棒材在线检测仪的研究

本文提出了一种在线生产过程中检测棒材外径和板材厚度的新型设计方案:选择差动变压器作为检测元件,采用 EPROM 以实现非线性化的信号处理方法,并给出直接数据显示和控制信号,从而保证产品质量.     

Robust state feedback stabilization of articulated steer vehicles

In this work, a full-state feedback controller is designed to prevent the oscillatory instability or snaking behaviour of an articulated steer vehicle. To design the controller, first, a linearized model of the vehicle is developed and analyzed to identify the most important uncertain tire parameters with regard to the snaking mode. By using this linearized model, the equations of motion are represented in the form of a polytopic system, which depends affinely on the most important uncertain tire parameters. Then, by solving some linear matrix inequalities, both the Lyapunov and state feedback matrices for the robust stabilization of the vehicle are found. The performance of the resulting controller is evaluated by conducting several simulations based on the linearized model. To verify the results from the linearized model analysis, some simulations are also done by a virtual prototype of the vehicle in ADAMS. The results based on the linearized model are reasonably consistent with those from the simulations in ADAMS. They show that the controller can effectively stabilize the vehicle during the snaking mode in different driving conditions.     

Designing H∞/GH 2 static-output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms

This paper presents an approach to design the H_∞/GH ₂ static-output feedback controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). Three main performance requirements for an advanced vehicle suspension are considered in this paper. Among these requirements, the ride-comfort performance is optimized by minimizing the H_∞ norm of the transfer function from the road disturbance to the sprung mass acceleration, while the road-holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H₂ (GH ₂) norms of the transfer functions from the road disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH ₂ norm as well. A four-degree-of-freedom half-car model with active suspension system is applied in this paper. Several kinds of H_∞/GH ₂ static-output feedback controllers, which use the available sprung mass velocities or the suspension deflections as feedback signals, are obtained by using the GAs to search for the possible control gain matrices and then resolving the LMIs together with the minimization optimization problem. These designed H_∞/GH ₂ static-output feedback controllers are validated by numerical simulations on both the bump and the random road responses which show that the designed H_∞/GH ₂ static-output feedback controllers can achieve similar or even better active suspension performances compared with the state-feedback control case in spite of their simplicities.     

一种多样性反馈高斯粒子群算法

针对粒子群算法在算法迭代后期因多样性减少而容易陷入局部最优的缺陷,引入种群多样性反馈(群活性反馈)和高斯正态惯性权重变异算子对粒子群算法进行改进,当粒子群的多样性减少时,通过改变粒子的惯性权重调节粒子速度和位置,从而跳出局部最优解.与标准粒子群算法对比仿真结果表明:多样性反馈高斯粒子群算法在全局搜索能力和寻优性能上有很大提高,多样性提高近一倍,迭代时间缩短近3/4.     

遥操作机器人系统主从控制策略

近年来主从式机器人系统被广泛应用在医疗、深海等非结构性环境.在现有研究成果的基础上,研究了主从式机器人系统的控制策略.采用增量式位置控制,易于建立主端与从端的工作空间映射,并增加位置反馈提高系统的控制精度;解决了主从运动比例变化的问题;并通过搭建的主从机器人系统对位置控制策略进行验证,结果表明了系统位置控制策略的准确性和实时性.将主从位置误差引入系统的力反馈控制策略,分析系统的稳定性,并通过MATLAB/Simulink对力反馈策略进行仿真及实验验证,仿真与实验结果验证了所建立控制策略的有效性.     

广东省交通科技项目征集与遴选机制研究

对广东省交通科技项目的征集机制、遴选机制进行研究。介绍了科技项目的征集方法,科技项目遴选的原则、遴选评价指标、遴选程序和遴选的组织管理,科技项目的发布机制和反馈机制等。在此基础上进行总结分析,提出了广东省交通科技项目遴选的建议。     

水下滑翔机QFT鲁棒控制器设计

水下滑翔机以其低功耗、低成本和低噪声等优势在海洋科研、环境监测、资源探测和军事侦察等领域具有广阔的应用前景,由于水下滑翔机长时间、大范围在水下作业,受海洋波浪影响严重,因此要求其具有优良的抗干扰能力.本文首先对水下滑翔机俯仰回路多阶水动力模型进行Pade'降阶,随后针对降阶后的模型设计了QFT鲁棒控制器,系统仿真结果表明在该控制器作用下,系统鲁棒性较强.     

主被动一体式升沉补偿系统及其控制方法

设计一种舰船吊放作业主被动一体式升沉补偿系统。为使其达到性能要求,建立系统模型,分析系统的固有频率、阻尼比对系统稳定性和补偿率的影响,导出固有频率、阻尼比与速度反馈和加速度反馈系数之间的关系。在此基础上提出一种反馈校正控制方案,即在控制系统中加入速度反馈和加速度反馈校正环节,计算出合适的校正系数值,从而使系统能够同时满足稳定性和补偿率的性能指标要求。最后对所设计的补偿系统进行了仿真验证。仿真结果表明,设计的补偿系统和反馈校正控制方案有很好的补偿效果。