插入式永磁低速同步电机非奇异终端滑模观测器设计

提出一种以d-q同步旋转坐标系下, 电流为观测对象的插入式永磁同步电机的非奇异高阶终端滑模观测器, 用来获得高性能矢量控制系统所必需的电机转子位置及速度信息. 采用非奇异终端滑模控制, 提高了观测器的动态响应速度及鲁棒性, 利用高阶滑模控制技术的特性, 有效地抑制了传统滑模控制的抖振现象. 同时给出了转速环及电流环调节器的参数设计方法, 转速环调节器采用积分反馈算法, 电流环调节器使用前馈解耦内模控制技术 ,参数在线调整简单. 将该算法应用到2 MW永磁同步低速电机无传感器控制系统中, 实验结果表明, 该方法能够准确计算出电机的位置和速度, 使系统具有良好的稳态精度和动态性能.     

电力系统混沌振荡的等效快速终端模糊滑模控制

电力系统混沌振荡被认为是大型互联电力系统停电事故的主要原因, 本文通过相图、 李雅普诺夫指数图和时域波形图分析了二阶电力系统混沌振荡的动力学行为, 并提出了等效快速终端模糊滑模控制来抑制电力系统混沌振荡, 使其恢复到同步运行状态. 仿真结果表明, 所提出的控制方案不仅具有较快的收敛速度, 而且能够柔化控制信号, 减少控制能量, 并且能有效地降低抖振. 关键词： 电力系统混沌振荡 等效滑模控制 模糊滑模控制 快速终端滑模控制     

车辆特性与ABS控制算法的适应性研究

针对车辆防抱死制动系统(ABS)控制算法的选择及适用问题,提出控制算法的选择应与车辆结构及实际性能要求相结合的方法,可以充分发挥不同ABS控制算法的优越性。使用Matlab/Simulink仿真软件建立车辆单轮制动模型,针对不同的初始制动车速和质心位置向后移动两种情况,分别采用变结构滑模控制和PID控制进行了制动过程的模拟与研究。仿真结果表明,当车辆结构及制动条件发生变化时,两种控制方式都能很好的完成制动,且各有优点,可以满足不同制动性能的需求。     

运输机重装空投二阶终端滑模控制方法研究

针对重装空投过程中,货物的持续移动及瞬间出舱影响空投任务完成性、威胁飞行安全等问题,提出了一种二阶终端滑模纵向飞行控制方法;该方法利用非线性多输入多输出反馈线性化完成系统解耦线性化,在此基础上采用二阶终端滑模变结构控制设计系统内环速度与俯仰姿态跟踪控制器,保证了系统鲁棒性,结合外环PID高度保持控制器完成了整个飞行控制系统的设计;数值仿真结果表明,该系统具有良好的响应特性,且对系统不确定性具有较强的鲁棒性。     

Hénon混沌系统的广义预测控制与同步快速算法

提出了一种带有终端滑模等式约束的Hénon混沌系统的广义预测控制快速算法.该方法将广义预测控制与离散滑模控制结合起来运用到Hénon混沌系统中，并采用柔化输入信号的方法，避免了广义预测控制算法中的高维矩阵求逆.占用内存小，计算速度快，并且具有较强的跟踪给定信号和抑制系统参数摄动和随机噪声的能力.仿真结果验证了该方法的有效性和快速性. 关键词： 广义预测控制 离散滑模控制 Hénon混沌系统 混沌同步     

参数不定的旋转圆盘在有界扰动下混沌振动的滑模变结构控制

为了消除具有不确定参数的旋转圆盘横向混沌振动,克服其对整个系统及工作状况的不利影响,假设作用在旋转圆盘上的集中力不确定且有界,并鉴于干扰的普遍存在性,对有界扰动下的旋转圆盘横向振动的四维非线性方程进行了复杂动力学特征分析,包括相轨迹图、Lyapunov指数和庞加莱映射图,这些特征加深了对其的认识,同时也证明该四维动力系统含有混沌吸引子.为了保证系统控制的鲁棒性,利用滑模变结构法,将旋转圆盘从混沌轨道先后控制到任意固定点和周期轨道,并用MATLAB模拟验证其有效性.结果证明,用滑膜变结构法能够使系统严格地跟 关键词： 旋转圆盘 混沌 滑模变结构控制 有界扰动     

