滑动窗口下数据流完全加权最大频繁项集挖掘

针对当前关于数据流加权最大频繁项集WMFI(weighted maximal frequent itemsets)的研究无法有效地处理频繁阈值和加权频繁阈值不一致情况下WMFI的挖掘问题,提出了完全加权最大频繁项集FWM FI(full w eighted maximal frequent itemsets)的概念.为了减少naive算法在处理滑动窗口下完全加权最大频繁项集挖掘时存在的冗余运算,提出了FWMFI-SW(FWMFI mining based on sliding window over data stream)算法.所提出的算法通过基于频繁约束条件的优化策略减少了naive算法中M ax W优化策略的无效调用次数;采用编辑距离比率作为WMFP-SW-tree的重构判别函数,可以有效减少该树的重构次数.实验结果表明FWMFI-SW算法是有效的,且比naive算法更有时间优势.     

基于无速度传感器的直接转矩控制系统优化

针对传统异步电机直接转矩控制系统在低速运行状态下存在磁链轨迹发生波动、转矩脉动大的问题,提出一种新型异步电机直接转矩控制策略。采用滑模控制和空间矢量脉宽调制技术(SVPWM: Space Voltage Pwlse-Width Modulation), 引入滑模控制器, 以提高系统对参数变化和外界干扰的鲁棒性。利用空间电压矢量脉宽调制技术产生系统所需要的任意期望空间电压矢量, 使磁链轨迹更趋近于圆形, 即降低了转矩和磁链脉动,又增强了系统的鲁棒性。同时引入无速度传感器技术, 以提高系统工程应用性。通过在Matlab/ Simulink软件仿真结果表明, 新型直接转矩控制系统改善了磁链轨迹波动并有效地降低了转矩脉动, 使转速估计具有较高精度。     

拐角式回转热管管内蒸汽温度分布

磁流变软启动传动装置引入拐角式回转热管作为散热工具.拐角式回转热管利用热管旋转时产生的离心力回液,结构简单,散热能力强.文中介绍了拐角式回转热管的结构及散热原理,以动量定理和Clausius-Clapeyron方程为手段,建立了拐角式回转热管管内蒸汽温度分布模型,为该类回转热管的可靠设计和工作性能分析提供了理论依据.     

基于滑模控制理论的车辆横向稳定性控制

针对车辆在极限运动工况下转弯或变道行驶时的横向稳定性控制问题,建立以车辆横向速度、横摆角速度及车身侧倾角为状态变量的3自由度非线性动力学模型.在动力学分析的基础上,探讨依靠施加各车轮不同纵向制动力而产生辅助横摆力矩的方法来提高车辆在极限工况下的操纵稳定性.考虑到作为车辆状态变量之一的质心侧偏角难以测量,设计了基于车辆动力学模型及运动学关系相结合的质心侧偏角估计器.运用滑模控制理论,以车辆横摆角速度和质心侧偏角与相应的理想横摆角速度和质心侧偏角之差,作为车辆稳定性控制系统的两类控制输入变量,以车轮纵向制动力矩和方向盘转角为控制目标建立了联合滑模控制系统,通过计算机仿真表明,该控制方法可以有效改善车辆横向稳定性.     

航天器大角度姿态机动的自适应滑模控制

针对航天器大角度姿态机动过程中的严重非线性、航天器惯量的不确定性及外界干扰,提出了自适应滑模控制律.利用修正罗德里格参数建立航天器的数学模型,能克服欧拉角的奇异性和四元数约束条件的限制.选择一类滑模面,基于Lyapunov函数方法推导出控制律和自适应律,使控制律完全独立于对象的参数.理论分析及仿真结果表明,该控制律对航天器惯量不确定性和外界干扰有较强的鲁棒性,并且是全局渐近稳定的.     

