永磁同步电机调速系统的自抗扰控制

提出了一种利用反双曲正弦函数的一阶自抗扰控制器,以提高永磁同步电机正弦波脉宽调制(SPWM)调速系统的跟踪精度。研究了永磁同步电机转速环的数学模型;分别设计了一阶跟踪微分器和二阶扩张状态观测器,利用李雅普诺夫函数分析了它们的收敛性;构造了转速环的一阶自抗扰控制器,同时证明了一阶自抗扰控制误差系统的渐近稳定性。最后,将该新型一阶自抗扰控制器作为永磁同步电机的转速调节器,分析了自抗扰控制永磁同步电机的SPWM调速系统。仿真实验表明:自抗扰控制调速系统速度阶跃跟踪的调整时间约为0.15 s,稳态误差小于0.28 r/min;同一调速系统正弦响应的最大跟踪误差约为17 r/min。与PI控制调速系统相比,自抗扰控制永磁同步电机调速系统阶跃响应快速而平稳,无超调,稳态误差小;另外,系统正弦响应的跟踪性能好,跟踪误差小。     

An Optimal Configuration of Pickup Coils of a SQUID Magnetometer

A system of four coaxial pickup coils connected in series and designed on the basis of a modified scheme of a symmetrical second-order gradiometer is described. The conditions under which a measurement zone insensitive to displacements of a sample forms in this system of coils are determined. This makes it possible to almost eliminate the error caused by the inaccuracy of setting the sample at the geometrical center of the pickup coils. It is shown that this system keeps a high sensitivity to the sample's magnetic moment and is insensitive to the signals produced by the sample holder and thermocouple due to the compensation of signals in all the coils. The main characteristics of the system of coils described and the commonly used first-order gradiometer are compared.     

Adaptive Monte Carlo and GUM methods for the evaluation of measurement uncertainty of cylindricity error

Measurement uncertainty is one of the most important concepts in geometrical product specification (GPS). The “Guide to the expression of uncertainty in measurement (GUM)” is the internationally accepted master document for the evaluation of uncertainty. The GUM method (GUMM) requires the use of a first-order Taylor series expansion for propagating uncertainties. However, when the mathematical model of measurand is strongly non-linear the use of this linear approximation may be inadequate. Supplement 1 to GUM (GUM S1) has recently been proposed based on the basis of probability density functions (PDFs) using the Monte Carlo method (MCM). In order to solve the problem that the number of Monte Carlo trials needs to be selected priori, adaptive Monte Carlo method (AMCM) described in GUM S1 is recommended to control over the quality of the numerical results provided by MCM.The measurement and evaluation of cylindricity errors are essential to ensure proper assembly and good performance. In this paper, the mathematical model of cylindricity error based on the minimum zone condition is established and a quasi particle swarm optimization algorithm (QPSO) is proposed for searching the cylindricity error. Because the model is non-linear, it is necessary to verify whether GUMM is valid for the evaluation of measurement uncertainty of cylindricity error. Then, AMCM and GUMM are developed to estimate the uncertainty. The procedure of AMCM scheme and the validation of GUMM using AMCM are given in detail. Practical example is illustrated and the result shows that GUMM is not completely valid for high-precision evaluation of the measurement uncertainty of cylindricity error if only the first-order terms in the Taylor series approximation are taken into account. Compared with conventional methods, not only the proposed QPSO method can search the minimum zone cylindricity error precisely and rapidly, but also the Monte Carlo simulation is adaptive and AMCM can provide control variables (i.e. expected value, standard uncertainty and lower and higher coverage interval endpoints) with an expected numerical tolerance. The methods can be extended to the evaluation of measurement uncertainty of other form errors such as roundness and sphericity errors.     

Generalized eigenvalue minimization for uncertain first-order plus time-delay processes

This paper shows how to apply generalized eigenvalue minimization to processes that can be described by a first-order plus time-delay model with uncertain gain, time constant and delay. An algorithm to transform the uncertain first-order plus time delay model into a state-space model with uncertainty polyhedron is firstly described. The accuracy of the transformation is studied using numerical examples. Then, the uncertainty polyhedron is rewritten as a linear-matrix-inequality constraint and generalized eigenvalue minimization is adopted to calculate a feedback control law. Case studies show that even if uncertainties associated with the first-order plus time delay model are significant, a stable feedback control law can be found. The proposed control is tested by comparing with a robust internal model control. It is also tested by applying it to the temperature control of air-handing units.     

