多模态控制在步进电机位置伺服系统中的应用研究

针对步进电机伺服系统的响应速度慢、稳态误差低的问题,提出了一种多模态控制策略。根据误差大小调节两种控制策略对被控对象的作用权值,使最终的控制量连续输出,实现控制策略无扰动、平滑的切换。半实物仿真实验结果表明,该控制策略较好地综合了模糊控制和模糊PID控制的优势,系统反应速度快,震荡小,抗干扰能力强,同时一定程度上改善了低频振荡和高频失步的问题,具有实际应用价值。     

以太阳为光源测量大气污染物研究中精确跟踪太阳的方法

本文给出了通过计算太阳在天空中移动的轨迹和利用在实验中所采集到的太阳光谱主动精确跟踪太阳的方法,并且通过在以太阳为光源测量大气中污染物浓度的实验研究中的实际应用,证明了该方法的可靠性和实用性.     

Simultaneous Measurement of Individual ATPase and Mechanical Reactions by a Single Myosin Molecule at Work

Based on techniques for single molecule imaging and nanomanipulation by optical tweezers, we have developed a new technique that allows simultaneous measurement of individual ATPase and mechanical reactions from a single myosin molecule during force generation. We show how the ATPase reaction couples to the mechanical reaction directly at the single molecule level. The results show that the myosin head can produce force even after releasing the bound nucleotide, probably ADP, suggesting that the chemical energy driven by ATP hydrolysis can be hysteretically stored in the myosin molecule. This view does not support a widely accepted hypothesis in which the force generation is tightly coupled to ligand dissociation.This paper was originally presented as an invited paper at the seventh Meeting on Near Field Optics, which was held on July 1, 1998 at Nagoya University, Nagoya, organized by the Research Group on Near Field Optics of the Optical Society of Japan, an affiliate of the Japan Society of Applied Physics.     

Escape over Fluctuating Barrier for a Stochastic Model of Motor Proteins in the Case of Environmental Perturbation

We study the mean first passage time (MFPT) over the fluctuatingpotential barrier for a stochastic model of motor proteins in the case of environmental perturbation proposed by J.H. LI et al. [Phys. Rev. E57 (1998) 39171. The MFPT is derived for a particle over the fluctuating potential barrier. It is shown that (i) there is resonant activation for the MFPT as a function of the flipping rate of the fluctuating potential barrier; (ii) the additive and multiplicative noises can weaken the resonant activation, but the correlations between them enhance the resonant activation; (iii) the susceptibility of the resonant activation to the multiplicative noise is far larger than that to the additive noise.     

压电超声电机的非线性动力学研究进展

压电超声电机 (ultrasonic motor, USM) 是一个具有闭环控制的机电耦合强非线性系统,在大功率情况下,会表现出明显的非线性现象．其非线性因素主要表现为: (1) 定子与动子之间的接触非线性; (2) 定子材料非线性; (3) 温度、磨损等因素引起的缓变因素; (4) 驱动电网络中的非线性因素．由于诸多非线性因素的存在,使得 USM 系统具有跳跃、滞后、共振频率漂移、死区和饱和等非线性现象,同时,给 USM 的非线性动力学建模带来了困难．而 USM 闭环控制要求有一个合理的动力学模型,因此,研究 USM 的非线性动力学建模是 USM 研究中的一个重要内容．针对超声电机系统中普遍存在的非线性因素和非线性动力学建模方法进行了归纳,对已有文献中有关超声电机非线性动力学的研究进行了总结,指出了有关该方面的若干研究方向．      

Effect of Interventions for Improving Lumbar Motor Control on Low Back Pain in Sedentary Office Workers: A Randomized Controlled Trials

Objective: To clarify the effect of intervention with dynamic motor control exercise (DMCE) for the lumbar region on low back pain in sedentary office workers (SOWs). Methods: The participants comprised 32 SOWs with low back pain who were randomly categorized into two groups: the DMCE group and the normal trunk exercise (NTE) group. Both groups performed each exercise for three days per week for 8 weeks. The primary endpoints were evaluated for the lumbar and hip flexion angles during trunk forward bending, effect of low back pain on activities of daily living (using the Oswestry Disability Index), and intensity of low back pain (using the Visual Analog Scale) pre- and post-intervention. The extent of changes was calculated by subtracting the pre-intervention value from the post-intervention value and was compared between the two groups using an unpaired t-test. Results: The extent of changes in the lumbar flexion and hip flexion angles at 10° of trunk forward bending were significantly greater in the DMCE group than in the NTE group, and no significant differences were noted between the two groups at other angles of trunk forward bending. The extent of changes in the Oswestry Disability Index and the Visual Analog Scale scores were significantly greater in the DMCE group than in the NTE group. Conclusion: DMCE is effective in improving motor control in the lumbar region and hip joints, thereby ameliorating low back pain in SOWs.     

