可移动机器人的运动学模型与控制原理

本文首先对可移动机器人的运动学进行了分析，建立了运动学模型与控制结构图，然后采用时域分析法对此系统进行了校正，最后通过对此系统的仿真与时测实验，对各校正环节的参数进行了整定。     

中国古典园林三维造型研究

论述了采用层次结构化及参数化三维造型方法，建立一个以造型函数库为核心，从而构造各类、各级园林景观构件表面模型的方法和过程。对于某些非建筑类的园林配景构件，采用了Ｆｒａｃｔａｌ方法进行造型。     

大系统分散鲁棒容错控制的进展及主要成果

综述了近２０年来关联大系统分散鲁棒容错控制的研究动态及取得的主要成果。说明了统一地研究分散鲁棒容错控制的必要性。在分散控制、鲁棒控制和容错控制研究领域内，分析了各种设计方法的主导思想及实质；指出了这些研究成果的意义与存在的问题。文中着重论述了分散、鲁棒、容错控制研究方法的发展途径。     

A delta transform approach to loop gain-phase shaping design of robust digital control systems

This paper addresses the existence of loop gain-phase shaping (LGPS) solutions for the design of robust digital control systems for SISO, minimum-phase, continuous-time processes with parametric uncertainty. We develop the frequency response properties of LGPS for discrete-time systems using the Δ-transform, a transform method that applies to both continuous-time and discrete-time systems. A theorem is presented which demonstrates that for reasonable specifications there always exists a sampling period such that the robust digital control problem has a solution. Finally, we offer a procedure for estimating the maximum feasible sampling period for LGPS solutions to robust digital control problems.     

Robust crossfeed design for hovering rotorcraft

Control law design for rotorcraft fly-by-wire systems normally attempts to decouple the angular responses using fixed-gain crossfeeds. This approach can lead to poor decoupling over the frequency range of pilot inputs and increase the load on the feedback loops. In order to improve the decoupling performance, dynamic crossfeeds should be adopted. Moreover, because of the large changes that occur in the aircraft dynamics due to small changes about the nominal design condition, especially for near-hovering flight, the crossfeed design must be ‘robust’. A new low-order matching method is presented here to design robust crossfeed compensators for multi-input, multi-output (MIMO) systems. The technique minimizes cross-coupling given an anticipated set of parameter variations for the range of flight conditions of concern. Results are presented in this paper of an analysis of the pitch/roll coupling of the UH-60 Black Hawk helicopter in near-hovering flight. A robust crossfeed is designed that shows significant improvement in decoupling perfomance and robustness over the fixed-gain or single point dynamic compensators. The design method and results are presented in an easily used graphical format that lends significant physical insight to the design procedure. This plant precompensation technique is an appropriate preliminary step to the design of robust feedback control laws for rotorcraft.     

An explicit finite difference method for finite-time observers

In this paper we present a numerical method for estimating the current state of a nonlinear control system. We use finite differences to discretize a modified version of the finite-time observer equations in James. The discretized equations are simple and easily programmed. The convergence and accuracy of the scheme is proved, and the scheme enjoys a number of important properties: availability of rate of convergence estimates, good robustness characteristics, and the ability to handle certain types of discontinuities in the observations. The major disadvantage is that the number of grid points required increases exponentially with the number of state dimensions.     

冲裁模CAD／CAM结构库之原型法

本文首先给出了一种新的2.5D 实体表示法,然后在此基础上提出了“原型”的概念。原型法的思想运用在结构库的管理中主要体现在它将模具结构与构成这种结构的零件之间的强联系变成弱联系,结构库面向的对象是一个具有整体性和可运算性的结构原型。这样的原型结构库基本上达到了通用性与开放性的要求。     

Freelance 2000 DCS在轴流机上的应用

简要介绍了Freelance 2000 DCS的功能特点以及轴流机的控制要求.结合轴流机的控制特点，用Freelance 2000 DCS对原模拟电子系统进行改造，实现并改进了轴流机流量－静叶位置调节、防喘振控制、逻辑控制、状态监测、信息管理等功能。改造后的系统可靠性高、技术先进、信息管理功能强，其设计思想和方法均可供石化企业大型压缩机控制系统的设计和改造借鉴。     

鄱阳湖控制浅说

该控制工程主要效益是改变鄱阳湖“夏水冬陆”的现状，成为祖国名符其实的第一大淡水湖，水面与避署胜地庐山和历史名城南昌、景德镇等相连，改善沿湖环境，发展航运，增加水产，开发利用丰富的水资源和旅游资源使之与杭州西湖、瑞士日内瓦湖等并列为世界名湖。