degree-of-freedom tracking control system is presented. In this configuration the closed loop part, that satisfies the regulation requirements, and the prefilter part, that yields the desired command response, can be found independently one from the other. When implemented, each part of the controller does not interfere with the response characteristics that were shaped by the other part. The developed theory is shown to provide a new general conceptual approach for the design of linear tracking control systems. The theory is applied in a design of nominal and decoupled flight control modes of the Control Augmentation System (CAS) for fighter aircrafts.

Multiple laser arrangement

Abstract: In a multiple laser arrangement (1) with a plurality of phase-coupled laser diodes with lateral extremities (2, 3) of the multiple laser arrangement (1) including decoupling means for improving the output radiation of the laser arrangement. An absorbent material (4) or a synthetic material is provided at the lateral extremities (2, 3) for the purpose of reducing undesired transverse modes or ring modes.

Decoupling arrangement for continuous-wave radars

Abstract: A decoupling arrangement for frequency-modulated continuous-wave radar sets having a transmitting oscillator, from which a defined portion of the power is supplied, via a coupler, to a receiving mixer, and having a common transmitting/receiving antenna. The transmission path and the receiving path supply the common antenna via two mutually independent supply systems.

Position-speed-acceleration controller design

Abstract: The letter shows the ability of the decoupling method to help the design of position-speed-acceleration controllers or hybrid force-position systems (PSA or F-PSA controllers) used in robotics.