永磁同步电动机高动态响应电流控制

永磁同步电动机系统广泛采用矢量控制策略实现转矩控制,电流控制环是其核心部分.电流环一般采用PI型控制,但PI型电流控制动态响应动态特性受到制约,参数整定必须在超调量及响应时间等指标之间折衷选择.为了改进PI型电流控制的动态响应性能,在输入误差较大时,采用滑模变结构控制,输入误差较小时,切换到PI型电流控制.结合滑模变结构和PI型电流控制,可以充分利用滑模变结构控制动态响应快,以及PI型电流控制无稳态误差的特点,并能解决滑模变结构控制的抖颤问题.实验结果表明该电流控制方法响应时间短而且超调量小,同时获得良好的动态响应和控制精度.     

ADALINE based robust control in robotics: a Riemann-Liouville fractional differintegration based learning scheme

This paper presents an approach to improve the performance of intelligent sliding model control achieved by the use of a fundamental constituent of soft computing, named Adaptive Linear Element (ADALINE). The proposed scheme is based on the fractional calculus. A previously considered tuning scheme is revised according to the rules of fractional order differintegration. After a comparison with the integer order counterpart, it is seen that the control system with the proposed adaptation scheme provides (1) better tracking performance, (2) suppression of undesired drifts in parameter evolution and (3) a very high degree of robustness and insensitivity to disturbances. The claims are justified through some simulations utilizing the dynamic model of a two degrees of freedom (DOF) direct drive robot arm and overall, the contribution of the paper is to introduce the fractional order calculus into a robust and nonlinear control problem with some outperforming features that are absent when the integer order differintegration operators are adopted.     

Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot

Chattering in the control signal is a significant problem in sliding mode control (SMC). The boundary layer approach is one of the many modifications proposed in the literature to avoid the chattering. In this approach, instead of the discontinuous SMC, a continuous feedback control law is employed in a boundary layer around the sliding surface. The thickness of the boundary layer is an important design parameter. This paper proposes a fuzzy online tuning method to adjust the boundary layer thickness for the best system performance without chattering. The method features the measurement of the chattering in the control signal. The paper validates the performance of the algorithm by experiments on a direct drive robot with a range of different payloads.     

Adaptive sliding mode-like fuzzy logic control for nonlinear systems

Sliding mode-like fuzzy logic control （SMFC） algorithm for nonlinear systems is presented in this paper. Firstly dead zone parameters of sliding mode control （SMC） are selftuned by proper adaptive laws and then combined into fuzzy logic system （FLS） to compose the opportune fuzzy logic control （FLC）, which is equivalent to the predesigned SMC controller with self-tuning parameters. Robustness and invariance to the uncertainties of the closed-loop systems are improved and chattering of the SMC is eliminated. Finally simulation results of numerical examples show that the proposed control algorithm is efficient and feasible.     

Processing intrusion detection alert aggregates with time series modeling

The main use of intrusion detection systems (IDS) is to detect attacks against information systems and networks. Normal use of the network and its functioning can also be monitored with an IDS. It can be used to control, for example, the use of management and signaling protocols, or the network traffic related to some less critical aspects of system policies. These complementary usages can generate large numbers of alerts, but still, in operational environment, the collection of such data may be mandated by the security policy. Processing this type of alerts presents a different problem than correlating alerts directly related to attacks or filtering incorrectly issued alerts.We aggregate individual alerts to alert flows, and then process the flows instead of individual alerts for two reasons. First, this is necessary to cope with the large quantity of alerts – a common problem among all alert correlation approaches. Second, individual alert’s relevancy is often indeterminable, but irrelevant alerts and interesting phenomena can be identified at the flow level. This is the particularity of the alerts created by the complementary uses of IDSes.Flows consisting of alerts related to normal system behavior can contain strong regularities. We propose to model these regularities using non-stationary autoregressive models. Once modeled, the regularities can be filtered out to relieve the security operator from manual analysis of true, but low impact alerts. We present experimental results using these models to process voluminous alert flows from an operational network.     

