静电陀螺测试转台电气部分方案设计

叙述了静电陀螺三环测试转台电气部分的方案设计要点。该电气部分包括静电陀螺启动与控制系统，转台控制系统，计算机三大部分，测角分系统采用粗精耦合式角位置传感器。双轴伺服分系统采用带有纯积分环节的一阶无差控制系统，三轴位置控制分系统采用一阶无差数字控制的方案，从而确保转台满足精度指标。     

结构振动的滑模变结构半主动控制

研究应用磁流变阻尼器(MRD)对结构振动半主动控制的算法和原理。研制并对磁流变阻尼器进行了阻尼特性实验，采用非线性滞回双粘性模型描述磁流变阻尼器的阻尼特性，模型结果与实验结果非常一致。采用滑模控制算法和趋近律方法设计了半主动控制器。利用滑模控制方法所建立的控制器，本文给出了地震激励下结构振动半主动控制算例。计算分析表明，半主动滑模控制具有控制效果明显、鲁棒性好等优点，是一种非常有发展前途的控制方法。     

SBLI control for wings and inlets

Flow control can be applied to shock wave/boundary layer interactions to achieve two different goals;the delay of shock-induced separation and/or the reduction ofstagnation pressure losses, which cause wave drag or inletinefficiencies. This paper introduces the principles and maintechniques for both approaches and assesses their relativesuitability for practical applications. While boundary layersuction is already in wide use for separation control, themost promising novel device is the micro-vortex generator,which can deliver similar benefits to traditional vortex generatorsat much reduced device drag. Shock control is notyet used on practical applications for a number of reasons,but recent research has focused on three-dimensional deviceswhich promise to deliver flow control with improved offdesignbehaviour. Furthermore, there are some indicationsthat a new generation of control devices may be able to combinethe benefits of shock and boundary layer control andreduce shock-induced stagnation pressure losses as well asdelay shock-induced separation.     

An interaction measure for control configuration selection for multivariable bilinear systems

Control configuration selection is the procedure of choosing the appropriate input and output pairs for the design of decoupled (SISO or block) controllers for multivariable systems. This step is an important prerequisite for a successful industrial control strategy. In industrial practice it is often the case that systems which need to be controlled are non-linear, and linear models are insufficient to describe the behavior of the processes. The focus of this paper is on the problem of control configuration selection for a class of non-linear systems which is known as bilinear systems. A gramian-based interaction measure for control configuration selection of MIMO bilinear processes is described. In general, most of the results on the control configuration selection, which have been proposed so far, can only support linear systems. The proposed gramian-based interaction measure not only supports bilinear processes but also can be used to propose a richer sparse or block diagonal controller structure. The method is illustrated further with the help of some illustrative examples.     

基于市场机制的TLCD半主动控制方案

基于市场机制控制是利用市场来模拟复杂的控制系统,用销售商和消费者来代替控制器和受控结构,从而将整个控制系统离散化,对结构的振动实施有效的控制。本文将基于市场机制的控制理论应用于TLCD半主动控制,提出了一种新的TLCD的半主动控制方案,即基于市场机制的TL CD半主动控制方案。首先建立TLCD-结构控制体系的运动方程,给出了半主动控制方案,用一个单自由度结构为例来阐述基于市场机制的TLCD半主动控制方案并对控制系统进行分析。然后用一个五层结构来验证这种方法的有效性。结果表明,基于市场机制的半主动TLCD开关控制不仅减振效果好,而且节约能量,简单易行,便于在实际工程中应用。     

Amplitude control approach for chaotic signals

A general approach based on the introduction of a control function for constructing amplitude-controllable chaotic systems with quadratic nonlinearities is discussed in this paper. We consider three control regimes where the control functions are applied to different coefficients of the quadratic terms in a dynamical system. The approach is illustrated using the Lorenz system as a typical example. It is proved that wherever control functions are introduced, the amplitude of the chaotic signals can be controlled without altering the Lyapunov exponent spectrum.     

