基于滑模变结构控制的路径跟踪研究

为解决锅炉水冷壁磨损检测机器人的路径跟踪问题,提出了一种基于指数趋近律的滑模变结构控制的机器人路径跟踪方法。在水冷壁磨损检测机器人运动模型的基础上,进行路径跟踪误差分析,设计一种基于指数趋近律的滑模变结构控制器,再利用Lyapunov定理验证其收敛性,最后通过MATLAB软件模拟仿真,仿真结果表明该控制器可以克服误差,使位姿误差收敛至零。     

When is it reasonable to implement the discontinuous sliding‐mode controllers instead of the continuous ones? Frequency domain criteria

Professor Utkin proposed an example showing that the amplitude of chattering caused by the presence of parasitic dynamics (stable actuators) in some systems governed by the First‐Order Sliding‐Mode Controller is lower than that produced by the Super‐Twisting Algorithm. This example served to motivate this paper reconsidering the problem of comparison of chattering in systems with stable actuators, and driven by Discontinuous Sliding‐Mode Controllers (DSMCs) and Continuous Sliding‐Mode Controllers (CSMCs). Comparison of chattering produced by DSMC and CSMC taking into account their amplitudes, frequencies, and average power (AP) needed to maintain the system into real‐sliding modes, allowing to conclude the following: (i) for systems with slow actuators, the amplitude of oscillations and AP produced by DSMC be smaller than those caused by CSMC; (ii) for bounded disturbances with fixed Lipschitz constant, there exist sufficiently fast actuators for which the amplitude of oscillations and AP produced by CSMC be smaller than those caused by DSMC.     

磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。     

基于RBF网络滑模的电动助力制动系统液压力控制

针对汽车电动助力制动系统（Electro-booster，EBooster）的液压力控制中液压负载的非线性和不一致性问题，提出一种基于径向基函数（Radial based function，RBF）神经网络的滑模变结构控制方法。设计EBooster系统压力控制架构，建立液压制动系统等效结构简化模型，据此设计基于RBF网络滑模变结构的液压力控制方法，通过设计RBF网络的自适应律来实现系统滑模控制参数的自适应调整，并利用李雅普诺夫函数方法分析算法的稳定性。最后搭建电动助力制动系统的快速原型试验平台来验证算法的有效性。试验结果表明，采用RBF神经网络滑模变结构的控制策略对电动助力制动系统液压力的控制误差在2%以内，具有良好的控制效果。研究成果为EBooster系统的压力控制提出一种具有良好自适应性的算法设计思路。     

链条炉运行参数对燃烧及NOx排放的影响

通过数值模拟的方法研究了过量空气系数、配风方式、空气预热温度和炉排转速等运行参数对床层燃烧和氮氧化物排放特性的影响。研究结果表明:过量空气系数增大可加快床层整体反应速率,缩短反应区长度,增大床层表面氮氧化物质量浓度;合理推迟配风有利于扩展反应区整体长度,充分利用整个炉排;适当降低炉排转速有利于提高煤着火及前期反应速率,稍缩短总体反应区间;提高空气预热温度有利于煤着火和前期反应速率的提高,且有利于煤的燃尽。     

大类招生背景下电子信息类专业人才培养模式的探索与思考

“大类招生、分流培养”已成为大多数高校采取的招生和培养思路，如何确定大类招生包含的专业、合理制定分流原则、制定科学的课程体系、完善相关的配套制度，不仅关系高校招生生源质量，而且影响高校人才培养质量。本文以北京交通大学电子信息工程学院为例，详细阐述了电子信息类专业人才培养模式的探索和思考。     

Analysis of Radio over Fiber system for mitigating four-wave mixing effect

In this paper, an efficient 8-channel 32Gbps RoF (Radio over Fiber) system incorporating Bessel Filter (8/32 RoF-BF) has been demonstrated to reduce the impact of non-linear transmission effects, specifically Four-Wave Mixing (FWM). The simulation results indicate that the proposed 8/32 RoF-BF system provides an optimum result w.r.t. channel spacing (75 GHz), input source power (0 dBm) and number of input channels (8). In comparison with the existing RoF system, the proposed 8/32 RoF-BF system has been validated analytically and it is found that the performance of the proposed system is in close proximity particularly in FWM sideband power reduction of the order of 4 dBm for the 8-channel 32Gbps RoF system.     

镜面杂质与水汽吸放对露点仪影响的实验研究

显微成像露点仪在研制和测试过程中发现镜面杂质和内腔材质吸放水汽等影响测量精度的问题。针对镜面杂质对显微成像露点仪测量的影响开展了镜面图像特征的实验研究，结果表明：镜面杂质点处露珠凝结具有优先性，且反复凝结消散后镜面出现杂质沉降现象。针对水汽吸放对显微成像露点仪的影响开展了水汽释放与吸附效应的实验研究，结果表明：当温度发生变化时，显微成像露点仪感应舱内壁氧化铝材质存在释放（或吸附）水汽现象，使得显微成像露点仪测量值偏大（或偏小）。研究结果为露点仪在功能设置及镜面与腔体材料选择方面提供了参考。     

基于滑模的运载器主动段俯仰通道姿控系统设计

与传统比例-积分-微分（PID）控制方法相比，滑模控制（SMC）方法可以比较容易地将不确定性纳入控制器设计中，从而增强系统的鲁棒性。探索了SMC技术在运载器主动段姿态控制中的工程应用，首先通过分析基于趋近律的SMC系统，提出了降低不连续切换项系数的需求，然后研究了基于干扰上界的SMC方法。三通道小偏差仿真结果验证了两种方法的控制效果，表明第2种控制器的鲁棒性更好，稳态误差小，同时发动机喷管摆角需求较小。     

Test sample allocation method for testability verification test

An extended failure mode effect and criticality analysis (FMECA)-based sample allocation method for testability verification is presented in this study to deal with the poor representativeness of test sample sets and the randomness of the testability evaluation results caused by unreasonable selection of failure samples. First, the fault propagation intensity is introduced as part of the extended information of FMECA, and the sample allocation impact factors of component units and failure modes are determined under this framework. Then, the failure mode similarity and impact factor support are defined, and the game decision method for weighing the relationship between similarity and support is proposed to obtain the weight of failure mode impact factor. Finally, a two-step allocation framework of test samples is formulated to realize the sample allocation of component units and failure modes. This method is applied to the testability verification test of a launch control system. Results show that this method can obtain more representative test samples compared with the traditional sample allocation method while effectively reducing randomness of single testability evaluation result.