流动微泡群瞬态空化强度时域分布的比例反馈调节*

声波、血流环境及流动微泡群的稳定性都会影响焦区内瞬态空化强度(ICI)在超声作用时间内的分布,从而影响基于瞬态空化的治疗效率和生物安全性。本文在搭建仿体中流动微泡群瞬态空化发生和实时测量系统的基础上,设计了基于LabView FPGA的比例反馈控制器,在保持脉冲重复频率和脉冲长度不变的条件下,通过选择适当的比例系数,依据当前周期的声波激励下实时测量的ICI,实时调节下一周期声波信号的峰值负压,以调控ICI在时间上的分布。研究表明,在最优比例系数(1 × 107)下,和开环系统相比,ICI的稳定率提升~2.31 倍,ICI的时域下降速率减小~94.41%;在超声作用时间内总ICI也基本达到期望水平。这些结果表明该比例反馈控制器在调控脉冲超声激励下流动微泡群ICI时域分布的有效性,有望改进瞬态空化在相关疾病治疗中的效率和安全性。     

A Suitable Active Control for Suppression the Vibrations of a Cantilever Beam

In our consideration, a comparison between four different types of controllers for suppression the vibrations of the cantilever beam excited by an external force is carried out. Those four types are the linear velocity feedback control, the cubic velocity feedback control, the non-linear saturation controller (NSC) and the positive position feedback (PPF) controller. The suitable type is the PPF controller for suppression the vibrations of the cantilever beam. The approximate solution obtained up to the first approximation by using the multiple scale method. The PPF controller effectiveness is studied on the system. We used frequency-response equations to investigate the stability of a cantilever beam. We notified that, there is a good agreement between the analytical solution and the numerical solution.     

Indirect adaptive fuzzy observer and controller design based on interval type-2 T-S fuzzy model

This paper presents the design scheme of the indirect adaptive fuzzy observer and controller based on the interval type-2 (IT2) T-S fuzzy model. The nonlinear systems can be well approximated by IT2 T-S fuzzy model, in which the fuzzy rules’ antecedents are interval type-2 fuzzy sets and consequents are linear state equations. The proposed IT2 T-S fuzzy model is a combination of IT2 fuzzy system and T-S fuzzy model, and also inherits the benefits of type-2 fuzzy logic systems, which is able to directly handle uncertainties and can minimize the effects of uncertainties in rule-based fuzzy system. These characteristics can improve the accuracy of the system modeling and reduce the number of system rules. The proposed method using feedback control, adaptive laws, and on-line object parameters are adjusted to ensure observation error bounded. In addition, using Lyapunov synthesis approach and Lipschitz condition, the stability analysis is conducted. The simulation results show that the proposed method can handle unpredicted disturbance and data uncertainties very well in advantage of the effectiveness of observation and control.     

基于单驱动变量分数阶混沌同步的参数调制数字通信及硬件实现

通过单驱动变量设计了三维分数阶混沌系统通用的自适应同步控制器.基于参数调制原理, 利用单驱动变量分数阶混沌系统的同步,提出了一种新的通用型数字通信方案,对电路进行了仿真,同时搭建了实际硬件电路,结果显示接收信息和发送信息符合完好,验证了本方案的有效性和可行性.     

机动平台光电跟踪系统的自抗扰控制研究

针对机动平台光电跟踪系统跟踪目标需具备较强动态抗扰能力的问题,提出了一种将包含了非线性跟踪微分器、扩张状态观测器、非线性状态误差反馈三个环节的结构完整的自抗扰控制器用于光电跟踪伺服系统的速度环的思路。针对某单轴稳定转台设计了二阶自抗扰控制器,并进行了仿真研究。结果表明,该控制器对外扰变化及系统模型不确定性具有良好的鲁棒性和适应性,且能有效抑制系统中存在的非线性因素的影响。     

一种基于并行化方法的自适应光学闭环预测控制器

自适应光学系统的性能受限于伺服系统的延迟误差和波前传感器的光电子噪声。提出了一种多模型单变量预测模型,该模型采用基于Levenberg-Marquardt学习算法的前馈型神经网络。利用计算机多核处理器,设计了一个具有并行处理能力的预测控制器,来实现对自适应光学闭环控制电压的预测,以消除延迟误差的影响。通过数值仿真实验,研究了预测控制器对控制电压和远场斯特雷尔比的影响,与未采用预测控制器的系统进行了比较,并对预测算法的并行性能进行了分析。实验结果表明,使用并行化方法的预测控制器可以有效缩短系统的预测时间,提高预测算法的加速比,与经典比例积分(PI)控制算法相比可以更有效地降低系统由于伺服延迟引起的误差,远场的斯特雷尔比有明显地提高。     

人造金刚石加热系统分析及其精密交流调功器设计

建立了加热系统的数学模型,深入分析各类交流加热的特性及差别,指出恒功率加热方式温控效果最佳且与直流加热无明显区别.建立恒功率交流加热系统SABER仿真模型并深入分析系统构成特性,设计一个基于适当功率滤波和输出偏置的模拟PID控制器.仿真和实验结果表明,所设计交流调功器具有成本低、实时性强、适应性好、控制性能佳、温控精度高等特点,能较好地满足金刚石合成工艺的要求.     

A proposed hybrid neural network for position control of a walking robot

The use of a proposed recurrent neural network control system to control a four-legged walking robot is presented in this paper. The control system consists of a neural controller, a standard PD controller, and the walking robot. The robot is a planar four-legged walking robot. The proposed Neural Network (NN) is employed as an inverse controller of the robot. The NN has three layers, which are input, hybrid hidden and output layers. In addition to feedforward connections from the input layer to the hidden layer and from the hidden layer to the output layer, there is also a feedback connection from the output layer to the hidden layer and from the hidden layer to itself. The reason to use a hybrid layer is that the robot’s dynamics consists of linear and nonlinear parts. The results show that the neural-network controller can efficiently control the prescribed positions of the stance and swing legs during the double stance phase of the gait cycle after sufficient training periods. The goal of the use of this proposed neural network is to increase the robustness of the control of the dynamic walking gait of this robot in the case of external disturbances. Also, the PD controller alone and Computed Torque Method (CTM) control system are used to control the walking robot’s position for comparison.     

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。     

On stabilization of systems with delay

The optimization of the parameters of a controller of given structure for a controlled unstable scalar system with delay is studied. First, the original system with delay is approximated by a system without delay. To this end, the exponent is approximated by a fractional rational function. Since the structure of the controller is fixed, the quality of the approximation is assessed by comparing the stability domains of the original and approximating systems (in the space of controller coefficients). Next, the coefficients of the controller for the reduced system are optimized. The performance of the controller thus synthesized can be assessed by mathematically modeling the original system (with delay) whose feedback is determined by the controller coefficients found. The approach is exemplified by stabilizing an inverted mathematical pendulum with a PD controller. This example is used to examine the issue of synthesis of a robust controller __________ Translated from Prikladnaya Mekhanika, Vol. 44, No. 10, pp. 86–100, October 2008.