CAD系统二次开发语言的设计与实现

ＣＡＤ系统二次开发语言的设计与实现王建民，孙家广（清华大学计算机科学与技术系北京１０００８４）ＤＥＳＩＧＮＡＮＤＩＭＰＬＥＭＥＮＴＡＴＩＯＮＯＦＴＨＥＦＵＲＴＨＥＲＤＥＶＥＬＯＰＭＥＮＴＬＡＮＧＵＡＧＥＯＦＣＡＤＳＹＳＴＥＭＳ￥ＷａｎｇＪｉａｎｍｉｎ...     

KBASE－P知识库系统的设计与实现

当前的实用知识库系统研究是将知识库查询语言嵌入到一个过程语言中．ＫＢＡＳＥ－Ｐ是一个通用的知识库程序设计语言．ＫＢＡＳＥ－Ｐ以ＫＢＡＳＥ作为查询语言，以ＦＤ－ＰＲＯＬＯＧ（我们开发的一个ＰＲＯＬＯＧ扩充）为过程性的宿主语言执行１／Ｏ和ＤＢ更新操作（用扩充的内部谓词）．由于良好的设计和实现，查询语言与宿主语言之间的阻抗不匹配问题相对较小．因而，ＫＢＡＳＥ－Ｐ是一个比较实用的知识库程序设计语言．ＫＢＡＳＥ－Ｐ系统支持逻辑程序设计语言（ＫＢＡＳＥ－Ｐ语言）的程序开发，提供了文本编辑、文件管理、谓词管理、事实操作、Ｄａｔａｌｏｇ查询、ＳＱＬ查询等功能．本文详细介绍了ＫＢＡＳＥ－Ｐ系统的设计和实现．     

多机相关任务的均衡调度算法

多机相关任务的均衡调度算法许日滨（青岛大学计算机科学系青岛２６６０７１）ＴＨＥＥＱＵＩＬＩＢＲＩＵＭＳＣＨＥＤＵＬＩＮＧＡＬＧＯＲＩＴＨＭＦＯＲＤＥＰＥＮＤＥＮＴＴＡＳＫＳＩＮＭＵＬＴＩＰＲＯＣＥＳＳＯＲＳ￥ＸｕＹｕｅｂｉｎ（ＤｅｐａｒｔｍｅａｔＣｍ...     

基于神经网络算法的实时DES监督控制

本文在包含状态转移时间离散事件系统（ＤＥＳ）的自动机模型基础上，引入神经网络优化算法用以确定表征闭环系统最大允许逻辑行为的语言Ｋ的一个某项指标最优的子集Ｋｅｐｔ，并探讨了这种情况下用Ｒ－Ｗ理论设计监控ＤＥＳ的有关问题．     

KBASE—P知识库系统的设计与实现

当前的实用知识库系统研究是将知识库查询语言嵌入到一个过程语言中。ＫＢＡＳＥ－Ｐ是一个通用的知识库程序设计语言。ＫＢＡＳＥ－Ｐ以ＫＢＡＳＥ作为查询语言，以ＦＤ－ＰＲＯＬＯＧ（我们开发的一个ＰＲＯＬＯＧ扩充）为过程性的宿主语言执行Ｉ／Ｏ和ＤＢ更新操作（用扩充的内部谓词）。由于良好的设计和实现，查询语言与宿主语言之间的阻抗不匹配问题相对较小。因而，ＫＢＡＳＥ－Ｐ是一个比较实用的知识库程序设计语言。ＫＢＡ     

面向篇章理解的多智能体系统MAS／TH－3

面向篇章理解的多智能体系统ＭＡＳ／ＴＨ－３石纯一，王克宏，胡蓬，康小强（清华大学计算机科学与技术系北京１０００８４）ＭＡＳ／ＴＨ－３：ＡＭＵＬＴＩ－ＡＧＥＮＴＳＹＳＴＥＭＦＯＲＴＥＸＴＵＮＤＥＲＳＴＡＮＤＩＮＧ￥ＳｈｉＣｈｕｎｙｉ；ＷａｎｇＫｅｈｏｎ...     