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.     

一种创新型感应电机调速系统的设计与实现

鉴于传统电力电子相关课程实验既无法直观了解电路内部构造,也不能有效提升实际动手能力的情况,设计了一种基于实验室环境的开放式创新型感应电机变频调速系统,改造了主电路和控制电路的电源,在适应实验室用电环境的同时,能实现主电路低压可测量和提升学生实验的安全性;并设计了采样电路和保护电路,能加深学生对电路的了解,增强实际动手能力.经实验验证,该系统能完成多段速运动控制、模拟量与数字量给定调速等相关实验.     

基于电磁力近似算法的驱动电机NVH快速仿真方法

电动汽车驱动电机产生的电磁噪声是汽车NVH关注的重点问题,对其进行全转速段多工况NVH仿真通常需要耗费大量时间和计算资源。该文通过有限单元分析揭示了电机气隙电磁力随转速变化的规律,并根据这一规律提出了基于外特性曲线的电磁力时间缩放及插值的近似算法。文章采用电磁力到结构网格的映射算法对结构振动有限元模型进行激励力加载,使用声场有限元方法计算电机的辐射噪声,最终实现了车用驱动电机的电磁振动及噪声的快速仿真。使用该方法对车用电机进行全转速段振动噪声仿真,可大大压缩多工况电磁场有限元分析所需的计算时间,提升仿真效率。     

一种自适应层进式Savitzky‐Golay光谱滤波算法及其应用

可调谐半导体激光吸收光谱技术（TDLAS）利用半导体激光器的可调谐和窄线宽特性,通过选择特定气体的单条吸收线,排除其余气体的干扰,可以实现高精度、高选择性的气体浓度测量,在气体浓度检测系统中具有广泛的应用前景。在不同的应用条件和环境下,需要解决相应的硬件和数据处理方面的技术问题。主要研究TDLAS技术机动车尾气CO组分浓度遥测系统中的光谱数据处理问题,该系统利用路面漫反射回波信号遥测行驶中的机动车尾气CO组分浓度。由于激光扫描光谱回波信号受到漫反射面情况变化、空气环境变化、尾气湍流影响等因素影响,探测器收集到的信号不仅较弱同时也夹杂着多种噪声, 即测量光路信噪比较差, 故提出一种自适应层进式Savitzky-Golay(S-G)平滑滤波算法,实现了对光谱进行滤波处理从而更加准确地反演CO浓度。S-G滤波算法因其原理简单、功能强大、只需设置两个参数（窗口大小、拟合阶数）等优点,已广泛应用于光谱处理。如何正确设置S-G算法参数使滤波效果在去噪不足和过度滤波之间找到平衡点,是该滤波算法应用的一大难题。设计的检测系统中,测量光路光谱信号为非平稳信号,噪声和有效信号幅度时变,最佳窗口大小和多项式阶数随信号动态而变化,且变化区间较大,使用固定参数的S-G滤波器难以达到最佳效果。提出的自适应层进式S-G平滑滤波算法,通过逐层将测量光路光谱信号经过S-G滤波后,与参考光路的光谱信号设置的参考段比对信号相关系数和信号一阶导相关系数的和,以自适应得到逐层最优参数。通过对信噪比从9.81～29.77的10组不同带噪光谱分析验证了该算法的有效性,自适应层进式S-G算法能较好地去除噪声并还原带噪信号所携带的待测气体浓度信息,与带噪光谱对比,吸收光谱峰值最大误差由25.152%降至5.917%,积分吸光度最大误差由18.1%降至3.9%。在实现的系统中,使用自适应层进式S-G算法对测量光路进行滤波处理,并对不同车型、不同排量、燃烧不同油品的机动车在怠速和缓速通过(5 km·h-1)系统时其排放的CO浓度进行实时在线监测。