基于双闭环PID控制的球棒控制系统设计

球棒系统是典型的开环不稳定非线性系统,是机电控制的典型课题.以球棒控制系统为研究对象,首先对系统进行受力分析,建立相应的数学模型,并将非线性模型线性化;然后根据系统模型采用根轨迹法设计控制器,使球棒系统稳定;最后利用matlab的simulink工具进行仿真,获得了较好的控制性能.通过该系统的设计,说明了机电控制系统设计的一般步骤,提供了一套利用matlab进行控制器设计和仿真的方法,对机电控制系统设计具有很强的借鉴意义.     

利用多线程实现Matlab远程仿真

目前现场总线在工业中有着广泛的应用,对于包含总线的控制系统即网络控制系统的研究是一个新课题。该文介绍了一个仿真系统,利用该系统可以对基于CAN总线的网络控制系统进行仿真。该系统应用VC++6.0工具开发多线程应用程序,同时利用Matlab中的SIMULINK工具开发控制器和仿真对象,结合CAN总线进行数据传输,形成了Matlab远程仿真系统。实验证明该仿真系统的实时性较好,可以满足大部分控制系统的仿真要求。     

利用时间延迟状态反馈实现异步电机的混沌合成

为了在三相交流异步电机的运行过程中实现混沌合成,采用非线性系统的微分几何理论和时间延迟反馈控制的方法,设计了混沌合成控制器.该控制器通过对三相交流异步电机模型的简化分析,并利用非线性控制理论的状态反馈精确线性化方法来设计.应该此控制器即可得到异步电机运行时的混沌合成.应用Matlab软件中Simulink 工具进行仿真分析,仿真结果说明利用时间延迟状态反馈设计的控制器实现异步电机的混沌合成是完全合理可行的,运行结果也是满足要求的.     

巡航技术在公路限速系统中的应用研究与仿真

公路限速系统是一种可以对行驶在限速路段中的车辆速度进行控制的综合交通安全系统,本文运用巡航技术对公路限速系统中的车载部分进行设计。文中利用M A T L A B工具建立了汽油机汽车发动机的仿真模型,并用B P神经网络自适应P I D设计了控制器,通过仿真验证了该车载系统的有效性。     

磁悬浮球系统的变结构控制

磁悬浮球系统是一种典型的非线性、不稳定性系统。本文根据变结构控制理论,设计了一个动态变结构控制器,该控制器能够保证磁悬浮球系统的各个状态逐渐趋近于设计值。同时利用Modelica对磁悬浮球系统进行建模仿真,仿真结果表明磁悬浮球的变结构控制系统具有很好的动态性能和很强的鲁棒性。     

一种SD/MMC存储器启动方案在SoC中的设计与实现

本文通过分析嵌入式系统的启动过程,设计实现了基于SD/MMC存储卡的直接启动方案。该方案基于AMBA总线,采用硬件描述语言（Verilog HDL）实现SD/MMC启动控制器,利用EDA工具VCS进行仿真,Synplify进行综合,采用Altera公司的FPGA进行验证。全文从系统架构设计出发,详细介绍了启动过程的硬件设计和软件流程,最后给出仿真、综合和FPGA验证结果。     

基于Petri网的并行控制器的VHDL实现

Petri网是离散事件系统建模的重要工具,本文使用硬件描述语言VHDL实现了基于Petri网的并行控制器。文中通过一个液位控制系统实例具体介绍了这一方法,并通过仿真波形证明了该方法的正确性。这对于离散事件系统并行控制器的设计具有十分重要的意义。     

基于实时仿真平台直升机系统控制策略研究

直升机飞行控制系统属于典型的多输入-多输出系统,本身具有非线性特性,是控制系统工程中较为复杂的被控对象,设计有效的低成本的直升机的飞行控制系统日益受到重视.本文设计了一种新型的直升机实时仿真系统,利用加拿大Quanser公司开发的三自由度运动仿真平台,基于Matlab的实时工作间进行了飞行控制系统的设计,通过代码自动生成环境产生实时仿真代码,进行仿真实验.本文介绍了系统的组成,建立了系统的数学模型,设计了系统的控制器,并对最优控制策略进行了研究.控制器在传统PID控制方案的基础上采用LQR控制方案.最后经仿真验证可知,LQR控制器可以实现最优控制,该系统控制效果较好.     