A Grobman–Hartman Theorem for Control Systems

We consider the problem of locally linearizing a control system via topological transformations. According to [2,3], there is no naive generalization of the classical Grobman–Hartman theorem for ODEs to control systems: a generic control system, when viewed as a set of under-determined differential equations parametrized by the control, cannot be linearized using pointwise transformations on the state and the control values. However, if we allow the transformations to depend on the control at a functional level (open loop transformations), we are able to prove a version of the Grobman–Hartman theorem for control systems.     

弹性关节空间机械臂级联智能滑模控制

谐波减速器和力矩传感器等柔性元件因其独特性能而广泛应用在空间机器人关节系统中，以获取高减速比．但同时这些柔性元件的存在为空间机械臂系统引入了关节柔性，使得对其稳定控制变得更为复杂．基于此，文中讨论了基于自适应回归小波神经网络(Self-Recurrent Wavelet Neural Networks, SRWNN)的弹性关节空间机械臂系统动力学建模及级联智能滑模控制．首先，利用级联系统理论及第二类拉格朗日方法推导出了由外环刚性臂子系统和内环关节电机转子子系统组成的系统级联动力学模型；其次，为两个子系统分别设计了内、外环自适应滑模回归小波神经网络控制．外环控制算法以期望轨迹为控制量，而其控制信号作为抑制弹性关节振动的内环控制算法的控制量，整个控制系统由内、外环控制系统叠加而成；而后，基于Lyapunov稳定性理论证明了整个控制系统的稳定性并设计了自适应回归小波神经网络的各权值参数在线学习算法．所提的控制算法有效地消除了模型不确定的影响，避免了复杂的求导计算和角加速度可测的要求，同时，控制系统设计过程中未涉及惯常奇异摄动双时标分解操作，在理论上适合任意大小的关节柔性刚度．最后，系统对比仿真试验证明了所提的级联智能控制算法优于惯常基于奇异摄动法和基于柔性铰补偿奇异摄动法的控制方案．     

REDUCTION APPROACHES FOR VIBRATION CONTROL OF REPETITIVE STRUCTURES

The reduction approaches are presented for vibration control of symmetric, cyclic periodic and linking structures. The condensation of generalized coordinates, the locations of sensors and actuators, and the relation between system inputs and control forces are assumed to be set in a symmetric way so that the control system posses the same repetition as the structure considered. By employing proper transformations of condensed generalized coordinates and the system inputs, the vibration control of an entire system can be implemented by carrying out the control of a number of sub-structures, and thus the dimension of the control problem can be significantly reduced.     

A Modified Exact Linearization Control for Chaotic Oscillators

The control of chaotic oscillations is investigated in this paper. A control methodology, termed input-output linearization, is modified by locally linearizing the nonlinear control law in the small neighborhood of the control goal. Its suitability for controlling chaotic oscillators is analyzed. The forced Duffing oscillator is treated as a numerical example of controlling chaotic motion to a given fixed point and a given period-2 motion. The control signals and time needed to achieve the desired goals of the modified method are compared with those of the original method. The robustness of the control law is demonstrated.     

考虑时滞的主动悬架系统控制策略对比研究全文替换

本文以二自由度四分之一汽车悬架系统为研究对象，采用不同控制策略对考虑时滞的悬架系统控制特性进行研究，并对控制效果进行对比分析．首先，采用第二类拉氏方程建立考虑时滞的二自由度悬架控制系统的动力学模型；然后分别基于状态变换法和H_∞控制理论，设计系统的时滞反馈控制律．其中状态变换法主要通过系统状态变量的转换，将系统时滞控制方程转换成不显含时滞的动力学方程，然后采用传统的二次型最优控制方法对系统进行控制．H_∞控制主要通过使用Lyapunov-Krasovskii泛函和自由权矩阵法，设计考虑时滞的H_∞控制律；最后在Matlab/Simulink平台上对控制系统进行仿真分析，并在相同时滞下对两种控制结果进行对比．研究表明，两种控制策略在考虑时滞的情况下均可保证系统的稳定性，且H_∞控制相比于状态变换法有更好的控制效果．     

