Response analysis of fuzzy nonlinear dynamical systems

The transient and steady-state membership distribution functions (MDFs) of fuzzy response of a Duffing–Van der Pol oscillator with fuzzy uncertainty are studied by means of the fuzzy generalized cell mapping (FGCM) method. A rigorous mathematical foundation of the FGCM is established with a discrete representation of the fuzzy master equation for the possibility transition of continuous fuzzy processes. Fuzzy response is characterized by its topology in the state space and its possibility measure of MDFs. The evolutionary orientation of MDFs is in accordance with invariant manifolds toward invariant sets. In the evolutionary process of a steady-state fuzzy response with an increase of the intensity of fuzzy noise, a merging bifurcation is observed in a sudden change of MDFs from two sharp peaks of maximum possibility to one peak band around unstable manifolds.     

Fuzzy evaluation of tyre-surface interaction parameters

The paper discusses the problems in identifying parameters characterizing the interaction of a tyre with different ground surfaces. Corresponding methods of tyre-surface contact monitoring are proposed on the basis of the fuzzy sets theory. Cases of a wheel rolling on both a road and on deformable ground are considered with particular emphasis on the identification of the friction and rolling resistance parameters in relation to environmental properties and tyre loading modes. The theory developed is illustrated by examples of cascade fuzzy observers using the off-board and on-board information space. To verify the proposed theoretical propositions, the work also contains the corresponding results of the hardware- and software-in-the-loop simulation. These fuzzy computing procedures can be used in various control systems of cars, off-road vehicles, and agricultural machines as well as in applications of Intelligent Transportation Systems. This paper is an extended version of the work “Identification and Prediction of Tyre-Surface Interaction Parameters” presented at the 16th ISTVS Conference.     

FIXED POINT THEOREMS FOR FUZZY MAPPINGS IN PROBABILISTIC METRIC SPACES

ＦＩＸＥＤ　ＰＯＩＮＴ　ＴＨＥＯＲＥＭＳ　ＦＯＲ　ＦＵＺＺＹ　ＭＡＰＰＩＮＧＳ　ＩＮ　ＰＲＯＢＡＢＩＬＩＳＴＩＣ　ＭＥＴＲＩＣ　ＳＰＡＣＥＳＺｈａｎｇＳｈｉｓｈｅｎｇ（张石生）；ＺｈａｎｇＹｉｎｇ（张颖）；ＹｕａｎＪｉａｗｅｉ（袁家玮）（Ｒｅｃｅｉｖ...     

基于虚拟力概念的柔性臂空间机器人模糊退步自适应控制算法设计

讨论了漂浮基柔性臂空间机器人系统的动力学模拟、运动轨迹跟踪控制算法设计及柔性振动主动抑制。采用多体动力学建模方法并结合假设模态法,建立了漂浮基柔性臂空间机器人的系统动力学模型。基于该模型,针对系统惯性参数未知情况,提出了刚性运动基于模糊基函数网络自适应调节的退步控制算法,以完成柔性臂空间机器人载体姿态及机械臂各关节铰的协调运动。然后,为了主动抑制系统柔性振动,运用虚拟力的概念,构造了同时反映柔性模态和刚性运动轨迹的混合期望轨迹,通过改造原有的控制算法,提出了基于虚拟力概念的模糊退步自适应控制算法;这样不但保证了之前刚性运动控制方案对模型不确定的鲁棒性,而且能主动抑制柔性振动,从而提高了轨迹跟踪性能。理论分析及数值仿真算例均表明了控制方法的可行性。     