不确定离散时滞系统的时滞相关非脆弱H_∞控制

讨论不确定离散时滞系统非脆弱控制器的设计问题.利用Lyapunov-Krasovskii稳定性理论和有限和不等式方法,获得了不确定时滞系统在非脆弱控制器作用下不仅内部渐近稳定,而且具有给定的H∞扰动抑制水平y的时滞相关有界实条件.采用迭代算法分别给出了控制器具有加法不确定性和乘法不确定性两种情况的非脆弱控制器参数的设计方法,借助于Matlab的LMI工具箱可以方便求解.数值仿真实例表明了该方法的有效性.     

自适应的时变比例增益的预测PID控制器

为了利用PID控制获得先进的控制性能,将广义预测控制(GPC)用于PID参数的实时优化,在此基础上提出了一种新的基于GPC的自适应PID控制器的设计方法.该PID控制器具有时变的比例增益,并且PID控制器的设计利用了GPC的未来参考输入.因此,GPC控制律能由设计的PID控制器精确实现.为使GPC控制器稳定地获得比例增益,采用了基于互质因子分解扩展的强稳定GPC,独立于利用标准GPC设计的闭环系统而重新设计GPC控制器,保证了闭环系统的稳定性.此外,利用递推最小二乘法对系统进行在线辨识,修正模型参数,增强了系统的抗扰性.以一阶时滞非最小相位系统为被控对象,在Matlab中对该设计方法进行了仿真,仿真结果验证了该方法的有效性.     

Optimal regulation of a cable suspended robot equipped with cable interfering avoidance controller

Closed-loop regulation of a spatial cable suspended robot is performed in this paper subject to maximizing the Dynamic Load Carrying Capacity (DLCC) of the end-effector while the cable interference is avoided actively. Optimization is performed between two predefined boundaries and considering the cable interference constraint. This constraint is satisfied by designing a controller which prevents the cables’ collision. The overall formulation of the closed-loop optimal control based on Feedback linearization is derived in this paper for planning the optimal path with the highest load capacity. Then a complementary adaptive controller is designed and implemented to the main controller which is responsible for providing cable interfering avoidance. The efficiency of the designed controller for preventing the cables’ collision is shown by performing and analyzing some comparative simulations conducted on an under constrained cable robot with six cables and six DOFs. All results related to regulation, tracking and DLCC are compared between the simple optimal closed-loop system and the system which is equipped with the proposed cable interfering avoidance controller. It is proved that the planned path satisfies cable interference constraint while its DLCCs are optimized.     

Optimal terrain-following for towed-aerial-cable sensors

Towed-aerial cable systems are often used for towing decoys from aircraft and for collecting electromagnetic data from low altitudes. Airborne cable systems are typically controlled by maneuvering the aircraft, which can limit the safe altitude of the towed-sensor package. In this paper, a real-time optimal control strategy for controlling a towed-cable system is proposed that uses cable winch control to control the altitude of the towed-body. The controller is based on a receding horizon control approach, where the aircraft senses the terrain profile ahead of the towed-body with a relatively short time horizon. This information is sent to the controller, which updates the cable winch reel acceleration to safely avoid colliding with the terrain, while keeping the towed-sensor close to the desired altitude for obtaining good measurements. The controller is developed for a simplified system model and implemented in a multibody cable system model that incorporates cable flexibility and elasticity.     

软件界面动态生成及可视化调整的设计与实现

用户界面(UI)是用户直接与软件进行交互的部分,是一个软件是否具有竞争优势的一个重要条件,备受程序员的关注和重视。文中探讨了如何由用户在使用过程中根据需要配置个性化界面的方法。并且通过一个具体项目的实践,提出了一个动态实现软件界面及可视化调整的解决方案,并对其实现过程中的控件动态生成、事件动态绑定、控件拖动等的一些技术细节进行了较详尽的描述。     

Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot

Cable robots have been extensively used for the loading and unloading of cargo in shipping industries. In this paper, we look at a two stage cable robot, i.e., a cable robot with two moving platforms connected in series. The sea condition introduces disturbance into the system. This disturbance is considered while modeling the dynamics of the two stage cable robot. A robust controller is designed which can assure robust tracking of the desired end-effector trajectory in the presence of the disturbance. Simulation results presented show the effectiveness of the controller.     

