Systems for self-organizing data collection and storage in a refining environment are disclosed. An example system may include a swarm of mobile data collectors structured to interpret a plurality of sensor inputs from sensors in the refining environment, wherein the plurality of sensor inputs is configured to sense at least one of: an operational mode, a fault mode, a maintenance mode, or a health status of a plurality of refining system components disposed in the refining environment, and wherein the plurality of refining system components is structured to contribute, in part, to refining of a product. The self-organizing system organizes a swarm of mobile data collectors to collect data from the system components, and at least one of a storage operation of the data, a data collection operation of the sensors, or a selection operation of the plurality of sensor inputs.

Methods and systems for sensor fusion in a production line environment are disclosed. An example system for data collection in an industrial production environment may include an industrial production system comprising a plurality of components, and a plurality of sensors each operatively coupled to at least one of the components; a sensor communication circuit to interpret a plurality of sensor data values in response to a sensed parameter group; and a data analysis circuit to detect an operating condition of the industrial production system based at least in part on a portion of the sensor data values; and a response circuit to modify a production related operating parameter of the industrial production system in response to the detected operating condition.

A steering controller includes processing circuitry configured to execute a first operation process that, when an angle command value is not input from outside of the processing circuitry, calculates a first torque command value corresponding to a steering-side operation amount and operating a drive circuit of an electric motor to adjust torque of the electric motor to the first torque command value. The processing circuitry is further configured to execute a second operation process that, when the angle command value is input from the outside of the processing circuitry, calculates a second torque command value corresponding to at least an angle-side operation amount of the steering-side operation amount and the angle-side operation amount and operating the drive circuit of the electric motor to adjust the torque of the electric motor to the second torque command value.

Technical solutions described herein include a method of controlling, in an electric power steering system, a steering angle according to a target steering angle by computing an initial value of an integral control term in a proportional integral derivative (PID) control loop used to calculate a control output signal, such as a motor torque command. The initial value of the integral control term is computed as a negative of the initial value of the feedforward term minus the initial value of the feedback term. The initial value of the integral control term corresponds to an initial value of a control output. Accordingly, the technical solutions described herein facilitate handling non-zero initial condition in Electric Power Steering angle control.

A steering control method including: applying a steering reaction force obtained by adding a first steering reaction force according to a steering angle of a steering wheel and a second steering reaction force according to a steering angular acceleration of the steering wheel to the steering wheel; determining a possibility that an emergency steering operation of the steering wheel by a driver will be performed; and when it is determined that there is the possibility of the emergency steering operation being performed, making the second steering reaction force small compared with when it is not determined that there is the possibility of the emergency steering operation being performed.

An electronic control device is provided with a plurality of calculation blocks that calculate floating-point data. The electronic control device includes a storage that stores calculation data items of the plurality of calculation blocks. The electronic control device calculates a command value of a control amount in a control target based on the calculation data items of the plurality of calculation blocks.

A motor control device includes a torque controller to operate based on a steering torque and to provide an input to a control target that is a motor, and a model following controller to generate a correction torque based on an output from the control target and to correct the input to the control target with the correction torque. A model following controller includes a high-pass filter with a first cutoff frequency and a low-pass filter with a second cutoff frequency larger than the first cutoff frequency. The model following controller is configured or programmed so that a transfer function of a control target is constrained to a nominal model in a frequency band in which a gain in a gain characteristic of Q(s).Math.HPF(s) is 1 where Q(s) is a transfer function of the low-pass filter and HPF(s) is a transfer function of the high-pass filter.

A motor control device includes a torque controller to operate based on a steering torque and to give an input to a control target that is a motor, and a model following controller to generate a first correction torque based on an output from the control target. A model following controller includes a high-pass filter to remove a low frequency component from a first correction torque, a friction compensation calculator that is coupled in parallel to the high-pass filter to apply friction compensation to the first correction torque to calculate an estimated value of a mechanical friction torque, and an adder to add the estimated value of the friction torque to the first correction torque from which the low frequency component is removed by the high-pass filter to generate a second correction torque and feed back the second correction torque to an input to the control target.

A motor control device includes a model following controller to generate a correction torque based on an output from a control target that is a motor, and correct an input to the control target with the correction torque. A model following controller includes a high-pass filter with a first cutoff frequency and a low-pass filter with a second cutoff frequency larger than the first cutoff frequency, and is configured or programmed so that a transfer function of a control target is constrained to a nominal model in a frequency band in which a gain in a gain characteristic of Q(s).Math.HPF(s) is 1 where Q(s) is a transfer function of the low-pass filter and HPF(s) is a transfer function of the high-pass filter.

A work vehicle includes: a body; a traveling apparatus capable of a turning travel; a speed detector capable of detecting a vehicle speed; a steering tool manually operable to steer the traveling apparatus; a notification apparatus; and a controller. The controller is configured or programmed to control the traveling apparatus in response to a manual operation, with use of a travel control module; determine, based on a relationship between the vehicle speed and a steering angle of the steering tool, whether at least one of the vehicle speed and the steering angle needs to be reduced, with use of a determination module; and control the notification apparatus to give a notification of the determination by the determination module, with use of a notification module.