空间机器人双臂捕获卫星力学分析及镇定控制

随着航天技术的发展,空间机器人要求具有对非合作卫星的在轨捕获能力. 双臂空间机器人与单臂空间机器人相比在这方面显然更具有优势. 然而由于太空环境的复杂性,使得空间机器人双臂捕获非合作卫星操作过程的动力学与控制问题表现出下述特点:非完整动力学约束,动量、动量矩与能量传递变化,捕获前后结构开、闭环变拓扑,与闭环接触几何、运动学约束多者共存. 因此空间机器人双臂捕获卫星技术相关动力学与控制问题变得极其复杂. 为此,讨论了双臂空间机器人捕获自旋卫星过程的动力学演化模拟,以及捕获操作后其不稳定闭链混合体系统的镇定控制问题. 首先,利用拉格朗日第二类方程建立了捕获操作前双臂空间机器人的开环系统动力学模型,利用牛顿-欧拉法建立了目标卫星的系统动力学模型;在此基础上基于动量守恒定律、力的传递规律,经过积分与简化处理分析、求解了双臂空间机器人捕获目标卫星后受到的碰撞冲击效应,给出了合适的捕获操作策略. 根据闭链系统的闭环约束几何及运动学关系获得了闭合链约束方程,推导了捕获操作后闭链混合体系统的动力学方程. 最后基于该动力学方程针对捕获操作结束后失稳的闭链混合体系统,设计了镇定运动模糊H_∞ 控制方案. 提出的方案利用模糊逻辑环节克服参数不确定影响,由H_∞ 鲁棒控制项消除逼近误差来保证系统控制精度;通过最小权值范数法分配各臂关节力矩,以保证两臂协同操作. 李雅普诺夫稳定性理论证明了系统的全局稳定性. 最后通过数值仿真实验模拟、分析了碰撞冲击响应,并验证了上述镇定运动控制方案的有效性.      

Active control for seismic response reduction using modal-fuzzy approach

An active modal-fuzzy control method using hydraulic actuators is presented for seismic response reduction. In the proposed control system, a new fuzzy controller designed in the modal space produces the desired active control force. This type controller has all advantages of the fuzzy control algorithm and modal approach. Since it is very difficult to select input variables used in fuzzy controller among numerous state variables in the active fuzzy control system, the presented algorithm adopts the modal control algorithm to be able to consider information of all state variables in civil structures that are usually dominated by first few modes. In other words, all information of the whole structure can be considered in the control algorithm evaluated to reduce seismic responses and it can be efficient for civil structures especially. In addition, the presented algorithm is expected to magnify utility and performance caused by efficiency that the fuzzy algorithm can handle complex model more easily. An active modal-fuzzy control scheme is applied together with a Kalman filter and a low-pass filter to be applicable to real civil structures. A Kalman filter is considered to estimate modal states and a low-pass filter was used to eliminate spillover problem. The results of the numerical simulations for a wide amplitude range of loading conditions and for historic earthquake show that the proposed active modal-fuzzy control system can be beneficial in reducing seismic responses of civil structures.     

Design and Implementation of a Pointer System Controller

The development of a pointer system as used for space structures, is discussed. The pointer has to keep its signal on a stationary target. The pointer itself is mounted on a supporting system which is excited in a plane either parallel or normal to the pointer-target beam. A fuzzy logic control system has been adopted due to the geometric nonlinearities of the problem.     

基于模糊事件概率理论的模糊可靠性分析通用方法

讨论了从已知的模糊信息的隶属函数,确定模糊失效事件的隶属函数的方法,以便能利用模糊事件概率理论进行模糊可靠性分析,给出模糊可靠性分析通用而统一的方法;并给出了强度为几种常用模糊分布时,所确定的模糊失效事件的隶属函数的具体表达式,分析了模糊失效事件的隶属函数的曲线特性。由于获得的模糊失效事件的隶属函数的形式比较复杂,用模糊事件概率理论进行模糊可靠性分析时,不可能得到计算模糊失效事件概率的解析式,因此通过仿真所确定的模糊失效事件的隶属函数的数学期望的方法,估计模糊失效事件的发生概率。本文讨论的通过确定模糊事件的隶属函数,用模糊事件概率理论进行模糊可靠性分析的方法具有普遍意义。     

Theory of fuzzy random vibration with fuzzy parameters

In this paper, based on our previous papers [1–4], the general theory of fuzzy random vibration with fuzzy parameters is studied. In order to better describe the random excitation with fuzziness in mathematics, first, the random variable and random process with a fuzzy parameter are defined and their probability distributions and statistical moments are discussed. Secondly, by simulating the fuzzy random excitation as a random process with a fuzzy parameter, the fundamental method and numerical method are presented for analysing the fuzzy random response of linear or nonlinear oscillators subjected to this kind of excitation. Finally, the methods are applied to the fuzzy random vibration of aseismic structures and a concrete example is given.This paper is supported by the Natural Science Foundation of China.     

