海上半浮体漂移轨迹研究

通过水上半浮体漂移过程的模拟研究,总结出一种循其轨迹,寻其“源头”的模拟计算方法。首先分析外海流系,沿岸流系,风海流、潮流,并以数学方程式描述之,然后作半浮体漂移的推算,最后以实例验证。本研究可给海事查证工作作参考。     

现代控制理论与交流电机调速(Ⅴ)--滑模变结构控制

介绍变结构系统的基本概念、数学表达设计问题及其在交流电机调速系统中的应用。阐述滑模理论在变结构系统中的重要作用。指出设计变结构控制系统的核心思想是通过不连续控制,强迫这种类型的运动朝向状态空间的某个特定区域(滑动流形)并保持下去;同时指出,对于非线性不确定性系统,采用滑模变结构控制可能使跟踪误差最小化,并使复杂过程与系统控制的工程实现相对简单。     

基于电压比较的牵引供电系统异相短路保护

通过测量阻抗轨迹法对异相短路故障的测量阻抗进行分析,得出牵引网发生异相高阻电弧短路故障时,按常规原理阻抗保护将拒动的结论。在异相短路故障特性的基础上,利用电压向量图法对故障电压进行分析,发现两供电臂电压和相间电压的幅值和相位发生有规律的变化,根据该电压变化特征,建立了基于两供电臂电压和相间电压的相关比较,同时结合电流增量保护来实现异相短路故障的保护。通过已有仿真分析和实际相间短路故障数据分析表明,该方法对异相短路故障具有良好的识别能力,可在牵引变电所保护系统中配置该保护。     

动态UP6工业机器人运动轨迹的实时规划

介绍了一种对运动中机器人的轨迹进行实时规划的方法。利用M otocom软件从机器人控制柜获取其当前的运动程序文件,通过一种轨迹规划算法,对运动中的机器人的轨迹进行实时规划,重组为运动程序文件,再通过M otocom32将文件上传给机器人控制柜,并使机器人按规划后的程序继续运行。这样便实现了对运动中机器人轨迹的实时规划。实验证明,这种轨迹规划的方法实时性较好,满足了一般工厂运行的要求。     

高速公路坡面滚石自由飞落分析模型

为了有效防治高速公路边坡坡面滚石破坏,建立了滚石运动自由飞落分析模型,计算了滚石落地后的水平运动距离,由能量守恒定律推导了滚石在防护栏处的撞击能,并由撞击能确定合理的防护方式.计算结果表明:滚石撞击坡面后的水平运动距离(2.156 m)小于撞击点到公路路缘的水平距离(2.820 m),滚石飞落至地面的撞击能为132 k...     

Nonlinear dynamics and stability analysis of vehicle plane motions

In this article, the problems of dynamics and stability for vehicle planar motion systems have been investigated. By introducing a so-called joint-point locus approach, equilibria of the system and their associated stability properties are given geometrically. With this method, it is discovered that the difference between the front and the rear steering angles plays a key role in vehicle system dynamics and that the topological structure of the phase portrait and the types of bifurcations are different from those published previously. In particular, the vehicle system could still be stabilized even when pushed to work in a certain severely nonlinear region, by applying extremely large steering angles. However, it is worth noticing that the attractive domain of the stable equilibrium is very narrow. These developments might prove to be important in active steering control design. Numerical experiments are carried out to illustrate the potentials of the proposed techniques.     

基于PID的高速无人机高度控制系统设计

采用传统的PID姿态控制方法实现高速无人机的高度控制,采用从内回路到外回路逐层设计的方法。运用根轨迹法对开环传递函数进行分析,确定各参数的大致取值范围。再利用时域法及频域法,在取值范围内反复比较各组参数的时域和频域响应指标,直至得出一组最佳参数值。     

基于PSCAD/EMTDC的直接转矩控制仿真研究

直接转矩控制系统（DTC）是针对异步电动机发展起来的一种高性能交流调速系统,利用电磁暂态仿真程序（EMTDC）研究其动态性能具有独特的优势.运用PSCAD/EMTDC仿真工具,构建了圆形磁链轨迹的直接转矩控制仿真模型.通过与C语言进行混合编程,建立了扇区判断和开关选择自定义模块,用于选择恰当的电压空间矢量,实现对逆变器的控制.仿真结果表明,异步电动机的直接转矩控制具有良好的速度响应.     

Nonlinear dynamics and stability analysis of vehicle plane motions

In this article, the problems of dynamics and stability for vehicle planar motion systems have been investigated. By introducing a so-called joint-point locus approach, equilibria of the system and their associated stability properties are given geometrically. With this method, it is discovered that the difference between the front and the rear steering angles plays a key role in vehicle system dynamics and that the topological structure of the phase portrait and the types of bifurcations are different from those published previously. In particular, the vehicle system could still be stabilized even when pushed to work in a certain severely nonlinear region, by applying extremely large steering angles. However, it is worth noticing that the attractive domain of the stable equilibrium is very narrow. These developments might prove to be important in active steering control design. Numerical experiments are carried out to illustrate the potentials of the proposed techniques.     

三点式逆变器主电路的分析

对三点式逆变器主电路作了理论分析。着重分析了改变控制角α时逆变器输出电压和输出电流的波形,推导了带电动机负载时的电流表达式,并给出了计算实例。文中所提供的分析方法可以引用到多脉宽调制方式中去。最后给出了实现磁通轨迹控制的初步设想。