有环境约束时完成一族跟踪任务的力控制

本文为工业机器人提出了一种极点配置控制法，这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动，最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。     

NUMERICAL SIMULATIONS OF WHOLE FIELD BEHAVIOR FOR ROUND BUOYANT JET

ＮＵＭＥＲＩＣＡＬＳＩＭＵＬＡＴＩＯＮＳＯＦＷＨＯＬＥＦＩＥＬＤＢＥＨＡＶＩＯＲＦＯＲＲＯＵＮＤＢＵＯＹＡＮＴＪＥＴＬｉＷｅｉ，ＨｕａｉＷｅｎ－ｘｉｎ（ＷｕｈａｎＵｎｉｖｅｒｓｉｔｙｏｆＨｙｄｒａｕｌｉｃａｎｄＥｌｅｃｔｒｉｃＥｎｇｉｎｅｅｒｉｎｇ，...     

An eight‐node hybrid‐stress solid‐shell element for geometric non‐linear analysis of elastic shells

This paper presents eight‐node solid‐shell elements for geometric non‐linear analysis of elastic shells. To subdue shear, trapezoidal and thickness locking, the assumed natural strain method and an ad hoc modified generalized laminate stiffness matrix are employed. A selectively reduced integrated element is formulated with its membrane and bending shear strain components taken to be constant and equal to the ones evaluated at the element centroid. With the generalized stresses arising from the modified generalized laminate stiffness matrix assumed to be independent from the ones obtained from the displacement, an extended Hellinger–Reissner functional can be derived. By choosing the assumed generalized stresses similar to the assumed stresses of a previous solid element, a hybrid‐stress solid‐shell element is formulated. Commonly employed geometric non‐linear homogeneous and laminated shell problems are attempted and our results are close to those of other state‐of‐the‐art elements. Moreover, the hybrid‐stress element converges more readily than the selectively reduced integrated element in all benchmark problems. Copyright © 2002 John Wiley & Sons, Ltd.     

The Influence of the Amount of Fluoride Catalyst on the Morphological Properties of the Anilinepropylsilica Xerogel Prepared in Basic Medium

Anilinepropylsilica hybrid powder was synthesized by a sol-gel route in basic medium using HF as catalyst. The effect of the amount of HF catalyst on the morphologies and on organic content was studied. The xerogels were characterized using FTIR, SEM and N₂ adsorption-desorption isotherms. The increase in the HF quantity results in an slight increase in organic content and changes in the particle size, surface area and pore structure.     

用于安全稳定控制的高压直流极闭锁判据

交直流并联运行电网中直流极闭锁后引起的安全稳定问题十分突出，如何正确判别直流极闭锁是安全稳定控制系统研究中的重要课题。采用数值仿真方法分析了直流极闭锁对电力系统稳定的影响，指出稳定控制装置必须正确、快速地判出不同形式的直流极闭锁。通过研究直流极闭锁的电气量特征以及直流控制保护系统的动作行为，提出了可靠的直流极闭锁综合判据，并进行了详细的阐述。通过介绍中国南方交直流混联电网安全稳定控制系统核心部分———高肇直流输电安全稳定控制系统，进一步论述了研究直流极闭锁判据及直流极闭锁后稳定控制的重要性。     

Improvement of levitation characteristics in a magnetic bearing system using HTSC‐permanent magnet hybrid structure

Magnetic bearing using pinning force of a permanent magnet and a high‐temperature superconductor has been developed. Additional permanent magnet is introduced to increase the levitation force of the magnetic bearing. In this hybrid magnetic bearing system, levitation force is mainly given by the repulsive force of the permanent magnets, and stability for the lateral direction is given by pinning force of the superconductor. The experimental device is developed. A ring‐type superconductor and a bulk one are examined. Levitation characteristics of the hybrid magnetic bearing are measured. The bulk superconductor shows better characteristics of both levitation and lateral stability than the ring one. Levitation force of the hybrid system becomes about twice as large as that of the nonhybrid one. Although, the repulsive force of the permanent magnet decreases the lateral stability of the system, its influence becomes small by choosing an adequate position of the permanent magnets and the superconductor. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 150(1): 71–77, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10350     

Performance prediction of a hybrid‐excitation synchronous machine with axially arranged excitation poles and permanent‐magnet poles

This paper presents a method of predicting the steady‐state performance of a new hybrid‐excitation synchronous machine (HESM) theoretically. The field pole of this HESM is axially divided into two parts; one is an excitation part and the other a permanent‐magnet (PM) part. A nonlinear equivalent circuit, which can include the saliency of the rotor and the magnetic saturation due to the iron core, is derived. Based on this equivalent circuit, the steady‐state performance of the HESM is calculated, and the results are confirmed through experiments. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 150(2): 43–49, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20033     

Inference and learning in hybrid probabilistic network

This paper proposed a novel hybrid probabilistic network, which is a good tradeoff between the model complexity and learnability in practice. It relaxes the conditional independence assumptions of Naive Bayes while still permitting efficient inference and learning. Experimental studies on a set of natural domains prove its clear advantages with respect to the generalization ability.     

机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。