DYNAMIC CHARACTERISTIC ANALYSIS OF FUZZY- STOCHASTIC TRUSS STRUCTURES BASED ON FUZZY FACTOR METHOD AND RANDOM FACTOR METHOD

A new fuzzy stochastic finite element method based on the fuzzy factor method and random factor method is given and the analysis of structural dynamic characteristic for fuzzy stochastic truss structures is presented. Considering the fuzzy randomness of the structural physical parameters and geometric dimensions simultaneously, the structural stiffness and mass matrices are constructed based on the fuzzy factor method and random factor method; from the Rayleigh's quotient of structural vibration, the structural fuzzy random dynamic characteristic is obtained by means of the interval arithmetic; the fuzzy numeric characteristics of dynamic characteristic are then derived by using the random variable's moment function method and algebra synthesis method. Two examples are used to illustrate the validity and rationality of the method given. The advantage of this method is that the effect of the fuzzy randomness of one of the structural parameters on the fuzzy randomness of the dynamic characteristic can be reflected expediently and objectively.     

Investigation of the near-grazing behavior in hard-impact oscillators using model-based TS fuzzy approach

An impact oscillator is a non-smooth dynamical system with discontinuous state jumps whose dynamical behavior illustrates a variety of non-linear phenomena including a grazing bifurcation. This specific phenomenon is difficult to analyze because it coincides with an infinite stretching of the phase space in the neighborhood of the grazing orbit, resulting in the well-known problem of the square-root singularity of the Jacobian of the discrete-time map. A?novel Takagi?CSugeno fuzzy model-based approach is presented in this paper to model a hard impacting system as a non-smooth dynamical system including discontinuous jumps. Employing non-smooth Lyapunov theory, the structural stability of the system is analyzed to predict the onset of the destabilizing chaotic behavior. The proposed stability results, formulated as a Linear Matrix Inequality (LMI) problem, demonstrate how the new method can detect the loss of stability just before the grazing bifurcation.     

基于混合行为博弈的多目标仿生设计方法

将多个设计目标视为不同的博弈方,通过计算设计变量对目标函数的影响因子和模糊聚类, 将设计变量集合分割为各博弈方拥有的策略空间. 对蜥蜴种群的繁衍生存机理进行仿生,将 3种蜥蜴的行为方式分别定义为利己主义、集体主义和投机主义,并赋予相应的博弈方, 各博弈方根据所仿生蜥蜴的行为特点,建立自身博弈得益函数与目标函数之间的映射关系. 各博弈方分别以自身博弈得益函数为目标,在各自的策略空间中进行单目标优化,获得本博 弈方对其余博弈方的最佳对策,所有博弈方的最佳对策形成一轮博弈的策略组合,并根据收 敛判别,通过多轮博弈,获得最终的博弈解. 以白鹤滩拱坝体型的三目标优化设计为例,设 计结果显示坝体体积方量减少了16.412万方,或2.38%; 最大主拉应力降低 了0.036MPa, 或0.31%; 整体应变能下降了0.167GJ 或4.47% 体现了基 于混合行为博弈方式的多目标仿生设计方法的有效性.     

Control of transient flow in irrigation canals using Lyapunov fuzzy filter‐based Gaussian regulator

An optimal fuzzy filter was applied to solve the state estimation problem of the controlled irrigation canals. Using linearized finite‐difference model of the open‐channel flow, a canal operation problem was formulated as an optimal control problem and an algorithm for gate openings in the presence of unknown external disturbances was derived. A fuzzy filter was designed to estimate the state variables at the intermediate nodes based upon measured values of depth at the points in the canal. A Lyapunov function was utilized as a performance index to formulate the fuzzy interference rules of the optimal fuzzy filter. A linear quadratic Gaussian (LQG) optimal controller for a multi‐pool irrigation canal was considered as an example. The state estimation problem in the controller was simulated using two techniques: Kalman estimator and the proposed fuzzy filter. The performance of the fuzzy state estimator designed using the Lyapunov fuzzy technique was compared with the results obtained using the Kalman estimator technique. The obvious advantages of the fuzzy filter were the lower computational costs and ease of implementation. The results of this study demonstrated that proposed Lyapunov‐type fuzzy filter provides both good stability and simplicity in the control of irrigation canals more than a Kalman filter. Copyright © 2005 John Wiley & Sons, Ltd.     

Multiobjective fuzzy optimum design of antenna structures

On the basis of the recently proposed general fuzzy optimization [1–2], this paper investigates the multiobjective fuzzy optimum design of antenna structures, in which the weight objective, precision objective, lowest frequency objective and safety degree objective are included. This is a successful application of fuzzy optimization to large engineering structures.     

