一种用于星载SAR天线的转动控制技术

针对星载合成孔径雷达（SAR）天线要求在超低转速下平稳转动，同时满足小型化轻量化的要求，本文提出一种基于微步距模式的天线转动控制技术，该技术使用两个带PWM电路的全桥驱动器通过微步距方式驱动步进电机。在给出系统架构、微步距控制原理后，进一步提出可靠性设计的具体措施。经测试和环境试验验证，该技术对同类应用具有一定的参考价值。     

电力系统自动化发展方向分析

计算机技术、控制技术及信息技术的发展,电力系统自动化面临着空前的变革,多媒体技术、智能控制技术将迅速进入电力系统自动化领域。     

第七届世界军人运动会核与辐射风险评估与控制

武汉市涉核单位众多,存在一定的核与辐射事故风险。通过对武汉市举办第七届世界军人运动会可能存在的核与辐射风险因素进行识别及评价,确定可能发生的12类核与辐射事故类型及风险水平,进而有针对性的制定风险防控措施,做到辐射应急管理关口前移,在保证军运会期间核技术利用单位正常生产活动的基础上有效的保障了核与辐射安全。     

基于DSP的智能电源控制单元设计与实现

本文利用TI公司TMS320F28335芯片高效的浮点运算能力,结合片上丰富的外设,设计并实现了一种具有高可靠性的智能电源控制单元。该控制单元周期性地对各片上外设进行自检维护,完成多路负载通道控制、电压、电流的实时监控,并对故障进行指示、处理和上报,同时提供人机交互界面更新状态信息。经过验证,该控制单元工作稳定,具备良好的工程应用价值。     

气藏采收率影响因素研究与启示——以靖边气田A井区为例

以鄂尔多斯盆地靖边气田A井区为例，采用单因素相关分析和数值模拟方法，对比研究了井网控制程度、储层物性及地层废弃压力对气藏采收率影响及其主次关系。结果表明，井网控制程度是影响采收率的首要因素，井网控制程度每增加10%，采收率提高8.5%；渗透率是影响采收率的重要因素，渗透率每增加10%，采收率平均增加6%；废弃压力对采收率亦有较大影响，废弃压力每降低10%，采收率可提高1.6%。三者对采收率影响综合排序为：井网控制程度>储层物性>废弃压力。分析认为，渗透率是储层固有属性，很难从根本改变；而废弃压力受井口外输压力和增压开采成本制约，降低幅度有限。因此，优化井网及增加井网控制程度是提高气藏采收率的有效途径。研究成果具有实践意义，可为改进气田开发方式和提高气藏采收率提供参考。     

高阶煤的孔隙结构特征及其对煤层气解吸的影响

以沁水盆地高阶煤3^#煤层为研究对象,借助高压压汞实验对高阶煤的孔隙参数进行测试,研究了高阶煤的孔隙结构特征,采用解吸速率实验对高阶煤的解吸速率和解吸量进行分析,并探讨了孔隙结构对煤层气解吸产出的控制规律。结果表明:3^#煤层的孔隙半径较小,煤层孔隙结构复杂;煤层主要以气体吸附孔和气体扩散孔为主,气体渗流孔占比很少,煤层的吸附气体体积大、吸附性能强、气体的扩散、渗流条件差。3^#煤层孔隙结构分形特征曲线呈"两段型",孔径大于940.7 nm时,不具有分形特征;孔径小于940.7 nm时,分形维数介于2.67~2.76之间,具有很好的分形特征。高阶煤的煤层气解吸特征具有快速解吸和慢速解吸2个阶段,快速解吸时间短,解吸量占比低;慢速解吸时间长,解吸量占比高,煤层气解吸困难。煤层的孔隙结构对煤层气的解吸具有重要影响,高阶煤较差的孔隙结构控制着煤层气解吸速率慢、解吸量低、产出程度低,煤层气井生产实践中表现为开始阶段产气量增长快,产气高峰时间短,稳产气量低、生产时间长,煤层气开发难度大。研究结果为高阶煤的煤层气抽采效果评价提供参考依据。     