A Femtosecond Crystal Interferometric Autocorrelometer

A scanning polarization interferometer designed for measuring first-order correlation functions is described. The interferometer utilizes a crystalline anisotropic medium with a controlled thickness. It requires almost no adjustment, has a rather simple design, and can be used to measure longitudinal-coherence time in the femtosecond range for both steady-state fields and ultrashort laser pulses. The results of measurements of first-order autocorrelation functions for radiation sources with a femtosecond coherence time are presented.     

基于STM32单片机的新型电感测量研究与实现

电感性能的优越与否决定着其电路的工作性能,该文基于一阶R-L电路,根据电路动态性能测量电感L大小,较传统的测量方法其自动化水平及精度都有一定提升。文中采用上-下位机模式,在下位机中对R-L电路动态性能分析,获得电感测量值并上传至上位机,上位机对数据进行处理及误差分析,并自动生成数据文件保存。该测量仪经实践验证,操作简单、精度高、快速高效且扩展性及应用性较强。     

An improved three-point method based on a difference algorithm

The reason for the rounding error in a measurement system under the condition of a limited sampling period is analysed, and a three-point method based on the difference algorithm (D3P method) is proposed. The effect of the rounding error is reduced by differential approximation of the roundness error and reconstruction of the transfer function. The generalized three-point method (G3P method), the three-point method based on the first-order difference algorithm (I-D3P method) and the three-point method based on the second-order difference algorithm (II-D3P method) are compared and analysed by simulation. The results show that the accuracy of the D3P method is greatly improved compared with that of the G3P method under the restricted sampling period and that the D3P method retains high precision in the case of failed error separation of the G3P method. An experimental system was constructed to realize error separation, and the experimental results show that the D3P method has higher accuracy than the G3P method over a small sampling period.     

Effect of train carbody’s parameters on vertical bending stiffness performance

Finite element analysis(FEA) and modal test are main methods to give the first-order vertical bending vibration frequency of train carbody at present, but they are inefficiency and waste plenty of time. Based on Timoshenko beam theory, the bending deformation, moment of inertia and shear deformation are considered. Carbody is divided into some parts with the same length, and it’s stiffness is calculated with series principle, it’s cross section area, moment of inertia and shear shape coefficient is equivalent by segment length, and the fimal corrected first-order vertical bending vibration frequency analytical formula is deduced. There are 6 simple carbodies and 1 real carbody as examples to test the formula, all analysis frequencies are very close to their FEA frequencies, and especially for the real carbody, the error between analysis and experiment frequency is 0.75%. Based on the analytic formula, sensitivity analysis of the real carbody’s design parameters is done, and some main parameters are found. The series principle of carbody stiffness is introduced into Timoshenko beam theory to deduce a formula, which can estimate the first-order vertical bending vibration frequency of carbody quickly without traditional FEA method and provide a reference to design engineers.     

磁性液体触觉传感器的设计及特性研究

磁性液体兼具液体材料的流动性和固体材料的磁性,能够在重力场和磁场的作用下长期稳定存在。磁性液体具有独特的一阶浮力特性,在磁场梯度的作用下能够悬浮起比自身密度大的非磁性物体。基于磁性液体的一阶浮力特性,设计了一种新型的磁性液体触觉传感器。当接触压力作用在悬浮触棒的非磁性触点时,悬浮触棒的移动将引起霍尔元件处的磁场变化,进而输出电压信号。该结构能够进行接触压力、表面轮廓和微小位移的同时测量。该触觉传感器体积小,相比于传统的硅片式触觉传感装置成本更低。磁性液体相比于固体材料来说,能够在系统中起到缓冲吸能的作用,进而提高了传感器系统的耐冲击性。在0～0.09 N的接触压力测量范围内,测量精度能够达到10^-2 N量级,灵敏度3.34 V/N,线性度误差3.4%,迟滞误差1.4%,分辨率1.1%F.S.。     