Ca2+ and cAMP regulations of microtubule sliding in hyperactivated motility of bull spermatozoa

To reach and fertilize the egg, mammalian spermatozoa change their flagellar movement in the female reproductive tract, named hyperactivation. The biochemical analyses of the hyperactivated movement using demembranated spermatozoa defined the factors inducing this peculiar movement; namely, large asymmetrical flagellar movement observed in the early stage of the hyperactivation was induced with a high Ca²⁺ concentration while large symmetrical flagellar movement in the late stage of the hyperactivation was generated with low Ca²⁺ and high cAMP concentrations. Under these conditions, the microtubule sliding of bull sperm flagella was investigated by disintegrating the sperm flagella with MgATP²⁻ after extracting their plasma membrane and mitochondria. The large asymmetrical flagellar movement was caused by a long sliding displacement of a fiber of the doublet microtubules. On the other hand, the large symmetrical flagellar movement was generated by a large amount of microtubule sliding by many doublet microtubules.     

一种改进的AUVs变结构滑模控制策略研究

针对现有的变结构滑模控制切换面单一性会导致系统状态在原点处收敛缓慢的缺陷,对自主式水下机器人(AUVs)变结构滑模控制设计了折线型的切换面,并且进一步改进实现了速度控制和定点定速控制。改进的切换面由斜率不同的自线段构成,并在拐点处通过S型函数光滑过渡。将切换面的斜率减小到0时,则可以实现速度控制,同时为了消除速度控制的稳态误差,引进了采用能智积分方法的积分项。最后在某AUV上进行仿真实验,结果证实了应用折线型切换面可以减少控制系统的上升时间,提高反应速度;速度控制的稳态误差接近0,并很好地实现定点定速的控制效果。该方法可以有效用于AUVs的控制。     

Stage-I fatigue crack studies in order to validate the dislocation-free zone model of fracture for bulk materials

Stage-I fatigue cracks are commonly described by the model of Bilby, Cottrell and Swinden (BCS model). However, since several experimental investigations have shown a dislocation-free zone (DFZ) in front of crack-tips, it is necessary to validate the new DFZ model and to examine the deviations to the BCS model. Therefore, the dislocation density distribution is derived from height profiles of slip lines in front of stage-I fatigue cracks in CMSX4® single crystals measured by contact-mode atomic force microscopy. This is possible, because the cracks are initiated at notches milled by focused ion beam technique directly on slip planes with a high Schmid factor. Consequently, the directions of the Burgers vectors are well known; it is possible to calculate the dislocation density distributions from the height profiles. The measured distributions are compared to the calculated distribution function of the DFZ model proposed by Chang et al. The additionally measured microscopic friction stress of the dislocations is then used to calculate the influence of grain boundaries on the dislocation density distribution in front of stage-I cracks. The calculation is done by the extended DFZ model of Shiue et al. and compared with the measured distribution function in polycrystalline specimens. Finally, the crack-tip sliding displacement as a measure for the crack propagation rate is compared for the DFZ model and the BCS model with the experimentally revealed values. The important result: the often used BCS model does not reflect the experimental measurements. On the contrary, the DFZ model reflects the measurements at stage-I cracks qualitatively and quantitatively.     

基于整车的半主动油气悬架滑模控制研究

以提高平顺性为目的,针对油气悬架整车设计了以天棚阻尼为参考模型的滑模控制系统,对4个悬架的阻尼力分别进行控制,建立了非线性半主动油气悬架的七自由度整车模型,使被控车辆振动响应能够跟随参考模型.在Matlab环境中对滑模控制系统的性能进行了验证,仿真车辆以54km/h的速度行驶于D级路面,与被动油气悬架相比,模型参考滑模控制系统能够有效衰减簧载质量的垂向振动、俯仰振动和侧倾振动.结果表明,基于油气悬架整车的模型参考滑模控制系统对路面激励和车辆参数变化具有较强的鲁棒性,适合应用于非线性油气悬架阻尼控制.     

一类最小相位随机非线性系统的输出反馈控制及扰动抑制

对于一类具有模型不确定性的最小相位随机非线性系统,研究输出反馈控制使闭环系统状态响应对噪声具有扰动抑制作用,并且无噪声时闭环系统是随机渐近稳定的.首先假设模型系统中的一个子系统随机输入状态稳定,并且系统的漂移项与扩散项分别依赖于该子系统的状态和输出信号,在此假设前提下设计一个降阶观测器,得到一个等价系统,再由递推的方法得出等价系统的输出反馈控制律,使得最终得到的闭环系统对噪声方差是输入状态稳定的.