伺服运动控制系统的最短制动距离的算法

本文根据系统不同的状态,在保证满足系统加速度或负加速度以及速度的约束条件下,给出了一系列伺服运动控制系统的最短制动距离的计算方法。其推导的系列公式可应用于控制工程算法和软件设计中。     

A New Control Scheme of Single-link Flexible Manipulators Robust to Payload Changes

A new scheme is presented in this paper to control single-link flexiblemanipulators. The objective is to control the tip position of the flexiblearm in the presence of joint friction and payload changes. The controlscheme is based on two nested loops: an inner feedback loop to control themotor position which is robust to joint friction, and an outer loop tocontrol the tip position which is robust to payload changes. This outer loopis composed of a feedforward term and a feedback term. This results in asimple control law that needs minimal computing effort and, thus, can beused for real time control of flexible arms. The proposed method is generalin the sense that it can be applied to very different arm structures anddiverse sensor systems configurations. Results corresponding to twodifferent arm setups are presented.     

基于阶跃响应的非自衡对象预测控制

针对现有非自衡对象DMC算法预测模型不易建立的局限性,提出一种基于非自衡对象阶跃响应的DMC算法。分析与仿真结果表明,该算法对于设定值变化和输入扰动均无控制余差,且预测模型易于建立。     

Robust reliability method for non-fragile guaranteed cost control of parametric uncertain systems

The problem of non-fragile guaranteed cost control of uncertain systems is studied from a new point of view of reliability against uncertainties. An efficient robust reliability method for the analysis and design of non-fragile guaranteed cost controller of parametric uncertain systems is presented systematically. By the method, a robust reliability measure of an uncertain control system satisfying required robust performance can be obtained, and the robustness bounds of uncertain parameters such that the control cost of a system is guaranteed can be provided. The optimal non-fragile guaranteed cost controller obtained in the paper may possess optimal guaranteed cost performance satisfying the precondition that the system is robustly reliable with respect to uncertainties occurring in both the controlled plant and controller gain. The presented formulations are in the framework of linear matrix inequality and thus can be carried out conveniently. The presented method provides an essential basis for the tradeoff between reliability and control cost in controller design of uncertain systems. Two numerical examples are provided to demonstrate the efficiency and feasibility of the presented method. It is shown that the coordination and simultaneous realization of the system performance, control cost, and robust reliability in control design of uncertain systems are significant.     

一种专家智能控制器的仿真研究

该文提出一种专家智能控制器（简称为ＥＩ控制器）．该控制器的参数可基于专家知识和过程参数的变化实时进行调整。仿真结果表明对于工业过程中的大纯滞后、非线性、变参数特性能获得较为满意的调节效果。     

An optimal control based approach to designing plantwide control system architectures

An approach to designing decentralized plantwide control system architectures is presented. The approach is based on splitting the optimal controller gain matrix that results from solving an output optimal control problem into feedback and feedforward parts. These two parts are then used to design and evaluate decentralized control systems. Results for the application of the methodology to a realistic, 4 by 4 reactor with recycle process are given. For this system, the optimal control based approach suggests feedback pairings that are significantly different than those suggested by the steady state RGA. The approach presented can give an indication if MPC is preferred over a decentralized approach to plantwide control. Comparison of the results produced by the best decentralized plantwide system and a model predictive control system are presented.     

Fuzzy sliding mode control for a robot manipulator

This work presents the design of a robust control system using a sliding mode controller that incorporates a fuzzy control scheme. The presented control law superposes a sliding mode controller and a fuzzy logic controller. A fuzzy tuning scheme is employed to improve the performance of the control system. The proposed fuzzy sliding mode control (FSMC) scheme utilizes the complementary cooperation of the traditional sliding mode control (SMC) and the fuzzy logic control (FLC). In other words, the proposed control scheme has the advantages which it can guarantee the stability in the sense of Lyapunov function theory and can ameliorate the tracking errors, compared with the FLC and SMC, respectively. Simulation results for the trajectory tracking control of a two-link robot manipulator are presented to show the feasibility and robustness of the proposed control scheme. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

挠性结构的输出反馈低阶自适应控制

在模型参考自适应方法的框架上,研究了挠性空间结构的输出反馈鲁棒自适应控制方 法,对其稳定性与动态性能进行了理论分析,该方法通过在标准控制律中增加控制补偿项,利用 挠性结构的特点,将所能容许的乘性模型不确定性的H∞范数提高到接近1的程度,控制系统 的动态性能可由控制器的设计参数调节.对该方法进行了数值实验验证.     

Duffing系统的同步化控制研究

本文研究含有未知参数的Duffing系统的同步化控制问题．首先，研究了系统参数已知情况下的同步化控制问题．其次，考虑了系统参数未知情况下的同步化控制问题；由于直接处理该问题比较困难，我们在控制法则中引入了可变参数来代替未知参数，该参数可由完善的自适应法则获得．再次，通过理论证明给出了控制目标，该控制目标可由提出的控制法则来实现．最后，用一些仿真实例证实了该方法的有效性．     

直播服务器一般性框架体系设计

基于流媒体服务器设计框架,结合直播服务器本身的功能、特性,并综合考虑波动的网络环境对其的影响,给出一种适用于直播服务器的一般性的实现框架。在这个实现框架中直播服务器由四个功能模块组成:速率控制模块、差错控制模块、质量自适应模块以及缓冲区控制模块。这四个功能模块各自完成特定的功能,并相互协作以使直播服务器系统作为整体提供适应性的视频传输服务。对各功能模块之间的协作和互动关系作了详细的阐述。提出的框架体系可以根据应用需求进行灵活配置以得到适当的实现形式,对开发直播系统具有参考价值。