斜拉索振动的模糊半主动控制研究

考虑拉索垂度及抗弯刚度的影响,得出了索-阻尼器系统振动偏微分方程;用中心差分法将偏微分方程在空间内离散,导出了系统的面内振动常微分方程组;提出了使用MR阻尼器(Magnetorheological Damper)作为控制设备,模糊集为基础的半主动控制算法,并运用提出的算法对索-阻尼器系统进行了振动控制分析。本文方法的优势在于算法自身的鲁棒性、处理非线性问题的能力强和不需要结构的精确数学模型,算法需要的输入变量少,可以解决实际工程中斜拉索的振动响应信息难以测量的困难。模糊算法的输出直接控制MR阻尼器的输入电压。与LQR-Clipped算法不同,MR阻尼器的输入电压可以是零与最大值之间的任意值。本文以实际斜拉桥拉索为例,分析了拉索的振动控制效果,结果表明本文提出的模糊半主动控制算法,使MR阻尼器的功能得到了更好的发挥,比MR被动控制效果好,且可以减小控制力。     

构件适用功能要求的模糊性及可靠度分析方法

设计标准中对构件适用功能的要求常具有一定的模糊性,结构可靠度分析中应考虑这种不确定性的影响.目前虽然利用模糊集合及其隶属函数,建立了功能要求模糊时构件可靠度的分析方法,但它们在作用概率组合、功能函数表达、模糊概率计算等方面仍存在一定的不足.为此,首先在作用概率组合中引入更为合理的随机过程组合方法,并采用便于反映设计中各...     

Fuzzy speed control with an acceleration observer for a permanent magnet synchronous motor

Based on the Takagi–Sugeno fuzzy approach we design a fuzzy speed regulator as well as a fuzzy acceleration observer for a permanent magnet synchronous motor (PMSM). The proposed observer-based fuzzy speed regulator is independent of the load torque value. We derive the sufficient conditions for the existence of the regulator and the observer in terms of linear matrix inequalities (LMIs), and also give LMI parameterizations of the gain matrices. Simulation and experimental results are given to verify that the proposed control method can be used to accurately control the speed of a PMSM under model parameter and load torque variations.     

空间机器人捕获卫星操作基于柔顺装置的无源模糊避撞柔顺控制

讨论了漂浮基空间机器人在轨捕获非合作卫星过程避免关节受冲击及过载破坏的避撞柔顺控制问题。在关节电机与机械臂之间配置了一种柔顺装置——旋转型串联弹性执行器(RSEA),其作用一是在捕获阶段,通过其内置弹簧的变形来缓冲捕获过程中被捕获卫星对空间机器人关节产生的冲击能量;二是在捕获完成后的镇定运动阶段,结合所设计的避撞柔顺策略来适时开关关节电机以保证关节冲击力矩受限在安全范围。首先,根据拉格朗日法及牛顿-欧拉法分别建立了含柔顺装置空间机器人与目标卫星系统的动力学方程;之后,结合整个系统动量守恒关系、系统运动几何及位置约束关系,建立了捕获操作后两者形成混合体系统的动力学方程。在此基础上,针对捕获操作后不稳定的混合体系统,提出了一种基于无源性理论的避撞柔顺模糊控制方案以实现其镇定控制。最后,通过仿真实验验证了所提避撞柔顺策略的有效性。     

西安地区活动断裂活动性的Fuzzy Grey模式评价

应用计算流体动力学方法对人体在循环呼吸模式下口喉模型内的气流运动特性进行数值模 拟,分析了循环呼吸模式下口喉模型内的气流组织形式以及气流运动对呼吸道壁面以及气溶 胶运动沉积的影响. 吸气阶段,在咽部外壁和声门下游气管上部外壁气流发生分离,形成分 离区. 呼气阶段,分别在咽部外壁和喉部外壁形成高速区. 循环呼吸模式下,咽部、喉部与 气管内的高轴向速度区和二次涡流运动均是在呼吸过程中间歇性的产生,形成的高剪应力区 也是间歇性的. 壁面受到的剪应力周期性地改变方向,引起壁面劳损和组织损伤的可能性增 大,同时在这些部位容易造成气溶胶的沉积.