基于特征点自动识别的B样条曲线逼近技术

提出一种实用的用三次B样条曲线逼近稠密且带噪声的二维断面数据点列的算法。剔除数据点列中的重合点并对其进行均匀弧长重采样处理后,利用相邻点拟合圆弧的方法来近似计算各数据点的离散曲率值,并根据相邻点之间的离散曲率符号变化情况及相近点之间的曲率值和曲率差分关系自动识别出断面数据中绝大多数的特征点(拐点、折痕点、曲率极值点)。构造插值于特征点的B样条曲线,并在逼近误差最大处插入新的插值点。重复这一过程,直到逼近误差小于预先给定值,从而得到最终插值点列并构造相应的B样条曲线。试验结果表明,所构造的曲线节点数目及其分布合理,能够很好地反映原始断面数据点列中的细小特征部分。该算法具有速度快、逼近精度高等特点,可广泛应用于二维断面数据的曲线重建。     

基于国产 ADC 芯片的 TIADC 系统时间误差 自适应校准算法

武器及其测试系统的高精度与国产化是我们国家现在不得不面对的严峻问题,当数据采集系统的采样率达到 GSPS 量 级时,目前的国产 ADC 芯片很难达到,因此在不降低采样精度的前提下,提出多片 ADC 进行阵列化采样的方法提高系统的采 样率。 针对 TIADC 系统存在的通道失配问题,提出了基于一阶统计量的自适应误差估计算法与改进 Farrow 时延滤波器的校正 方法,并对 4 通道 TIADC 系统的时间误差估计提出新的估计策略。 仿真与实验结果表明,该算法能够对时间失配误差进行精 确估计,同时能够有效地抑制杂散分量,相比校正前的数据,无杂散动态范围提高 20 dB,对解决高速高精度数据采集装备国产 化问题具有重要的现实意义。     

基于加窗随机解调架构的电网超谐波信号检测方法

针对电网超谐波检测采样压力大、数据处理困难等问题,提出一种基于加窗随机解调架构的超谐波信号检测方法。 该 方法首先利用模拟信息转换技术结合加窗思想,在采样端对超谐波信号进行加窗压缩采样,得到压缩采样后的数据;随后,在重 构端采用逐级二分的思想,将残差的一阶微分作为收敛阈值,改进稀疏度自适应匹配追踪( SAMP)算法,实现对采样数据的快 速重构。 大量的仿真实验和测试结果表明,方法可以在减少 90% 数据量的情况下实现超谐波信号的频率幅值精确检测,其中频 幅值检测的相对误差≤2% ,频率检测误差≤3 Hz,为更准确测量超谐波提供了新思路。     

基于灵敏度分析的导管架海洋平台模型修正技术研究

从室内导管架平台模型静力应变对物理参数变化的灵敏度出发,以导管架结构的材料和几何尺寸为修正参数,探讨了导管架结构的有限元模型修正问题。确定优化模型的目标函数及约束变量,利用一阶优化算法对修正参数进行优化,优化迭代后最小误差1.35%。     

Manufacture and tests of objective zone plates for use in a scanning transmission X-ray microscope

A method of making high resolution zone plates for use as the focusing elements in soft X-ray microscopy is briefly described. Tests carried out on these zone plates indicate a first-order diffraction efficiency of ～0.3% rather than the calculated value of ～0.9%. This indicates that the zones are not positioned as accurately as expected, a conclusion also drawn from tests at optical wavelengths on electron micrographs of the zone plates. Modifications to the manufacturing method to enable zone plates with improved imaging properties to be made are described.     

