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高性能运动控制在数控系统中的应用综述

信息与控制 2003年第3期32卷 245-250页

作者：王军平王安敬忠良陈全世清华大学汽车工程系汽车安全与节能国家重点实验室北京100084 西北工业大学自动控制系西安710072 上海交通大学航空航天信息与控制研究所上海200030

分析了在高速高精度加工中设计高性能运动控制器时存在的问题及面临的挑战 ,评述了高性能数控系统运动控制器设计方法的发展现状。

关键词：数控系统数控机床加工中心柔性制造单元高性能运动控制

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Ca对Mg-9%Al合金阻燃特性的影响

铸造 2005年第2期54卷 141-143页

作者：程素玲杨根仓樊建锋周尧和西北工业大学凝固技术国家重点试验室陕西西安710072

通过添加Ca到Mg 9%Al合金中,提高了该合金的燃点。扫描电镜分析表明,合金表面生成了由MgO、CaO及Al2O3组成的复合氧化膜。通过氧化动力学试验分析,添加Ca后,该合金的表面氧化膜的生长遵循抛物线规律,具有保护作用,但所生成的氧化膜的力... 详细信息

通过添加Ca到Mg 9%Al合金中,提高了该合金的燃点。扫描电镜分析表明,合金表面生成了由MgO、CaO及Al2O3组成的复合氧化膜。通过氧化动力学试验分析,添加Ca后,该合金的表面氧化膜的生长遵循抛物线规律,具有保护作用,但所生成的氧化膜的力学性能不高,容易发生开裂,甚至剥落。

关键词：镁合金氧化膜氧化动力学抛物线规律

H∞ control of Biological complex System

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H∞ Control of Biological Complex System

第二十九届中国控制会议

作者： MA Yumin1,2,Xi Zairong 1 1.The key laboratory of systems and control,Institute of systems Science,Academy of Mathematics and systems Science,Chinese Academy of Sciences,Beijing 100080,P.R.China2.Graduate university of Chinese Academy of Sciences,Beijing 100039,P.R.China

There are always unmodeled dynamics and various disturbances in the real biological complex *** the disturbances can make the model more practical to the real situation.H∞control is a way to solve the control problems with *** this paper we consider the ploy-chamber model of the endocrine disruptor-Diethylstibestrol（DES）-moving in a human *** extend the existed linear model to the nonlinear model with disturbances and find a feedback controller by H∞ control.

关键词： H∞control Biological complex System DES Feedback controller

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非线性分布参数系统鲁棒故障检测观测器设计

上海交通大学学报 2011年第2期45卷 241-246页

作者：刘平岳吴淮宁北京航空航天大学控制一体化技术国家级科技重点实验室北京100191

针对一类由偏微分方程(PDE)描述的非线性分布参数系统的鲁棒故障检测观测器(FDO)设计问题进行了研究.采用模态分解法将PDE系统变换成一个等价的无穷维常微分方程(ODE)系统,并根据空间微分算子的特征谱,将无穷维ODE系统表达成有限维慢子... 详细信息

针对一类由偏微分方程(PDE)描述的非线性分布参数系统的鲁棒故障检测观测器(FDO)设计问题进行了研究.采用模态分解法将PDE系统变换成一个等价的无穷维常微分方程(ODE)系统,并根据空间微分算子的特征谱,将无穷维ODE系统表达成有限维慢子系统与无穷维快子系统相耦合的形式.基于慢子系统模型设计有限维FDO,使得无故障残差系统在容许的未知非线性动态和快子系统动态影响下依然渐近稳定,并设计相应的检测门限,以实现故障检测.仿真结果验证了所提方法的有效性.

关键词：分布参数系统模态分解法故障检测鲁棒性观测器

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零重力模拟气动悬挂系统的建模及恒压控制

浙江大学学报（工学版） 2010年第2期44卷 379-385页

作者：路波陶国良刘昊钟伟浙江大学流体传动及控制国家重点实验室浙江杭州310027

为模拟空间结构地面动力学测试时的零重力环境,针对研制的气动悬挂装置(PSD)采用比例流量阀开发了高精度的恒定气压控制系统.在分析了系统原理的基础上,建立压力控制系统的非线性数学模型.模型包含了比例阀的动力学特性、阀口流动的非... 详细信息

为模拟空间结构地面动力学测试时的零重力环境,针对研制的气动悬挂装置(PSD)采用比例流量阀开发了高精度的恒定气压控制系统.在分析了系统原理的基础上,建立压力控制系统的非线性数学模型.模型包含了比例阀的动力学特性、阀口流动的非线性、气缸容腔的压力动态和由实验结果拟合的气体泄漏.针对实现恒压控制的目标,采用输入输出线性化方法得到相对阶为2的等价系统,由于模型具有参数不确定和未建模动态特性,设计了基于观测器和等效控制的模糊滑模变结构控制器(FSMC).实验结果表明,设计的控制器对负载变化、气源压力变化、活塞运动和外部干扰均具有较强的鲁棒性,稳态压力波动小于26Pa,实现了高精度的恒压控制.