超导磁储能变流器的超螺旋滑模控制策略研究

针对超导磁储能(Superconducting Magnetic Energy Storage,SMES)变流器采用传统滑模控制方法时存在较大的抖振问题,研究了一种超螺旋滑模控制策略用于改善这一现状。根据SMES变流器拓扑结构进行建模分析,然后选取d、q轴的电流误差值作为积分滑模面,设计了超螺旋滑模控制器。该控制器包含了等效控制和切换控制两部分,其中采用超螺旋控制率的切换控制仅在趋近阶段起作用,使跟踪误差能够在有限时间内收敛为零;当系统状态到达准滑模态时采用等效控制,有效地削弱了抖振幅度。MATLAB/Simulink仿真结果表明,所提出的控制策略较PI控制以及传统滑模控制有着更小的抖振和更高的动态响应性能。     

水下机器人抗波浪扰动动力定位研究

针对水下机器人近水面运动受到波浪干扰而产生的不确定性问题,结合所研制的新型海洋工程模态切换机器人MC-ROV,文章基于CFD法建立动力学模型,进行6DOF动力定位分析。根据定位误差设计力和力矩分配策略,采用非奇异终端滑膜控制(NTSM)对推力予以补偿,以减小由波浪等随机带来的影响,并采用无味卡尔曼(UKF)实时估计水下机器人的状态。仿真结果表明,该方法具有良好的动力定位效果,并且在受扰动后可以迅速调整动力分配策略,减小其带来的负面影响。     

基于模糊滑模的有限时间混沌同步实现

提出了混沌同步有限时间实现问题.应用全程滑模控制技术，选择指数型终端滑模趋近律来设计滑模控制器，以实现一类混沌系统的状态同步.该设计方案针对混沌系统的参数不确定性和外界扰动，引入模糊基函数网络，在线估计不确定性和外部扰动的界值.同时该方案消除了滑模控制的到达阶段，状态始终保持在滑模面上，并能在有限时间内趋近于原点.最后以Duffing系统为例研究验证同步策略的可行性和有效性.     

H non混沌系统的预测控制与同步

用带有终端滑模等式约束的模型预测控制方法 ,对H non映象和Logistic映象的追踪控制和同步进行研究 .由于滑动模态的引入 ,提高了受控系统抑制参数摄动和随机扰动的能力 ,改善了控制系统的鲁棒性 ,实现了系统对参考信号的追踪控制 .数值仿真表明了该方法的有效性 .     

Nonsingular terminal sliding mode approach applied to synchronize chaotic systems with unknown parameters and nonlinear inputs

This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchronization of two different chaotic systems with fully unknown parameters and nonlinear inputs.We propose a novel nonsingular terminal sliding surface and prove its finite-time convergence to zero.We assume that both the master’s and the slave’s system parameters are unknown in advance.Proper adaptation laws are derived to tackle the unknown parameters.An adaptive sliding mode control law is designed to ensure the existence of the sliding mode in finite time.We prove that both reaching and sliding mode phases are stable in finite time.An estimation of convergence time is given.Two illustrative examples show the effectiveness and usefulness of the proposed technique.It is worthwhile noticing that the introduced nonsingular terminal sliding mode can be applied to a wide variety of nonlinear control problems.     

Scheduling of high-speed rail traffic based on discrete-time movement model

In this paper, a new simulation approach for solving the mixed train scheduling problem on the high-speed double-track rail line is presented. Based on the discrete-time movement model, we propose control strategies for mixed train movement with different speeds on a high-speed double-track rail line, including braking strategy, priority rule, travelling strategy, and departing rule. A new detailed algorithm is also presented based on the proposed control strategies for mixed train movement. Moreover, we analyze the dynamic properties of rail traffic flow on a high-speed rail line. Using our proposed method, we can effectively simulate the mixed train schedule on a rail line. The numerical results demonstrate that an appropriate decrease of the departure interval can enhance the capacity, and a suitable increase of the distance between two adjacent stations can enhance the average speed. Meanwhile, the capacity and the average speed will be increased by appropriately enhancing the ratio of faster train number to slower train number from 1.     