硬盘“丢失”故障排除

一台５８６兼容机,Ｐ１３３,１６Ｍ,ＲＡＭ,１２ＧＨＤＤ（分为Ｃ、Ｄ两个逻辑盘）,一同事在使用过程中出现硬盘“丢失”,机器不能启动的故障,每次启动时,屏幕显示系统引导失败:“ＤＩＳＫＢＯＯＴＦＡＩＬＵＲＥ,ＩＮＳＥＲＴＳＹＳＴＥＭＤＩＳＫＡＮＤＰＲＥＳＳＥＮＴ...     

一种快换频频率合成器方案

设计跳频通信机用频率合成器的主要难点在于同时实现宽频带，高分辨及快速换频性能。本文针对传统的锁相环（ＰＬＬ）合成方式和新兴的直接数字合成（ＤＤＳ）方式的各自优缺点，提出了将修正的ＤＤＳ与ＰＬＬ相结合（ＭＤＤＳ＆ＰＬＬ）的频率合成方案，经实验证明具有ＰＬＬ低成本，宽频带的优点，又具有ＤＤＳ换频快，高分辨的特点。     

解大型稀疏线性代数方程组的预条件Krylov子空间方法

解大型稀疏线性代数方程组的预条件Ｋｒｙｌｏｖ子空间方法邓健新（中国科学院计算中心）ＰＲＥＣＯＮＤＩＴＩＯＮＩＮＧＫＲＹＬＯＶＳＵＢＳＰＡＣＥＭＥＴＨＯＤＳＦＯＲＬＡＲＧＥＳＰＡＲＳＥＬＩＮＥＡＲＡＬＧＥＢＲＡＩＣＳＹＳＴＥＭＳ￥ＤｅｎｇＪｉａｎ－ｘｉ...     

Navier－Stokes方程的非线性Galerkin有限元方法

Ｎａｖｉｅｒ－Ｓｔｏｋｅｓ方程的非线性Ｇａｌｅｒｋｉｎ有限元方法何银年，李开泰，向一敏（西安交通大学）ＮＯＮＬＩＮＥＡＲＧＡＬＥＲＫＩＮＦＩＮＩＴＥＥＬＥＭＥＮＴＭＥＴＨＯＤＯＦＮＡＶＩＥＲ－ＳＴＯＫＥＳＥＱＵＡＴＩＯＮＳ￥ＨｅＹｉｎ－ｎｉａｎ；Ｌｉ...     

智能厂房温湿度控制系统

首先分析了厂房温湿度控制与一般建筑物空调系统的区别,指出现在流行的空调控制方法不适合厂房温湿度控制;接着提出一种智能温度控制方法,它不需要确定系统的数学模型,用专控制的方法,在不同控制阶段分别采用开关控制,模糊控制和智能ＰＩＤ控制;最后介绍了实行结果。     

A three-loop model-following control structure: theory and implementation

This article presents a novel three-loop control system, which supplements control structures known from the literature as model following control (MFC). The major advantage of the proposed system is its high robustness to process parameter variations; it is much higher than that offered by single-loop or two-loop control systems. Features of the new structure are revealed by a theoretical analysis that has been carried out from the viewpoint of requirements for a force/pose controller of a Stäubli RX60 manipulator. This article shows how the proposed control structure responds to such strong process parameter variations and makes a comparison to results yielded by single-loop control structures.     