Global sliding‐mode control with generalized sliding dynamics

A global sliding‐mode control (GSMC) scheme is proposed to provide a framework for ensuring the existence of a sliding mode throughout an entire response. Based on this framework, robust eigenvalue‐assignment GSMC (REA‐GSMC) is proposed to robustly assign closed‐loop eigenvalues that must be real. The eigenvalues being all real, however, leads to sluggish responses. According to most error criteria such as IAE, ISE, and ITAE, the optimum system should have complex eigenvalues. This paper proposes a GSMC scheme with generalized sliding dynamics, referred to as Generalized GSMC, in order to release the previous constraint on the REA‐GSMC. Thus, the Generalized GSMC can be designed to achieve a system that is both robust and optimum in the sense that it minimizes certain error performance indices in spite of the presence of system uncertainties. Experiments were conducted on a two‐link direct‐drive manipulator to demonstrate the effectiveness of the proposed scheme. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter

This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects. Recommended by Editorial Board member Hyo-Choong Bang under the direction of Editor Hyun Seok Yang. This work was supported by the Korea Research Foundation Grant (MOEHRD) KRF-2005-204-D00002, the Korea Science and Engineering Foundation(KOSEF) grant funded by the Korea government(MOST) R0A-2007-000-10017-0 and Engineering Research Institute at Seoul National University. Daewon Lee received the B.S. degree in Mechanical and Aerospace Engineering from Seoul National University (SNU), Seoul, Korea, in 2005, where he is currently working toward a Ph.D. degree in Mechanical and Aerospace Engineering. He has been a member of the UAV research team at SNU since 2005. His research interests include applications of nonlinear control and vision-based control of UAV. H. Jin Kim received the B.S. degree from Korea Advanced Institute of Technology (KAIST) in 1995, and the M.S. and Ph.D. degrees in Mechanical Engineering from University of California, Berkeley in 1999 and 2001, respectively. From 2002–2004, she was a Postdoctoral Researcher and Lecturer in Electrical Engineering and Computer Science (EECS), University of California, Berkeley (UC Berkeley). From 2004–2009, she was an Assistant Professor in the School of in Mechanical and Aerospace Engineering at Seoul National University (SNU), Seoul, Korea, where she is currently an Associate Professor. Her research interests include applications of nonlinear control theory and artificial intelligence for robotics, motion planning algorithms. Shankar Sastry received the B.Tech. degree from the Indian Institute of Technology, Bombay, in 1977, and the M.S. degree in EECS, the M.A. degree in mathematics, and the Ph.D. degree in EECS from UC Berkeley, in 1979, 1980, and 1981, respectively. He is currently Dean of the College of Engineering at UC Berkeley. He was formerly the Director of the Center for Information Technology Research in the Interest of Society (CITRIS). He served as Chair of the EECS Department from January, 2001 through June 2004. In 2000, he served as Director of the Information Technology Office at DARPA. From 1996 to 1999, he was the Director of the Electronics Research Laboratory at Berkeley (an organized research unit on the Berkeley campus conducting research in computer sciences and all aspects of electrical engineering). He is the NEC Distinguished Professor of Electrical Engineering and Computer Sciences and holds faculty appointments in the Departments of Bioengineering, EECS and Mechanical Engineering. Prior to joining the EECS faculty in 1983 he was a Professor with the Massachusetts Institute of Technology (MIT), Cambridge. He is a member of the National Academy of Engineering and Fellow of the IEEE.     

A formal model of composing components: the TLA+ approach

In this paper, a method for writing composable TLA⁺ specifications that conform to the formal model called Masaccio is introduced. Specifications are organized in TLA⁺ modules that correspond to Masaccio components by means of a trace-based semantics. Hierarchical TLA⁺ specifications are built from atomic component specifications by parallel and serial composition that can be arbitrary nested. While the rule of parallel composition is a variation of the classical joint-action composition, the authors do not know about a reuse method for the TLA⁺ that systematically employs the presented kind of a serial composition. By combining these two composition rules and assuming only the noninterleaving synchronous mode of an execution, the concurrent, sequential, and timed compositionality is achieved.     

“数据库原理与应用”课程实践教学的改革与探索

"数据库原理与应用"的实践教学是该课程的一个重要教学环节,对提高教学质量和培养学生能力起着决定性的作用。本文论述了该课程在课堂教学、课程设计和课外活动指导三个方面所作的一些实践教学改革和探索,取得了较好的效果。     

新建地方本科院校计算机专业人才培养模式研究

新建地方本科院校应适应经济建设和社会发展对人才培养的要求。针对计算机专业人才培养过程中存在的问题和新建地方本科院校自身的特点,阐述了产学研合作是培养计算机专业应用型人才的重要途径,分析了新建地方本科院校产学研合作中存在的问题,探讨了新建地方本科院校计算机专业开展产学研合作教育的有效方式。