数字化变电站网络仿真平台探讨

通信网络设计是数字化变电站系统设计的核心内容之一，直接关系到数据传输的实时性和变电站各种功能的实现。文中提出了利用网络仿真平台对变电站通信网络进行设计的构想，分析了在数字化变电站不同的发展阶段，通信网络设计的主要内容和网络仿真平台的主要功能及意义，介绍了其结构和仿真流程，重点讨论了仿真模型、仿真内核、通信分析器等开发过程中需要解决的几个关键问题。     

气化炉自动建模系统研究

为了减轻建模人员在建模公式推导、逻辑关系推导和编制仿真程序的工作量，设计了气化炉自动建模系统。该系统在反应物为多种气体、多种固体（均考虑为单筛分）的条件下，按照小室模型的框架自动列写相应各个物质的质量、能量平衡方程，并自动生成相应的计算机程序，方便仿真计算。由于该系统避开了工程中常用的纯数值建模的思路，采用了新的数学工具－以符号运算特长的计算机代数系统为计算平台，才使得该系统具有强大的逻辑关系推导能力。该系统在某气化炉的建模过程中得到了验证和示范，事实表明：该系统大大减少了气化炉的建模工作量，特别是减少由于化学反应假定的不同带来的建模复杂性，对于建模与仿真研究新方法的突破有所贡献。     

ispLSI1032E器件及其应用

介绍了Lattice公司的大规模集成电路ispLSI1032E,它是一种在系统复杂可编程逻辑器件(CPLD),借助于EDA设计软件可以随时更改芯片的功能,而且不需要改动印制电路板(PCB)的结构,大大提高了系统设计的效率,并保证了设计的正确性。最后设计了基于该芯片的EDA教学实验系统。     

PLC在葛洲坝大江电厂机组辅助设备控制中的应用

PLC(可编程控制器)在机械工业和电力生产等部门应用广泛。在电力生产部门主要用于集中控制,已有较好的效果。介绍了PLC在葛洲坝水电厂机组辅助设备控制操作功能中的应用回顾及其展望。     

Lyapunov‐stable discrete‐time model reference adaptive control

Discrete‐time model reference adaptive control (MRAC) is considered with both least squares and projection algorithm parameter identification. For both cases complete Lyapunov proofs are given for stability and convergence. The results extend the approach of Johansson (Int. J. Control 1989; 50 (3):859–869) to include Lyapunov stability for MRAC when the normalized projection algorithm is used for parameter identification. Copyright © 2005 John Wiley & Sons, Ltd.     

A hybrid PC/PLC architecture for manufacturing-system control—theory and implementation

This paper presents a novel and generic PC/PLC-based software/hardware architecture for the control of flexible manufacturing workcells. The proposed implementation methodology is based on the utilization of any one of the available formal discrete-event-system control theories in conjunction with state-of-the-art industrial programmable-logic controllers (PLCs). The methodology has been illustrated to be a viable technique through its actual implementation in our laboratory using a robotic-workcell testbed. The specific control theory used is a combination of Extended Moore Automata and Ramadge-Wonham Automata that has been developed by our research group. The modular control software architecture has been developed for MS-Windows environments (running on one PC interfaced to the PLCs) and allows the use of different formal control theories as well as different commercial PLC hardware. The effective graphical user interface provides a transparent programming environment, where users are not expected to have a full knowledge of the formal control theory used.     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

天荒坪电站500 kV开关站开挖与边坡整治施工——兼论开挖爆破对高边坡稳定的影响及对策

在大型水利水电施工中，经常遇到岩质高边坡稳定问题，天荒坪抽水蓄能电站５００ｋＶ开关站所处的地形地质条件非常复杂，本文着重介绍在边坡开挖和支护过程中，根据不同的地形地质情况所采取的控制爆破和支护措施。     

61单元分立式压电变形反射镜的研制

用于校正波前误差的61单元分立式压电变形反射镜是61单元自适应光学系统（AO）的关键器件之一。由于系统对单元数（61单元）和变形量（±3μm）的要求超过以往曾研制的变形镜，对研制工作带来许多困难。我们从理论分析到工艺研究采取措施，使研制的变形镜成功用于AO系统实验。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225