快递分拣机器人控制系统的设计

为提高快递分拣效率,设计了一种基于OpenMV机器视觉模块的快递分拣机器人控制系统。在这一控制系统中,通过机器视觉技术实现快递件的轮廓识别、定位、扫码及分类,将STM32单片机作为运动控制核心,外接传感器感知机器人的状态,基于串口与机器视觉模块双向通信,实现对放置在地面的快递件进行自动分拣。通过制作样机验证了设计的合理性与可行性。     

Modeling,tracking, vibration and balance control of an underactuated mobile manipulator (UMM)

This paper presents an underactuated mobile manipulator (UMM) and focuses on solving modeling, tracking, and vibration- and balance-control problems. Although the study has been directed at warehousing applications, the developed techniques are general and can be applied to other applications. The derivation of equations of motion of the UMM, disturbance analysis, and model validation are investigated to reveal the actual system dynamics. Additionally, a simple but effective strategy is also developed to solve the equilibrium point and balance problem. Based on the dynamic model, two control architectures are proposed: Model Predictive Control (MPC) and MPC+Proportional-Integral (PI) with integral actions, respectively, and they can also be applied to other robotic systems. Compared to other MPC-based control strategies, the proposed controllers require less effort to implement in practice. Finally, simulations, experiments, and robustness verification are conducted and discussed, and the results are satisfactory.     

基于强化学习的数据驱动最优镇定控制及仿真

利用Q-学习算法,针对模型未知只有数据可用的非线性被控对象,解决最优镇定控制问题.由于状态空间和控制空间的连续性,Q-学习只能以近似的方式实现.因此,文中提出的近似Q-学习算法只能获得一个次优控制器.尽管求得的控制器只是次优,但是仿真研究表明,对于强非线性被控对象,相比线性二次型调节器和深度确定性梯度下降方法,文中方法的闭环吸引域更宽广,实际指标函数也更小.     

Experimental study on mitigating wind erosion of calcareous desert sand using spray method for microbially induced calcium carbonate precipitation

Wind erosion is one of the significant natural calamities worldwide, which degrades around one-third of global land. The eroded and suspended soil particles in the environment may cause health hazards, i.e. allergies and respiratory diseases, due to the presence of harmful contaminants, bacteria, and pollens. The present study evaluates the feasibility of microbially induced calcium carbonate precipitation (MICP) technique to mitigate wind-induced erosion of calcareous desert sand (Thar desert of Rajasthan province in India). The temperature during biotreatment was kept at 36 °C to stimulate the average temperature of the Thar desert. The spray method was used for bioaugmentation of Sporosarcina (S.) pasteurii and further treatment using chemical solutions. The chemical solution of 0.25 pore volume was sprayed continuously up to 5 d, 10 d, 15 d, and 20 d, using two different concentration ratios of urea and calcium chloride dihydrate viz 2:1 and 1:1. The biotreated samples were subjected to erosion testing (in the wind tunnel) at different wind speeds of 10 m/s, 20 m/s, and 30 m/s. The unconfined compressive strength of the biocemented crust was measured using a pocket penetrometer. The variation in calcite precipitation and microstructure (including the presence of crystalline minerals) of untreated as well as biotreated sand samples were determined through calcimeter, scanning electron microscope (SEM), and energy-dispersive X-ray spectroscope (EDX). The results demonstrated that the erosion of untreated sand increases with an increase in wind speeds. When compared to untreated sand, a lower erosion was observed in all biocemented sand samples, irrespective of treatment condition and wind speed. It was observed that the sample treated with 1:1 cementation solution for up to 5 d, was found to effectively resist erosion at a wind speed of 10 m/s. Moreover, a significant erosion resistance was ascertained in 15 d and 20 d treated samples at higher wind speeds. The calcite content percentage, thickness of crust, bulk density, and surface strength of biocemented sand were enhanced with the increase in treatment duration. The 1:1 concentration ratio of cementation solution was found effective in improving crust thickness and surface strength as compared to 2:1 concentration ratio of cementation solution. The calcite crystals formation was observed in SEM analysis and calcium peaks were observed in EDX analysis for biotreated sand.