模型跟踪广义预测鲁棒自适应控制器

本文采用滤波CARMA模型,基于内模原理,提出了一种新的广义预测鲁棒自适应控制器,并分析了闭环系统性能,在新的控制器中,引入适当的前馈作用,使得跟踪和调节问题解耦,利用部分状态跟踪、模型参考以及极点配置方法解决跟踪问题,利用多步预测滚动优化方法解决调节问题;适当选择滤波器可以保证对平稳随机扰动有满意的响应,减少可调参数对闭环系统响应的影响,增强系统对未建模动态的鲁棒性,仿真结果表明:该控制器对确定性和非平稳随机扰动具有不变性,对系统时延和阶次变化具有鲁棒性,适用于非最小相位和开环不稳定系统。     

一种专家智能控制器的仿真研究

该文提出一种专家智能控制器（简称为ＥＩ控制器）．该控制器的参数可基于专家知识和过程参数的变化实时进行调整。仿真结果表明对于工业过程中的大纯滞后、非线性、变参数特性能获得较为满意的调节效果。     

自动化技术专题讲座(Ⅳ)──智能控制技术与应用

主要介绍智能控制的原理、结构、类型和应用。     

Stabilization of robot motion and contact force interaction for third-order motor dynamics

An approach to the synthesis of control laws stabilizing motion and force in contact tasks, based on the exponential stability of the closed-loop control system, is described. When using the synthesized control laws, simultaneous stabilization of both motion and force is achieved with a preset quality of the transient responses. The task is solved in a most general form, taking into account the constraints on robot control, its position and the force of interaction of the robot and the environment, and the external perturbations and inaccuracies of the measuring sensors, when the environment dynamics is being described by nonlinear second-order differential equation, and the robot dynamics includes the third-order equations of the robot actuators dynamics.     

专家PID控制在印染过程温度控制中的应用

对于具有较大时滞,非线性和时变性特点的打样机对象(它是印染行业中的一种小型设备),常规PID控制方法往往难以达到良好的控制效果.本文将专家控制器与常规PID控制器相结合,提出了一种智能控制器结构.试验表明,与常规PID控制器相比,该控制器的控制精度有了明显的提高.     

六自由度并联机器人分散鲁棒非线性控制

针对六自由度并联机器人动力学特点,提出了一种新型分散鲁棒非线性控制方法.与传统PD控制策略和已有分散鲁棒非线性控制方法相比,由于控制律中增加了广义误差的小数幂项,改进后的方法除保持原方法的优点外,还具有较强的终端收敛能力,能够保证跟踪误差以更快的速度全局一致收敛到一个更小的剩余集.通过选择合适的控制器参数,可使剩余集趋于0.运用Lyapunov方法分析了系统稳定性,给出了系统稳定性条件.最后,仿真结果验证了该方法的有效性.     

Feedforward output-feedback control for continuous exothermic reactors with isotonic kinetics

The robust feedforward (FF) output-feedback (OF) control problem of (possibly open-loop unstable) continuous exothermic jacketed reactors with isotonic kinetics with respect to reactant concentration is considered. The volume, temperature, and concentration must be regulated by manipulating the feed, exit and coolant flowrates on the basis of volume and temperature measurements. The problem is addressed as an interlaced controller-observer design within a constructive control framework. The result is a quasi linear-decentralized (qLD) FF-OF dynamic controller which: (i) recovers (up to observer convergence) the behavior of a robust nonlinear FF-SF controller, (ii) has closed-loop stability conditions coupled with conventional-like tuning guidelines, and (iii) constitutes an add-on to the PI control scheme commonly employed in industrial reactors. The approach is tested with an open-loop unstable reactor example through simulations.     

Multivariable PID control by decoupling

This paper presents a new methodology to design multivariable proportional-integral-derivative (PID) controllers based on decoupling control. The method is presented for general n × n processes. In the design procedure, an ideal decoupling control with integral action is designed to minimise interactions. It depends on the desired open-loop processes that are specified according to realisability conditions and desired closed-loop performance specifications. These realisability conditions are stated and three common cases to define the open-loop processes are studied and proposed. Then, controller elements are approximated to PID structure. From a practical point of view, the wind-up problem is also considered and a new anti-wind-up scheme for multivariable PID controller is proposed. Comparisons with other works demonstrate the effectiveness of the methodology through the use of several simulation examples and an experimental lab process.