基于转换控制定律的倒立摆控制器设计(英文)

本文研究倒立摆的控制器设计.运用控制转换定律和Lyapunov第二方法,有效解决了由钟的分离角和控制系统中小车的置换引起的强非线性和强耦合性难题.并证明该控制器对由摆的长度和质量以及小车的质量等参数决定的非线性摩擦系数的变化具有强鲁棒性.最后,仿真实验结果证明了该控制器设计的可行性.     

A Switching Law to Stabilize an Unstable Switched Linear System

Stabilization of switched systems fully composed of unstable modes is of theoretical and practical significance. In this paper, we obtain some sufficient algebraic conditions for stabilizing switched linear systems with all unstable subsystems based on the theory of spherical covering and crystal point groups. Under the proposed algebraic conditions switching laws are easy to be designed to stabilize the switched systems. Some simple examples are provided to illustrate our results.     

具有m条切换线的扰动微分系统的极限环

本文研究具有m条切换线的扰动微分系统的极限环个数问题.所用方法的关键点是通过计算一阶Melnikov函数M(h)的生成元得到M(h)的代数结构.本方法可以用来研究其它具有多条切换线的扰动微分系统的极限环分支问题.     

Empirical Modeling of a Hydraulic Actuator in a Vehicle Control System

The pressure information of a hydraulic actuator plays a key role in modern vehicle control and fault diagnosis. The difficulty in measuring pressure directly naturally motivates such an indirect approach as an observer whose accuracy depends heavily upon the availability of a high fidelity model of a hydraulic actuator. Notwithstanding its success in understanding the dynamics of the first principle model of a hydraulic actuator, it is not suited to controller/observer design due to its complexity. This paper presents an alternative to the first principle modeling methodology: an empirical approach to hydraulic actuator modeling. Linear and nonlinear system identification techniques are applied to obtain low-order models of a hydraulic actuator. Experimental results show how the empirical models reproduce the key features of a hydraulic actuator with sufficient accuracy.     

Modelling and Control of a Hydraulic Actuated Large Scale Manipulator

This contribution deals with the modelling and control of an elastic manipulator. The arm is actuated by a hydraulic ram due to the significant weight. The overall goal is to achieve good tracking of the tip, as well as to reject disturbances, which act on the flexible arm. The controller design is based on two approaches. A flatness‐based feedforward control takes care of the tracking behaviour, and a passivity‐based feedback law stabilizes the trajectories and suppresses the elastic vibrations. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)     

等效系统参数辨识法在飞行品质评价中的应用

分析了等效系统参数辨识方法,采用最小二乘法与频域极大似然法求解先进飞机的低阶等效系统.通过计算,对两种辨识方法的优缺点进行了对比研究,并通过动态仿真验证了方法的有效性.最后依据参数辨识结果,对某型飞机的飞行品质进行了评估.     

等式约束非线性控制系统的时程精细计算

针对等式约束非线性最优控制问题,通过一阶Taylor级数展开,得到线性化的动力学方程,进而在方程原变量的基础上,引入对偶向量(Lagrange乘子向量),将动力学方程从Lagrange体系引入到了Hamilton体系,在全状态下,从一个新的角度对等式约束非线性控制问题进行了描述,进一步基于时程精细积分理论,对其方程进行了有效的精细求解,并通过算例说明了文中方法的有效性。     

Problem of Stabilizing a Switching System Using a Piecewise-Linear Control System

The problem of stabilizing a mathematical hybrid system with switchings between the operating modes is solved. Each of these modes is associated with nonlinear differential equations that have control parameters. The switching instances (conditions) are control components. A stabilizer must be designed in positional form that allows the trajectory of the entire nonlinear system to reach the target set in the phase space for a (prescribed) finite time. To solve the problem, k]an apparatus of continuous piecewise-linear Lyapunov functions is used along with the corresponding piecewise-linear control functions. A theorem concerning the sufficient conditions for the stabilizability of a hybrid system in the considered class of controls is proved. An algorithm for constructing the Lyapunov functions and the stabilizer is given.

     

基于L-M方法的液压油源系统的可靠性分析

本文结合液压伺服系统的工程实际,运用了L-M方法,对恒压油源系统进行可靠性分析与建模,并给出了系统可靠度的定量评估结果,最后利用该模型对试验模拟数据进行分析,这对工程设计具有重要的指导作用。     

Energy Decay of Solutions to a Nondegenerate Wave Equation with a Fractional Boundary Control

In this paper, we study the energy decay rate for a one-dimensional nondegenerate wave equation under a fractional control applied at the boundary. We proved the polynomial decay result with an estimation of the decay rates. Our result is established using the frequency-domain method and Borichev-Tomilov theorem.     

