基于MCS－51单片机的自校正控制算法实时并行处理

本文对典型的自校正控制算法提出了一种基于ＭＣＳ－５１单片机的并行处理方案。采用本方案实现自校正控制算法可以提高控制系统的实时信息处理能力，进而改善相应的控制性能。本方案对研究其它复杂控制算法的实际应用具有参考价值。     

基于MCS—51单片机的自校正控制算法实时并行处理

本文对典型的自校正控制算法提出了一种基于ＭＣＳ－５１单片机的并行处理方案，采用本方案实现自校正控制算法可以提高控制系统的实时信息处理能力，进而改善相应的控制性能。本方案对研究其它复杂控制算法的实际应用具有参考价值。     

摘编

本文提出了一种新的纸张定量的组合自校正控制方案,给出了这种控制方案的设计原理,分析了这种方案的性能。本文所提方案的鲁棒性和数值稳定性都优于现有的纸张定量的自校正控制方案,具有直接的     

载人登月飞行器高速返回再入制导技术研究

返回再入段是载人登月任务完成后,保证宇航员安全返回地球的关键阶段,其跳跃式再入制导方法的研究是我国载人登月任务需要突破的一项重要关键技术.由于探月返回飞行器速度极高,其弹道特性与神舟飞船一类的近地轨道返回的飞行器有较大差别,也给制导导航与控制(简称GNC,以下同)系统设计带来较大挑战.与无人再入飞行器相比,载人飞行器需要具备防过载超限能力、大范围再入航程适应能力、高精度落点控制能力.为了满足上述要求,本文提出了一套基于全系数自适应校正的预测制导方案.在再入前,通过对基本倾侧角进行校正,提高了规划弹道对再入初始条件散布的适应性;再入后利用外环的预测与全系数自适应校正实现对规划弹道的持续修正,保证规划弹道与飞行器状态的匹配性,内环则采用短周期的弹道跟踪制导;对于横向制导,本文给出和比较了采用实时漏斗制导律、独立预测–校正制导律方案以及横航向独立自校正和耦合自校正方案.     

纸张定量的组合自校正控制

本文提出了一种新的纸张定量的组合自校正控制方案,给出了这种控制方案的设计原理,分析了这种方案的性能。本文所提出方案的鲁棒性和数值稳定性都优于现有的纸张定量的自校正控制方案,具有直接的工程实用价值。文中给出了本方案成功用于一台普通长网纸机的结果。     

机器人的独立关节极点配置自校正控制方案

本文采用独立关节极点配置自校正控制方式,提出了两种对文献〔1〕改进的机器人控制方案。仿真研究和算法的在线计算量估计,显示了其控制有效性和算法简易性.最后给出了前馈额定力矩离线计算、在线自校正控制算法采用多 CPU 并行处理的实现方案。     

新型自校正自适应原理研究及在船舶操纵中的应用

本文以实际工程应用为背景,在通常广义最小方差为基础的自校正自适应控制理论上建立性能更优越的新型自校正律。通过计算机仿真、比较试验及应用于最终的实船操纵系统均表明有极佳的效果。     

隧道窑炉自校正控制装置的研究与实现

本文的研究工作,是在大型耐火材料隧道窑炉上具体完成的.论述了本隧道窑系统实现自校正控制的可能性,针对本系统对最小方差自校正和经典PID控制进行了对比仿真研究,得出了在本控制系统上最小方差自校正控制确实优于经典PID控制的结论.最后,在隧道窑炉上具体实现了最小方差自校正控制并取得了满意的控制效果.     

串联系统广义预测控制及在飞行控制中应用

给出了串联系统广义预测自校正控制器(CSGPC).通过求取两组丢番图方程,优化串联系统的多步预测控制目标函数获得控制律,并针对飞行控制系统的纵向通道控制进行了仿真研究,验证了这种控制方案的优良性能.串联系统是一种复杂的控制系统,存在于工业过程以及航空航天过程中.因此将预测控制推广到串联系统具有重要的应用价值,为飞行控制系统中应用预测控制理论提供了一种先进实用的方法.     

碰撞自规避多弹分布式协同制导与控制

针对多枚导弹三维空间协同攻击机动目标情形,提出一种碰撞自规避多弹分布式协同制导律及其实现方案.基于可以测得的目标信息,将目标视作领弹,与参与协同攻击的多枚导弹形成"领弹–从弹"拓扑结构,基于网络同步算法实现导弹对目标的协同攻击.为了实现碰撞自规避,当导弹与目标相距较远时,采用带安全距离的同步算法.当导弹与目标接近时,取消该安全距离.基于运动学关系,将协同制导指令转化为速度、弹道倾角和弹道偏角指令.针对指令的跟踪控制问题,提出了一种基于改进微分器的抗干扰动态面控制方案.将参数不确定和外部扰动均视为系统干扰,采用改进微分器实现对该干扰的精确估计,从而保证了闭环系统的跟踪性能.仿真结果表明本文提出的控制器实现了对协同制导指令的精确跟踪,整个方案实现了碰撞自规避协同攻击.     