Control problems for wheeled robotic vehicles

The paper reviews results on control of wheeled robotic vehicles as controllable systems of rigid bodies with nonholonomic constraints. The basic problems that arise in designing control systems for such vehicles are discussed. To illustrate the efficiency of the control algorithms, model examples are considered     

Periodic self-triggered intermittent sampled-data stabilization for stochastic complex networks

In this paper, a new class of periodic self-triggered intermittent control with sampled-data (PSICS) is designed to tackle the stabilization issue for stochastic complex networks with time delays and Lévy noise (SCNTL). Therein, the self-triggered scheme is propounded with regard to intermittent control which is periodic judgment, and there exists a sampled-data control in every intervals of periodic judgment in the control time (work time) of intermittent control. It is worth pointing out that PSICS possesses more flexibility in terms of applications and simpler design of triggered conditions, compared with some previously reported control strategies such as the control combines the advantages of the periodic sampling and self-triggered control. Meanwhile, by means of stability analysis, sampled-data control, intermittent control and event-driven control theory, a useful criterion is established to guarantee the exponential stability in mean square of SCNTL. Notably, the stabilization issue of single-link robot arms with time delays and Lévy noise via PSICS is studied, as a practical application of SCNTL. Ultimately, numerical simulations are utilized for illustration.

     

倾斜转弯小直径炸弹鲁棒自动驾驶仪设计(英文)

针对倾斜转弯(BTT)控制模式决定了小直径炸弹是一个强耦合非线性不确定时变系统的特点,研究了其自动驾驶仪的鲁棒设计问题。将小直径炸弹俯仰、偏航、滚转通道之间的耦合视作不确定干扰,基于H∞控制理论,采用双回路方法设计了自动驾驶仪,即采用LQR设计方法作为内回路,以确保炸弹确定性模型部分的控制效果;H∞/混合灵敏度控制作为外回路,以抑制通道之间耦合干扰,增强系统的鲁棒性能,并分析了系统的动态跟踪性能和对全弹道上参数扰动的鲁棒性能。6DOF弹道仿真结果表明炸弹BTT控制性能和鲁棒性能良好,满足设计指标要求。其研究方法可为小直径炸弹BTT控制系统的工程应用提供参考。     

Terminal sliding mode control for aeroelastic systems

An aeroelastic system is a nonlinear system with two freedoms, i.e., the plunge displacement and the pitch angle, in a dynamic system model. A chaos effect or a limit cycle oscillation is presumably attributed to the nonlinear effect of the pitch angle mentioned above or the interaction between the aerodynamic behaviors. It is that a single trailing edge input in an aeroelastic system is employed as a way to suppress the limit cycle oscillation with an exclusive choice between the plunge displacement and the pitch angle for a control law design. Consequently, the remaining inevitably turns into an internal dynamics, whose stability is adversely affected by the flight speed and structure parameters, a problem improved by no means using a singe control input design. Toward this end, this work presents a controller design criterion with multiple input channels for both the leading and training edges to remove the uncertainty effect of internal dynamics, and render more room for the response design of the plunge displacement as well as the pitch angle. Mostly due to external disturbance and unknown uncertainty, there is a deviation between the intended and implemented system performances for a robust control design, a mainstream research issue in the modern control. As a consequence of a sliding mode control utilized here, the limit cycle oscillation suffered in an aeroelastic system is removed effectively by the use of a terminal sliding mode control, and the chattering phenomenon seen in the control signal is hence eliminated by his method. It is seen from simulations that the control system is stably assured to reach the target within a limited time frame with an addition of a saturation function to the control law.     