关键词：压力控制模糊滑模控制器气动悬挂系统气体泄漏

Characterization for the dynamics of an Adjustable Linear Oil Damper for Advanced Rail Vehicles

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Characterization for the Dynamics of an Adjustable Linear Oi...

第十一届IFTOMM世界大会

作者： Wenlin Wang Peien Feng State key laboratory of Fluid Power Transmission and control Zhejiang university Hangzhou 310027 China

＜正＞A parametric model for the dynamics of an adjustable linear oil damper equipped in advanced rail vehicles is developed in this paper. Instantaneous leakage flows, oil compressibility, oil temperature and valve dynamics etc. are taken into account in the modelling process. A computer package based on the model is developed in MATLAB environment and numerical analyses are carried out on the damping performance by means of parameters identification. Experiments with a CAT rig are done at last and satisfied agreement is achieved between the numerical prediction and experiments.

关键词： Modeling dynamics Adjustable linear oil damper Orifice Damping performance Parameter identification

Adaptive Critic-Based Tracking control of Non-Affine Nonlinear Discrete-time systems with Unknown dynamics

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Adaptive Critic-Based Tracking Control of Non-Affine Nonline...

2011 Chinese control and Decision Conference（CCDC）

作者： Qinmin Yang and Youxian Sun are with the State key laboratory of Industrial control Technology,Institute of Industrial Process control,Zhejiang university,Hangzhou,Zhejiang,310027 China

In this paper,the tracking control of a class of general non-affine discrete-time unknown systems represented by the nonlinear autoregressive moving average with eXogenous input （NARMAX） representation is *** equivalent affine-like representation in terms of the tracking error dynamics is first obtained from the original nonaffine nonlinear discrete-time system so that a robust adaptive critic-based neural network controller can be *** control scheme consists of an action NN for compensating the unknown system dynamics,and a critic NN to approximate certain strategic utility function and to tune the action NN *** NN weights are tuned in an online manner without the need of the knowledge of the system *** using the standard Lyapunov approach,the uniformly ultimate boundedness （UUB） of the closed-loop tracking error is *** results are given to substantiate the theoretical conclusions.

关键词： Non-affine nonlinear systems adaptive critic neural networks discrete-time

Non-model-based control of Manipulators Cooperating Flexible Payload

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Non-model-based Control of Manipulators Cooperating Flexible...

2010 Chinese control and Decision Conference

作者： Zhang Peng~(1,2),Xu Jing~2,Li Yuanchun~2 1.State key laboratory of automobile dynamics simulation,Jilin university,Changchun 130025 2.Department of Communication Engineering,Jilin university,Changchun 130025,China

＜正＞Different from the traditional studies of manipulators handling flexible load that concentrated on the structural analysis and stability,this paper studies the cooperative control and vibration control problem based on *** some information of the manipulator end-point contacting with the load and load physical properties,the relationship between the system flexible coordinates is got,and then a non-model-based observer is *** non-model-based fast and slow subsystem controllers are designed by the estimated states of the *** stability of the overall system composed of the observer system and the controller system can be *** results verify the effectiveness of the method proposed in this paper.

关键词： Robotic manipulator Observer Non-model-based Coordinated control Flexible Payload

Multiple Model Particle Filter based on Two Stage Prediction Update

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Multiple Model Particle Filter based on Two Stage Prediction...

2010 3rd IEEE International Conference on Computer Science and Information Technology—ICCSIT 2010

作者： Hu Zhen-tao Yang Feng Pan Quan Li Xiao-wei Chen Yan-jun Institute of control & Information northwestern polytechnical university Xi’an China

＜正＞Aiming at the particle degeneracy caused by the introduction of model information in particle sampling process, a novel multiple model particle filtering algorithm based on two stage prediction update is *** the multiple model particle filtering framework,the dynamic combination of the prediction and update mechanism of particle filter and Kalman filter is realized by the reasonable arrangement of the following four steps including importance sampling,one-step prediction,re-sampling and observation *** the filter gain calculated by one-step prediction and observation update mechanism of Kalman filter,is used to directly optimize state estimation and avoids the loss of the latest observation and original particle information in filtering *** addition,a new promoting strategy of particles diversity is given to resolve particles impoverishments by means of the current state *** theoretical analysis and experimental results show that the filtering precision is improved significantly with appropriately increasing computational burden.

关键词： multiple model particle filter proposal distribution particle degeneracy particles impoverishments