极点配置预测函数控制

本文通过在预测函数优化性能指标中引入加权多项式来进行极点配置预测函数控制的研究。通过适当选择加权多项式 ,可将极点配置在给定位置 ,获得所期望的闭环响应特性。同时基于模型脉冲传递函数 ,得到控制量的显式表达式。     

位移无静差ITAE最优传递函数的研究

位移无静差ITAE最优传递函数具有较好的平稳性和快速性,是一组适用于工程控制系统的最优参数。首先介绍了ITAE最优传递函数,然后研究了ITAE最优传递函数的极点分布、时域响应和频域响应,最后研究了ITAE最优传递函数的分母多项式系数与加权矩阵的关系。研究结果将大大促进ITAE最优传递函数的广泛应用,为进一步研究ITAE最优控制问题打下基础。     

Butterworth最优控制的逆问题

为了认识Butterworth最优控制的本质,揭开Butterworth最优传递函数与加权矩阵Q,R的相互关系,本文研究Butterworth最优控制的逆问题.首先用Butterworth最优控制确定状态反馈增益阵K,然后给出计算加权矩阵Q的参数化公式,最后用一个例子说明这种确定加权矩阵Q,R的方法的有效性和简便性.     

Neighbouring optimal guidance for aeroassisted non-coplanar orbital transfer

The fuel-optimal control problem in aeroassisted non-coplanar orbital transfer is addressed. The equations of motion for the atmospheric manoeuvre are non-linear and the optimal )nominal) trajectory and control are obtained. In order to follow the nominal trajectory under actual conditions, a neighbouring optimum guidance scheme is designed using linear quadratic regulator theory for onboard real-time implementation. One of the state variables is used as the independent variable in preference to the time. The weighting matrices in the performance index are chosen by a combination of a heuristic method and an optimal modal approach. The necessary feedback control law is obtained in order to minimize the deviations from the nominal conditons. The results are presented to a typical aeroassisted non-coplanar orbital transfer problem.     

Reduced order controller design for discrete time systems

Robust discrete control system design techniques and model reduction are discussed. A new linear quadratic guussian/loop transfer recovery procedure for discrete time systems is presented. In this technique, a full-state feedback or an output injection feedback is designed which has the desired loop shape, and then recovered by a realizable linear quadratic gaussian controller. To do this, results that show the effects of the weighting matrices (noise intensities) on linear quadratic regulator (Kalman-Bucy filter) return difference and inverse-return difference arc derived and a procedure to recover the linear quadratic regulator loop transfer function is described. The complexity of the resulting controller is then reduced without causing closed-loop instability. Two methods for model reduction are considered. The first is the discrete balanced realization and the second is P frequency weighting technique where it is possible to vary the approximation accuracy with frequency. The controller design and reduction techniques are illustrated by designing a reduced order controller for an 8th order lumped inertia flexible mechanical system.     

线性最优附加励磁控制系统的优化设计

本文将线性最优控制理论、灵敏度分析及线性规划有机地结合起来,圆满地解决了线性最优控制设计中权矩阵的优化选取问题。同时还指出,权矩阵的优化选取,不仅能够改善控制系统的动态品质,而且可以简化控制系统的结构,这是对权矩阵物理意义的一种全新的认识,为发挥权矩阵在线性最优控制中的作用提供了又一途径。文中还用该方法设计了一降阶反馈附加励磁控制系统,收到良好效果。     

Weighting Restriction for Intravenous Insulin Delivery on T1DM Patient via $H_{infty}$ Control

A weighting restriction with frequency components is proposed for the insulin delivery on Type 1 Diabetics Mellitus (T1DM) towards the control of the blood glucose level. The weighting restriction is stated from a model of healthy subjects which includes a rate for insulin delivery. The frequency components are incorporated via a transfer function from the plasma glucose to the free-plasma insulin such that a H _infin-based controller is designed. In this way, the control synthesis involves the frequency components on which a healthy pancreas delivers insulin for the glucose homeostasis. In order to test controller performance, a dynamical model of an actuator is also included in the closed-loop system to add its effects in the closed-loop evaluation of the H _infin -based controller. The actuator is a pump to deliver of an insulin infusion according with the rate computed by the controller. Note that the contribution is particularly focused on T1DM; however, the inclusion of weighting restriction can be used also onto critical care conditions.     

A Hamiltonian-based solution to the mixed sensitivity optimization problem for stable pseudorational plants

This paper considers the mixed sensitivity optimization problem for a class of infinite-dimensional stable plants. This problem is reducible to a two- or one-block H^∞ control problem with structured weighting functions. We first show that these weighting functions violate the genericity assumptions of existing Hamiltonian-based solutions such as the well-known Zhou–Khargonekar formula. Then, we derive a new closed form formula for the computation of the optimal performance level, when the underlying plant structure is specified by a pseudorational transfer function.     

Robust clock generation system

In this paper, the generation of time signals in a network node based on the weighting of phases from two master signals is studied. A discussion about the stability of such a system is conducted with techniques of multi-variable robust control. Designing compensators by using multi-variable linear quadratic gaussian (LQG) and loop transfer recovery (LTR) robust control techniques seems to improve the response of the whole clock generation process, even in the presence of parasitic poles.     

Allowable parameter variations and robustness recovery in LQG regulators

In this paper, the bounds of allowable parameter variations in the LQG regulator for fixed weighting matrices are obtained and the asymptotic properties of these bounds with respect to weighting matrices are analysed. It is shown that the guaranteed bounds of allowable parameter variations, which are independent of weighting matrices, are often small but not necessarily small under some conditions. It is also shown that under some conditions, the allowable bounds of the LQG regulator can become as large as those of the LQ regulator. In addition, a loop transfer recovery method for perturbed systems is derived under which the LQG regulator may possess the same robustness as the LQ regulator. Examples are given to validate these results.