欠驱动柔性机器人的振动可控性分析

欠驱动柔性机器人的可控性分析是对其进行有效控制的关键问题. 本文以具有柔性杆的3DOF平面欠驱动机器人为例, 分两步分析系统的可控性. 首先,忽略杆件的弹性变形, 研究欠驱动刚性系统在不同驱动电机位置的状态可控性；然后, 考虑柔性因素, 研究欠驱动柔性系统的结构振动可控性. 结果表明振动可控性是随机器人关节位形和驱动电机位置而变化的, 并且欠驱动刚性机器人的状态可控性对相应的柔性系统的振动可控性有很重要的影响. 最后, 将上述研究方法扩展到具有一个被动关节的N自由度平面欠驱动柔性机器人.     

逐点线性化后退区间最优控制在飞机非线性控制中的应用

常规线性飞控系统针对推力矢量飞机这样的多控制冗余、非线性MIMO系统,无法实现非线性控制．本文针对推力矢量飞机非线性系统,阐述了一种逐点线性化后退区间最优控制算法满足飞行品质要求．首先将作动器,飞行品质和逐点线性化的飞机线性模型综合实现在线建模,然后以飞行状态与预测状态之间的误差、作动器的位置限制和速率限制作为最优指标,最后以此为基础,根据最优控制原理计算当前时刻飞机最优控制指令,实现飞机非线性控制．采用国内某型号飞机气动数据验证此算法的鲁棒性和稳定性．     

简易调压器

这是一个很简单的调压器。如附图所示,电源变压器的抽头很少,只有一个次级N2始终和输出电路串联在一起。电源电压E_A通过N2与E_B同相时(E_A、E_B同频率),输出电压E_O=E_A E_B、呈升压状态。若把N2两端对调一下,E_A和E_B的相位就相反,则E_O=E_A-E_B、呈降压状态。平时把K1～K3置于1档(降压),开机时不会有高压冲击负载。这样,尽管电源电压     

装甲车辆电源系统智能故障诊断方法研究

针对电源系统建模复杂的问题,通过Matlab/simulink建立装甲车辆电源系统仿真模型,应用小波包能量法提取电源系统在各种状态下电压及电流信号的能量特征向量,并将其作为故障分类器的输入向量;结合SOM神经网络无监督聚类和BP网络有监督学习的能力,构建两层的故障分类器对各种故障状态进行识别和诊断;以车辆电源系统中整流桥故障为例进行仿真分析,结果表明该方法具有快速准确的故障诊断能力。     

相位补偿交流稳压器

根据电工学原理:在交流电路中,如果两个问频率的交流电的初相相同(简称同相),则合成电势的振幅为两振幅之和;如果两者的初相相差180°(简称反相),则合成电势的振幅为两振幅之差。本文所介绍的稳压电源就是应用这一原理对交流电源的欠压或超压部分进行同相或反相补偿,使输出的电压稳定在定的范围内。本制作如图1所示,T1为主电源变压器。当电源电压U_A<195V时,初次级的异名端通过Kl连接,电源电压与次级补偿电压U_R同相,输出电压U_o=U_A U_B,处于升压状态。当电源     

基于Monahans的嵌入式电源管理方案

针对新推出的Monahans处理器,结合其自带的电源管理功能和Linux电源管理子系统的相关内容,提出电源管理方案。该方案能实时监控系统的运行状态,从而动态地降低系统运行的频率和电压,进行各电源状态的转换。应用结果证明该方案能减小系统功耗,延长电池使用时间。     

一种改进型残差约束渐消采样滤波器

非线性系统的状态方程和观测方程不准确时,非线性自适应采样滤波器的滤波精度将偏离真实值:严重时将引起滤波器的发散,得到完全虚假的滤波值,失去了滤波原本的意义.为减小线性化误差对非线性系统状态估计的影响,本文采用采样滤波器中的UKF(Unscented Kalman Filter)方法对非线性系统进行高精度滤波.同时深入研究UKF的自适应渐消记忆策略,以增强对建模误差的鲁棒性和对突变状态的跟踪能力,提高状态估计的精度和快速性.本文针对上述滤波方法进行改进,并通过一个非线性系统滤波仿真试验.证明其有效性.     

通信电源集中监控系统

针对通信电源智能化的需要，研制了一套通信电源集中监控系统。该系统以PC机为上位机，单片机系统为下位机。实现了对电源电压、电流、工作状态等的数据采集，以及对模块运行状态、系统设置、告警信息等的遥信和遥控。     

柴油发电机组状态反馈H2/H∞调压器的研究

独立电力系统电压的稳定性主要取决于柴油发电机组的电压响应特性.同步发电机调压系统是一个非线性控制系统,为了分析系统的动态特性,首先建立同步发电机调压系统的非线性数学模型,然后以此为基础设计状态反馈H2/H∞调压器.将H2/H∞控制理论应用于柴油发电机组调压器的设计,把系统性能要求转化为标准H2/H∞控制问题,获得了柴油...     