Cable inspection robot for cable‐stayed bridges: Design,analysis, and application

As the most important component of cable‐stayed bridges, cable safety has been of crucial public concern. In this paper, a new robot system for the inspection of stay cables is proposed. The robot not only replaces human workers in carrying out risky tasks in a hazardous environment but also increases operational efficiency by eliminating costly erection of scaffolding or dragging of winches. The designed robot is composed of two equally spaced modules, joined by connecting bars to form a closed hexagonal body that clasps the cable. For safe landing in case of an electrical interruption or malfunction, a gas damper with a slider‐crank mechanism is proposed to use up the extra energy generated by gravity when the robot slips down. To conserve energy, a landing method based on back electromotive force is introduced. Laboratory and field experiments verified that the robot can stably climb random inclined cables and land smoothly upon electrical malfunction. Finally, along with an application example, the vision inspection system based on charge‐coupled device cameras, operating modes of the robot, control methods, and feasibility are discussed in detail. The field applications on two cable‐stayed bridges indicate that such a low‐cost robot system can improve the efficiency of inspection operations and satisfy the requirements of actual cable inspection. © 2011 Wiley Periodicals, Inc.     

矿用高压电缆在线监测系统CAN总线控制器的设计

针对矿用高压电缆在线监测系统缺乏高效监测平台和可靠通信方式的现状,提出了一种矿用高压电缆在线监测系统CAN总线控制器的设计方案,详细介绍了该控制器的硬件电路设计、程序状态机的实现、波特率的设定及SPI通信的实现。该控制器以FPGA芯片EP2C20F484C8为监测核心,以MCP2510作为总线控制器,采用Verilog HDL语言编写应用程序。实验结果证明了该控制器的实时性和可靠性。     

Active vibration control of large space flexible slewing truss using cable actuator with input saturation

This paper proposes a composite approach to implementing attitude tracking and active vibration control of a large space flexible truss system. The system dynamic model is based on Hamilton's principle and discretized using the finite difference method. A nonlinear attitude controller for position tracking is developed based on the input‐output linearization of the discretized system, which can effectively improve system performance compared with a traditional proportional‐differential feedback controller. A taut cable actuator scheme is presented to suppress tip vibration because the mechanical model is a large large‐span spatial structure; furthermore, because the cable has the feature of unilateral input saturation constraint, which can provide only a pulling force, a nonlinear quadratic regulator controller is developed by introducing a piecewise nonquadratic cost function to suppress the vibration of the flexible structure. To investigate the factors that influence the damping effects of the cable, the parametrically excited instability of a cable under 2 supports is analyzed. Simulation results illustrate that the proposed attitude controller can implement the task of position tracking, and the vibration suppression control law is shown to be optimal for functional performance with input saturation.     

Design,analysis and control of a winding hybrid-driven cable parallel manipulator

This paper is related to the design, analysis and control of a winding hybrid-driven cable parallel manipulator (WHCPM). The WHCPM has the advantages of both cable parallel manipulator and hybrid-driven planar five-bar mechanism. Design of the WHCPM is explained, and the structure static analysis is carried out by using finite element method. Dynamics and payload capability of the WHCPM are studied. The WHCPM prototype is built for precision tracking experiments. To evaluate the manipulator design, the dynamic control compensation is performed on the basis of the conventional PID controller and the adaptive fuzzy sliding mode controller. The simulated and experimental results are reported and the tracking performance of the WHCPM is significantly improved by applying the proposed control technique in comparison with the performance when applying the conventional PID controller.     

机载线缆的分布式并行测试系统设计与研究

面向机载信号线缆的测试需求,提出以主控器构成管理中心,以分布式测试单元形成测试前端,以CAN总线为信息交换方式,实现线缆的分布式并行测试系统;采用比例法的模数转换技术,实现了线缆导通阻抗的高准确度和稳定性;采用虚拟现实3D显示技术,实现故障线缆的定位,为排故提供方便;同时也对多芯线缆的断线检测方法进行了实验研究,其结果表明,该测试系统能满足线缆多种故障的检测需求.     

基于FPGA的IEEF1394物理层控制器设计与实现

文中介绍了1394物理层控制器(三端口／100M／线缆环境)的工作原理，工作方式和系统框架，对其中的关键技术作了重点的分析。通过验证，该控制器完全符合《IEEE Std 1394-1995》技术规范。