开关磁阻电机结构性转矩脉动抑制方法

开关磁阻电机具有结构简单、成本低和调速范围广等优势,但其双凸极结构和控制器的开关特性,导致存在转矩脉动现象,使得抑制转矩脉动成为焦点问题。首先从开关磁阻电机的结构和运行机理出发,针对线性解析方法难以分析转矩特征的问题,建立电机有限元模型求解出转矩特征并进行样机验证试验。分析样机结构参数对转矩脉动的影响,针对结构参数耦合问题,选择NSGA-Ⅱ算法在参数优化平台上对样机结构参数进行多目标寻优,在保证优化后样机的转矩脉动系数和平均转矩均优于初始电机的条件下,最终获得样机最优化结果。结果表明,不同结构参数对电机转矩的影响有较大的差异,对结构参数的优化能有效地抑制转矩脉动,该参数优化方法可以为开关磁阻电机结构性转矩脉动抑制提供参考。     

Robust adaptive control of robotic manipulators without the regressor matrix

A new adaptive controller is presented here for rigid-body robotic manipulators. It is stable and robust with respect to a class of external disturbances. The robustness of the adaptive controller is established without the ‘slow-varying’ assumption and the computationally demanding regressor matrix. The control law consists of a non-adaptive PD control part and an adaptive control part. It uses two adaptive matrices to compensate two uniformly bounded coefficient matrices derived from the original dynamics. A α σ|q?|-modified adaptive law is designed to adjust the adaptive matrices. A Lyapunov-type stability analysis indicates that the closed-loop system is uniformly ultimately bounded. The tracking error and compensation error will eventually converge into a closed region, which can be made arbitrarily small by adjusting the controller parameters. Simulation results are included to demonstrate the performance of the proposed controller.     

NURBS曲线C~1连续参数优化算法

曲线的参数特性直接决定基于自由曲线的路径规划、运动控制等算法的质量.为了生成满足C1连续的近似弧长参数化,提出一种基于分段三次重新参数化的参数优化算法.首先利用Simpson方法离散积分能量,然后使用极值求解法求得初始解,最后通过LM(Levenberg-Marquardt)优化算法计算出曲线的最优参数表示.与C1连续的分段有理重新参数化方法相比,该算法能够在分段数量很少的情况下达到局部最优.最后通过实例说明了文中算法的有效性.     

Using Dynamic Optimization Technique to Study the Operation of Batch Reactors

How to apply the global optimization technique, simulated annealing, and to explore the operation of batch reactors is addressed in this study. Based on the operating purposes and the imposed constraints, the batch reactor operations are first formulated as two optimal control problems: the maximal yield (or conversion) problem and the minimal operating time problem. The problems are then converted into non‐linear programming problems by the concept of control vector parameterization. The converted problems are solved by the algorithm derived from simulated annealing to determine the optimal operating policy and the performance index. These results are useful in assessing design and operation of batch reactors. In this article, the CSTR model is used to demonstrate the convenience and robustness of the proposed algorithm. Two typical reaction models are used to discuss the operations based on the optimal solutions.     

三角网格曲面共形参数化研究综述

曲面参数化是计算机图形学和计算机辅助设计中的一个重要问题,有着广泛的应用背景。曲面 参数化旨在谋求从三维曲面到某参数区域变换过程中某些内蕴几何量(例如边长、角度、面积)的变形最小化。 保角参数化前后保持曲面局部形状,又称作共形参数化。本文针对三角网格曲面,介绍了共形参数化领域的研 究现状。根据目标参数域的不同,主要讨论了平面参数化、球面参数化和双曲空间参数化。最后总结了现阶段 共形参数化存在的难点问题和未来可能的研究方向。     

湿法炼锌沉铁过程氧化速率优化控制

湿法炼锌沉铁过程针铁矿沉淀形成的条件要求苛刻, 亚铁离子的氧化速率必须控制在合理的范围内才能保证溶液中的铁离子以针铁矿形式除去. 本文在沉铁过程动态模型的基础上, 根据针铁矿沉淀形成的条件和结合流程工艺要求, 优化设定每个反应器出口的亚铁离子浓度, 进而建立针铁矿法沉铁过程氧化速率优化控制模型. 采用控制参数化方法将最优控制求解问题转化为非线性规划, 通过状态转移优化算法求取最优的氧气和氧化锌控制率, 以合理控制沉铁过程亚铁离子的氧化速率. 仿真结果表明, 优化控制模型计算所得的控制量不仅可以保证反应过程的氧化速率符合生成针铁矿沉淀的条件, 而且可以稳定生产流程.     

翼伞系统最优归航轨迹设计的敏感度分析方法

本文对三自由度翼伞系统归航轨迹优化问题进行了研究,采用控制变量参数化与时间尺度变换相结合的优化算法对翼伞系统的最优控制问题进行数值求解.该方法是基于灵敏度分析的优化算法,将控制量以及控制量转换时间转化为一系列参数优化问题同时进行求解.仿真结果表明,相对于基于两端边值优化算法而言,灵敏度分析法只需要正向积分进行求解,因而具有计算简单、耗时短等优点,其控制效果良好,距离偏差和方向偏差均满足实际需求,有效地提高了翼伞系统的着陆精度,验证了该优化算法的可行性.     

Stretch-Minimizing Volumetric Parameterization

Not many methods for parameterization guarantee bijectivity or local injectivity, which is essential for foldover-free mappings. Stretch-minimizing parameterization which is widely used for surface par...     

面向等几何分析的几何计算

等几何分析方法是一种直接基于CAD模型的精确几何表示进行物理性能仿真分析的新方法.文中从几何计算的视角出发,对等几何分析方法的基本框架,以及面向等几何分析的几何设计与计算的相关工作进行了介绍,重点介绍适合分析的计算域参数化、适合分析的新型样条理论、等几何配点法、面向等几何分析的并行计算等4个方向的研究进展.最后对需要进一步深入研究的关键问题进行了探讨.     

Ricci flow-based spherical parameterization and surface registration

This paper presents an improved Euclidean Ricci flow method for spherical parameterization. We subsequently invent a scale space processing built upon Ricci energy to extract robust surface features for accurate surface registration. Since our method is based on the proposed Euclidean Ricci flow, it inherits the properties of Ricci flow such as conformality, robustness and intrinsicalness, facilitating efficient and effective surface mapping. Compared with other surface registration methods using curvature or sulci pattern, our method demonstrates a significant improvement for surface registration. In addition, Ricci energy can capture local differences for surface analysis as shown in the experiments and applications.