Identification and cancellation of sums of narrow-band signals and disturbances

可预测的和周期性的信号出现在许多领域，从电力系统、金属加工、结构分析、音乐、机器人手术、通风机控制，到石化炼制行业的温度日变化。早在1973年，多伦多大学的Francis和Wonham就提出了内部模型原理，该原理指出，通过在回路中放置信号模型，可以实现精确匹配，从而消除反馈系统中的任何外生信号。然而，这需要精确了解周期和衰减，而不是信号的幅度或相位。研究者通过展示如何自适应识别频率，并展示如何扩展自适应内部模型主控制器作为信号识别算法，大大削弱了这一要求。研究者建议在以下方向扩展这项工作。i)许多可预测的信号不是周期性的，而是有固定的衰减率。飞机机翼或悬索桥的结构模式就是这样的例子。研究者确信衰减率或阻尼系数可以用类似于识别频率的方式来识别。ii)目前的方法需要精确了解信号中频率分量的数量。研究者认为这是可以实时学习或自适应识别的。iii)研究者计划从理论上检验该算法在有色噪声存在下的行为。iv)研究者计划将该算法应用于机器人手术中的震颤控制、机器人结构模式识别和音乐转录等领域。

Predictable and periodic signals occur in a vast array of fields ranging from power systems, metal processing, structural analysis, music, robotic surgery, ventilator control, and diurnal variations in temperatures in petrochemical refining business. As early as 1973, Francis and Wonham at U. of Toronto developed the internal model principle which states that exact matching, and hence cancellation of any exogenous signal in a feedback system is achieved by placing a model of the signal in the loop. However, this requires precise knowledge of the period and decay, but not amplitude or phase, of the signal. The investigator has substantially weakened this requirement by showing how to adaptively identify the frequency and shown how to extend an adaptive internal model principal controller as a signal identification algorithm. The investigator proposes to extend this work in the following directions. i) Many predictable signals are not periodic, but have fixed decay rates. Examples of this are the structural modes of an airplane wing or suspension bridge. The investigator is confident that this decay rate, or damping coefficient can be identified in a manner similar to identifying the frequency. ii) The present approach requires exact knowledge of the number of frequency components in the signal. The investigator believes that this can be learned or adaptively identified in real-time iii) The investigator plans to theoretical examine the behaviour of the algorithm in the presence of colored noise. iv)The investigator plans to apply the algorithm in the fields of tremor control in robotic surgery, identification of structural modes in robots, and music transcription.