一类非线性系统的时滞相关H∞控制

本文研究一类非线性控制系统的时滞相关日。控制问题．首先通过构造恰当的Lyapunov泛函,设计非线性H∞控制器,得到了该类非线性控制系统渐近稳定的一个充分条件．其次通过建立具有线性矩阵不等式（LMI）约束的凸优化问题,得到了该类非线性系统的时滞相关H∞性能的一个充分条件．MATLAB仿真验证了本文方法的可行性．     

地基-结构相互作用系统的时域参数识别

提出地基-结构相互作用系统的时域参数识别方法．在建立地基-结构相互作用的计算模式和运动方程的基础上,运用扩展的卡尔曼滤波技术,将相互作用系统中的参数作为增加的状态变量,建立了该系统的时域参数识别方法．并依据大型振动台条件下的层状地基-贮仓结构相互作用系统的模型试验数据,实施了地基-结构相互作用系统时域参数识别的全过程．计算结果表明,该方法产生良好的参数估计．     

Quenching Time Estimates for Semilinear Parabolic Equations Controlled by Two Absorption Sources in Control System

This paper deals with the quenching solution of the initial boundary value problem for aclass of semilinear reaction-diffusion equation controlled by two absorption sources in control system and estimate upper bound and lower bound of the quenching time. We point that the number of absorption sources influences the time of quenching phenomenon.The solution can solve some boundary value problem in control system.     

一类非二次微分食饵—捕食系统的脉冲控制

利用脉冲微分方程的比较原理对一个具有功能反应函数为x~(1/2)的食饵—捕食生物模型进行研究.考虑到模型存在的不确定性,研究了捕食者的捕食率不但受食饵的密度大小影响,同时还受捕食者本身的密度影响的生物系统.通过脉冲控制得到了使其渐近稳定到原先不稳定的正平衡点的充分条件,使食饵密度和捕食者密度保持在一个定数附近并给出了生态解释.     

可修复人机储备系统最优控制

讨论了一个运行部件和一个储备部件组成的可修复系统的最优控制问题.     

Modelling,simulation and identification of a mobile concrete pump

Due to the light-weight construction of modern large-scale manipulators used, e.g., in mobile concrete pumps, the elasticity of the construction elements plays a significant role in the dynamic behaviour of the system. Therefore, current research is concerned with control strategies for active damping of elastic vibrations and trajectory planning. For this purpose, tailored mathematical models are required. Apart from the mathematical modelling, the identification of the model parameters constitutes a challenging task. This is mainly due to the large number of parameters to be identified and, considering the large scale, due to the fact that the boom movement cannot be measured by means of standard sensors. This paper presents a systematic approach for the mathematical modelling and identification of hydraulically actuated large-scale manipulators. The feasibility of the overall approach is demonstrated by means of measurement results of a mobile concrete pump.     

Nonlinear Pressure Control of a Switched Hydraulic System

Hydraulic power transmission is often used in a variety of technical applications. Due to the nonlinear and often non smooth behaviour of some hydraulic components concerning their volume flow characteristics, the development of control strategies for hydraulic systems is challenging. Most developed control strategies base on linearized models, allowing only local operation in the environment of certain operating points. In this contribution, a nonlinear control strategy, based on the feedback linearization technique, allowing a global compensation of the nonlinearities [2], is developed for a minimal hydraulic circuit consisting of a pressure regulation valve, a vane pump and an ideal consumer. (© 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

具有阶段结构单种群系统的诱导控制

对具有阶段结构的单种群模型实施了三种诱导控制, 分别找到了相应的诱导控制区域.给出了诱导控制区域与使系统永久持续生存的最终有界区域的关系, 得到了使系统永久持续生存的诱导控制律.     

基于GA-PLS和AdaBoost的故障诊断方法

提出一种基于GA-PLS和AdaBoost的液压系统故障诊断方法。该方法用遗传算法与偏最小二乘法相结合(Genetic algorithm-partial least squares,GA-PLS)的算法对初始特征向量进行筛选,提取出与故障信息相关程度高的特征向量,把该特征向量作为输入,运用AdaBoost(Adaptive Boost)方法建立分类器,以识别液压系统的工作状态和故障类型。对实验数据分析的结果说明,该方法能准确地选择出特征向量,并有效地应用于液压系统的故障诊断。     

一类机器人系统的最优控制

本文通过把结构阻尼系数当作控制变量来讨论一类弹性机器人系统的最优控制问题 ,并利用Banach空间几何性质证明了最优控制元的存在唯一性