基于传动系统动力学的NURBS曲线插补算法

对机床传动系统、伺服驱动系统和数控插补模块进行动力学建模和求解。提出一种新的NURBS插补算法,按照进给率自适应轨迹规划算法进行当前插补周期的速度设定,并且根据曲线当前位置的曲率特性,进行基于曲率的最大速度限定,通过求解动力学模型,获得按照这一速度进行插补时系统需要的最大驱动力,若该驱动力超过系统能够提供的最大驱动力,则再次按照用户设定的加速度进行减速,获得的速度作为指令速度,按照一阶泰勒展开近似进行插补点的计算。该算法不仅在NURBS曲率较大的区域自动降低进给速度,保证要求的弦误差,而且使输出的插补速度指令区域平滑,保证不会出现插补输出的位置值系统无法进行位置控制造成更大的加工误差。     

Accuracy analysis and design of A3 parallel spindle head

As functional components of machine tools, parallel mechanisms are widely used in high efficiency machining of aviation components, and accuracy is one of the critical technical indexes. Lots of researchers have focused on the accuracy problem of parallel mechanisms, but in terms of controlling the errors and improving the accuracy in the stage of design and manufacturing, further efforts are required. Aiming at the accuracy design of a 3-DOF parallel spindle head(A3 head), its error model, sensitivity analysis and tolerance allocation are investigated. Based on the inverse kinematic analysis, the error model of A3 head is established by using the first-order perturbation theory and vector chain method. According to the mapping property of motion and constraint Jacobian matrix, the compensatable and uncompensatable error sources which affect the accuracy in the end-effector are separated. Furthermore, sensitivity analysis is performed on the uncompensatable error sources. The sensitivity probabilistic model is established and the global sensitivity index is proposed to analyze the influence of the uncompensatable error sources on the accuracy in the end-effector of the mechanism. The results show that orientation error sources have bigger effect on the accuracy in the end-effector. Based upon the sensitivity analysis results, the tolerance design is converted into the issue of nonlinearly constrained optimization with the manufacturing cost minimum being the optimization objective. By utilizing the genetic algorithm, the allocation of the tolerances on each component is finally determined. According to the tolerance allocation results, the tolerance ranges of ten kinds of geometric error sources are obtained. These research achievements can provide fundamental guidelines for component manufacturing and assembly of this kind of parallel mechanisms.     

B样条曲线曲面的二阶预测压缩算法

B样条曲线曲面密集控制点是造成CAD模型数据量庞大的因素之一,对其进行压缩编码,能有效减少CAD模型数据量。提出一种局部坐标系下二阶预测编码算法,对B样条控制网格构造局部坐标系,在局部坐标系下对控制点进行一阶预测,对相邻控制点一阶预测误差再进行二阶预测,对二阶预测误差量化后进行算术编码。分析了量化参数对曲线曲面误差的影响。实验结果表明,该算法预测准确性较高,预测误差分布集中,可以获得较高压缩率,达到压缩CAD产品模型目的。     

在轨飞轮故障诊断混合框架设计

为提升飞轮的可靠性,本文对飞轮故障诊断技术进行了研究。通过对基于数学解析模型与基于智能计算的故障诊断方法的对比研究,提出了一种基于神经网络的混合故障诊断方法。该方法首先使用数学解析模型与原系统输出的差值作为一级残差;而后利用该一级残差以及系统可测状态对神经网络进行训练;然后使用混合模型输出的二级残差对系统故障进行检测;最后以飞轮注入母线电压以及电枢电流故障对该方法进行验证:在存在母线电压故障工况下混合模型避免了解析模型电流估计的发散问题,与单神经网络模型相比最大跟踪误差降低了44%。在存在电流故障时,不同的转速工况下与两种单模型相比混合模型的最大跟踪误差降低了90%,跟踪方差减小了10倍以上。混合方法可以有效解决由于解析模型存在建模误差引起的故障诊断不够准确的问题以及由于缺乏训练数据所引起的单神经网络模型不能适应新工况的故障诊断问题。     

Accuracy of electrostatic lens computations with FOFEM

The increased speed of personal computers enables fast computation of rotationally symmetric electrostatic lenses with the first-order finite element method in meshes with a large number of mesh points. In order to produce an estimate of accuracy of the computed potential, we propose a simple procedure based on doubling the number of mesh points in each coordinate. In this way, we can produce for the lower-density mesh at each point the information about error of the potential and visualize the sources of the computation errors.     

排列互比法用于超精测角时产生系统误差的研究

从理论上阐明了用排列互比法测量分度误差时，其测量结果中含有测量系统误差的原因，这主要是自准直仪十字丝倾斜与棱体（或仪器）倾斜和角晃动的综合影响所造成，并用实验加以验证。文章还介绍了消除和减少这种系统误差的方法。