光纤陀螺惯性测量组合的数字温控系统设计

光纤陀螺惯性测量组合的测量精度会受到环境温度变化的影响。采用温度控制手段能够有效解决这一问题。提出了一种基于分级控制、分段控制和闭环控制思想的温控方案,并在此基础上设计了一种DSP＋FPGA架构的数字温度控制电路,实现了温控电路的整体结构和工作流程,说明了以FuzzyPID算法为核心的温度控制算法原理。试验结果表明,系统具有速度快、精度高等优点,为解决惯性测量组合启动后缩短惯性器件热平衡过程,迅速进入稳定工作状态提供了一种实用方法,也为类似的惯性测量组合温度控制系统提供了有益参考。     

Forced sliding mode control for chaotic systems synchronization

Synchronization of chaotic systems is considered to be a common engineering problem. However, the proposed laws of synchronization control do not always provide robustness toward the parametric perturbations. The purpose of this article is to show the use of synergy-cybernetic approach for the construction of robust law for Arneodo chaotic systems synchronization. As the main method of design of robust control, the method of design of control with forced sliding mode of the synergetic control theory is considered. To illustrate the effectiveness of the proposed law, in this article it is compared with the classical sliding mode control and adaptive backstepping. The distinctive features of suggested robust control law are the more good compensation of parametric perturbations (better performance indexes—the root-mean-square error (RMSE), average absolute value (AVG) of error) without designing perturbation observers, the ability to exclude the chattering effect, less energy consuming and a simpler analysis of the stability of a closed-loop system. The study of the proposed control law and the change of its parameters and the place of parametric perturbation’s application is carried out. It is possible to significantly reduce the synchronization error and RMSE, as well as AVG of error by reducing some parameters, but that leads to an increase in control signal amplitude. The place of application of parametric disturbances (slave or master system) has no effect on the RMSE and AVG of error. Offered approach will allow a new consideration for the design of robust control laws for chaotic systems, taking into account the ideas of directed self-organization and robust control. It can be used for synchronization other chaotic systems.

     

MR阻尼器的半主动控制研究

MR阻尼器能提供可以调节的阻尼力,适合用作减少结构地震响应的半主动控制器。本文对MR阻尼器的半主动控制进行研究,提出了状态跳跃算法,根据结构响应的大小实现MR阻尼器的状态切换,使结构响应得到有效的控制。这种控制策略简便,不需要在线计算,便于实施。由于速度响应直接影响MR阻尼器的阻尼力,建议用速度响应作为MR阻尼器进行状态切换的变量。文中给出了两个算例,进行了计算分析和比较,说明了状态跳跃控制算法的特点。     

Self-Optimizing Robot Vision for Online Quality Control

Experimental Techniques - An online quality control system based on robot vision designed as a quality control agent is presented. It is part of a multi-agent system conceived for control of a...     

Longitudinal vehicle dynamics control for improved vehicle safety

The aim is to investigate the improvements in vehicle safety that can be achieved by limiting the vehicle speed based on GPS path information. The control strategy is aimed at reducing vehicle speed before a potentially dangerous situation is reached, in contrast with widely used stability control systems that only react once loss of control by the driver is imminent. An MSC.ADAMS/View simulation model of an off-road test vehicle was developed and validated experimentally. A longitudinal speed control system was developed by generating a reference speed based on the path information. This reference speed was formulated by taking into account the vehicle’s limits due to lateral acceleration, combined lateral and longitudinal acceleration and the vehicle’s performance capabilities. The model was used to evaluate the performance of the control system on various tracks. The control system was implemented on the test vehicle and the performance was evaluated by conducting field tests. Results of the field tests indicated that the control system limited the acceleration vector of the vehicle’s centre of gravity to prescribed limits, as predicted by the simulations, thereby decreasing the possibility of accidents caused by rollover or loss of directional control due to entering curves at inappropriately high speeds.