透射电子显微镜透镜稳流电源的研究

本文以物镜磁透镜稳流电源为例,介绍了透射电子显微镜透镜稳流电源的结构和工作原理.透镜稳流电源由前置高精度稳压电源模块、数模转换器、低漂移电压比较放大器、高精度恒温基准电压源、电流输出前置驱动、电流输出功率模块、基准电阻、输出电流检测模块等组成.通过检测基准电阻两端的电压并将其反馈到电压比较放大器形成对输出电流的闭环控制.达到对电流稳定度的要求.透镜稳流电源受计算机的控制,能接收稳流电流参数,并将电源的工作状态发送给计算机.实验结果表明该透镜稳流电源完全达到了设计指标,可以满足透射电子显微镜各级磁透镜的要求.     

On strong controllability for planar affine nonlinear systems

Different to linear systems, a controllable nonlinear system does not generally imply that it is strongly controllable. This paper will investigate the strong controllability of planar affine nonlinear systems and obtain its necessary and sufficient condition by introducing the variation function of the control curve. These conditions are imposed on the system structure only. In addition, we also point out that, for a class of polynomial systems, their strong controllability is equivalent to their controllability. Finally, some examples are given to show the application of our results.     

Controllability distributions and systems approximations: ageometric approach

Given a nonlinear system we determine a relation at an equilibrium between controllability distributions defined for a nonlinear system and a Taylor series approximation of it. The value of such a relation is appreciated if we recall that the solvability conditions as well as the solutions to some control synthesis problems can be stated in terms of geometric concepts like controlled invariant (controllability) distributions. The relation between these distributions at the equilibrium will help us to decide when the solvability conditions of this kind of problems are equivalent for the nonlinear system and its approximation     

A globally convergent pole placement indirect adaptive controller

A pole displacement indirect adaptive control algorithm is discussed for discrete-time linear deterministic plants with arbitrary zeros. The global convergence of the resulting closed-loop control system is achieved subject to the assumptions that the plant order and a nonzero lower bound on its degree of controllability are known. The problem of controllability of the plant model estimate is handled by using both a parameter correction and time-varying nonlinear feedback. A key property of the algorithm is that the plant estimate reaches a reasonable degree of controllability in a finite time, after which the parameter correction and the nonlinear feedback are no longer used     

非线性控制系统的特性（Ⅲ）

本文采用线性系统理论比较的方法来阐述非线性控制系统理论。文章通过一些例子来分析非线性控制系统的能控性、能观性、抗干扰性、解耦和稳定性等方面的特性，从而进一步说明非线性控制系统理论在提法、论述和结论上的特点。     

Controllability of product systems

For nonlinear continuous-time control systems we introduce the notion of controllability with selectable time, which is a little bit stronger than the usual controllability notion. For a large class of nonlinear systems on compact manifolds, controllability with selectable time is equivalent to controllability together with strong accessibility. It turns out that the controllability of products of independent control systems is related to this new controllability notion. The main result states that a smooth control affine product system is controllable if and only if all factors are controllable and at most one factor is not controllable with selectable time, provided the accessibility algebra of the product system has full rank.     

Ball on a beam: stabilization under saturated input control with large basin of attraction

This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The straight beam-and-ball system has one unstable mode in the motion near the equilibrium point. The proposed control law ensures that the basin of attraction coincides with the controllability domain. The circular beam-and-ball system has two unstable modes near the equilibrium point. Therefore, this device, never considered in the past, is much more difficult to control than the straight beam-and-ball system. The main contribution is to propose a simple new control law, which ensures by adjusting its gain parameters that the basin of attraction arbitrarily can approach the controllability domain for the linear case. For both nonlinear systems, simulation results are presented to illustrate the efficiency of the designed nonlinear control laws and to determine the basin of attraction.     

非线性控制系统的能控性及在刚体动力学中的应用

在 [4 ]的基础上运用不变流形研究非线性系统的能控性问题 .由于不变流形的构造较为容易 ,通过实例表明 ,文中得到的仿射非线性系统能控性定理在刚体动力学中的应用是有效的 .     

非线性奇异系统的能控性子分布

研究非线性奇异控制系统的能控性子分布问题.提出了非线性奇异系统的能控性子分 布的概念;研究了非线性奇异系统能控性子分布的反馈不变性质;给出了非线性奇异系统能控 性子分布的算法,并讨论这个算法的一些性质;证明了在一定条件下,该算法给出的分布确为包 含在某给定分布中的非线性奇异系统的最大能控性子分布.     

On the controllability of a nonlinear control system

This paper considers the problem of controllability of a class of nonlinear systems. Sufficient conditions are given for a nonlinear system to be locally controllable and globally completely controllable. In the case of a linear time-invariant system, these conditions are also necessary. Furthermore, our result reveals that, for a nonlinear control system, there is a relationship among controllability, stability and optimality.     

DC-DC变换器在恒功率负载下的能控性

带有恒功率负载的DC-DC变换器是切换非线性系统.以Boost变换器为例,本文建立了其切换系统模型;它包括三个模态.模态I,II,III分别对应于开关器件导通、关断、电感电流断续时的电路拓扑.因为电容电压是非负的,所以本文对平面拓扑学的最新结果加以修正,导出了半平面仿射非线性系统全局能控的充分必要条件——判别函数在任意非零控制曲线上变号.据此证明了模态II的全局能控性.由于模态II为运转中的必经阶段,故切换系统能控.研究方法也适用于Buck等变换器的能控性分析.