The boundary value problem in fermion systems

The half-space boundary value problem for fermions near zero temperature in plane geometry is solved for diffuse boundary scattering by numerically constructing the spatial propagator in terms of the eigenfunctions of a generalized eigenvalue problem for the linearized Uehling-Uhlenbeck collision integral. The slip length is calculated for several interparticle scattering laws and compared with a relaxation time ansatz result and the experimental values for normal fluid³He. It is shown that the nonsingular part of the collision operator is relatively compact to the singular part.     

非奇性Schwarzschild黑洞的零测地线和稳定性

对非奇性Schwarzschild黑洞的零测地线和稳定性进一步进行了研究。结果表明,零测地线和类时测地线一样是完备的,稳定的非奇性黑洞可以存在。 关键词：     

On rail vehicle vibrations induced by track unevenness: Analysis of the excitation mechanism

This paper deals with the analysis of the vibrations induced on the carbody of a rail vehicle by track unevenness. Attention is focused on the excitation mechanism of the carbody vibration modes, which has a strong influence on the vehicle's comfort. At first the problem is investigated through a simple three-degree-of-freedom analytical model, and the phenomenon of the critical velocities is analysed, pointing out how both rigid and flexible carbody vibration modes can be excited to a different extent, depending on the vehicle speed, and how they combine to produce the final carbody accelerations. Then the dynamic response of a real vehicle running on irregular track is simulated through a more detailed multibody model, suitable for quantitatively reproducing its dynamic behaviour in the 0-25 Hz frequency range. The 68 degrees-of-freedom of this model correspond to 35 rigid vibration modes of the vehicle components (carbody, bogie frames and wheelsets), plus the 33 carbody flexible modes which fall into the frequency-range of interest. In the last part of the paper, the obtained numerical results are compared to the experimental data collected during on-line tests, showing how the adopted numerical model accurately simulates the dynamic behaviour of the real vehicle at the different velocities, with very good agreement. The results presented in the paper demonstrate that the excitation of the flexible modes may have a decisive effect on carbody accelerations and that introducing carbody flexibility in the vehicle model turns out to be unavoidable for properly predicting a rail vehicle comfort performance.     

A dynamic model for an asymmetrical vehicle/track system

A finite element model to simulate an asymmetrical vehicle/track dynamic system is proposed in this paper. This model consists of a 10-degree-of-freedom (d.o.f.) vehicle model, a track model with two rails, and an adaptive wheel/rail contact model. The surface defects of wheels and rails can be simulated with their geometry and an endless track model is adopted in the model. All time histories of forces, displacements, velocities and accelerations of all components of the vehicle and track can be obtained simultaneously. By using this model, one can study the effect that wheel/rail interaction from one side of the model has on the other. This can be done for many asymmetrical cases that are common in railway practice such as a wheel flat, wheel shelling, out-of-round wheel, fatigued rail, corrugated rail, head-crushed rail, rail joints, wheel/rail roughness, etc. Only two solutions are reported in this paper: steady state interaction and a wheel flat.     

多无人机协同的稳定控制机理研究

多无人机协同系统的过度扩散会引起协同失效, 对系统进行规模控制是解决该问题的一种潜在方法. 首先抽象出多无人机协同搜索系统的宏观运动特征, 进而建立平台的运动方程, 然后通过构造合适的李雅普诺夫函数, 获得该系统的稳定控制规律及其控制参数. 仿真结果表明: 1)本文所提的稳定控制机制不仅能够使多无人机系统实现有效的协同, 还能确保系统的稳定性; 2)在系统稳定时, 通过调整相关控制参数可以有效地控制系统规模. 关键词： 无人机 协同系统 稳定控制     

Comparison of slip angle and non-holonomic constraint vehicle models

The motion of a simple, two degree of freedom vehicle is analyzed by using both a standard slip angle formulation and a non-holonomic constraint formulation. The two models are compared. It is shown that the model employing the non-holonomic constraint affords greater ease in problem set up and solution while introducing an acceptable error with respect to the slip angle solution.     

整体正规Schwarzschild黑洞的最大和完备的解析延拓

本文给出了整体正规Schwarzschild黑洞在Kruskal坐标变换中的最大和完备的解析延拓,讨论了零超曲面上的连接条件,比较了奇性和非奇性Schwarzschild黑洞的渐近时空结构。结果表明,可以存在非奇性的稳定的黑洞。 关键词：