基于Petri网结构分析的监控器综合

在基于Petri网建模的离散事件系统中, 提出利用局部关联信息进行约束转换, 并实现Petri网结构监控器综合的方法. 对以Parikh矢量约束形式给出的控制规范, 不可控不可观变迁会导致约束成为非法约束, 分析了不可控变迁的前向关联结构和不可观变迁的后向关联结构, 利用局部关联变迁实现对不可控和不可观变迁的间接控制, 从而将非法矢量约束转换为合法约束, 并保证初始控制规范的实现. 与基于矩阵的监控器综合方法相比, 本文的方法只需利用局部信息, 最后通过实例对该方法进行了说明.     

数字电路功能级上的可测试性设计

集成电路规模的增加,使电路的可测试性成了设计阶段必须考虑的问题,这就需要预先确定电路中各部份的测试性能。本文用概率的观点分析了电路功能(模块)级上的可测试性,提出了可控、可观谱的概念,并导出一套新的模块级上的可控、可观测度的计算方法,从而使大规模电路的可测试性设计成为可能。     

食品供应链中关键控制点的分析与选择方法

食品安全关乎国计民生,是全社会普遍关注的重大问题。为了有效监控食品供应链中有害物的水平,提出基于有向图的食品供应链的社会网络分析模型。基于[k]步可达矩阵,提出食品节点的[k]步可观度和[k]步可控度的概念和测算方法。进而构建了基于综合可观可控度的关键控制点的分析与选择的方法,并对算法参数的设置对算法的收敛性和关键控制点的数量的影响进行了讨论。以上工作为食品安全监管部门在供应链范围内推行HACCP提供了必要的技术支持。     

基于重启Lanczos过程的模型降阶方法

针对大规模的线性时不变系统,提出了基于重启Lanczos过程的模型降阶方法。首先,通过重启Lanczos过程分别得到原始系统的可控Gram矩阵的近似矩阵及可观Gram矩阵的近似矩阵。然后,根据原始系统的可控Gram矩阵及可观Gram矩阵所满足的Lyapunov方程构造映射Sylvester方程并求解,对解进行双正交化,得到降阶所需的变换矩阵,从而得到降阶系统。运用此方法对大规模线性时不变系统进行降阶,能够得到具有较高近似精度的稳定的降阶系统。最后,数值算例验证了此方法是行之有效的。     

不可控和不可观的网络结构特征

本文提出不建立状态方程,仅凭观察找出网络中是否存在可约结构或零状结构,就可准 确判断出是否可控可观.主要论点用网络拓拓[1]法给出证明.     

奇异摄动分散系统的反馈控制

本文讨论了线性时不变奇异摄动分散控制系统的反馈控制问题。提出了该系统的近似固定模、摄动固定模及固定模的概念,并给出了相应的充要条件。利用上述概念,得到了该系统在分散反馈下单通道可控、可观的充分条件。     

无脉冲模广义分散控制系统的控制

本文讨论了线性时不变多通道无脉冲模的广义分散控制系统的控制问题。文中证明了该系统与带前馈的正常分散系统在某些性质上的等价性,从而得到了该系统通过静态输出反馈实现对某一单通道R-可控、R-可观可稳与可检测的充要条件。     

Wiener 状态滤波器设计新方法

基于经典稳态Kalman滤波理论，应用射影理论，对完全可观完全可控的系统提出了设计Wiener状态滤波器的新方法，可统一处理稳定或不稳定系统的最优预报，滤波和平滑问题，估值器具有ARMA递推形式，且具有渐近稳定性，仿真例子说明了该算法的有效性。     

基于阿里云和树莓派的无人勘探救援车设计与实现

针对地质环境因素对野外勘探范围和搜索进度的限制,利用物联网技术设计了一辆无人勘探救援车来帮助考察人员进行勘探工作。本项目以Arduino开源硬件和树莓派作为核心处理器,具有机械臂移动障碍物、远程视频、远程语音对话、可控射击、超声波测距报警、GPS定位等功能。利用LTE无线传输设备将传感器采集信息实时上传至云端,在阿里云物联网平台实现设备数据观测。通过加装双通道直流有刷电机驱动器、强磁电机和履带,结合2.4G航模遥控装置,使车辆具有稳定驱动力、强大的翻越能力以及可观的控制距离,车辆的功能变得更加全面、稳定性更强。     

控制通道的移模能力分析与分散控制系统的信息结构问题

一个控制系统所能期望的最佳设计性能很大程度取决于控制通道对系统极点(模)的移动能力。本文通过引入可控锥、可观锥概念,提出了一套分析系统控制通道对系统极点移动能力的方法,并用于综合分散控制系统的经济合理信息结构,以克服单纯用“无不稳定固定模”为准则来选择信息结构所存在的缺点。     

广义状态空间系统的强能控性和强能观性

本文利用了奇异摄动系统的降阶形式,讨论了广义状态空间系统的强能控性和强能观性,给出了系统是强能控的、强能观的及强既约的充分和必要条件。     

布尔控制网络的能控性与能观性

利用矩阵的半张量积,布尔控制网络被转化为离散时间系统.本文从离散时间系统的结构矩阵出发,讨论了逻辑控制系统的能控能观性条件,得到了一个新的能控性条件.新的条件简化了原有能控性矩阵的计算复杂性,矩阵的最高阶数由原来的2m+n降到了2n.另外,还得到了检验布尔控制网络能观性的条件.与原有条件相比,新的条件更容易计算检验.最后,给出一个实例,检验给出的能控能观性判断条件的正确性.     

A simple algorithm on minimal balanced realization for transferfunction matrices

Given a transfer function matrix, it is shown that its minimal balanced realization can be obtained directly from the singular values and the singular vectors of a constant matrix constructed from the coefficients of the least common denominator polynomial. The algorithm is based on the close relationship of controllability and the observability gramians to the singular value decomposition of the associated infinite block Hankel matrix     

多变量控制系统的行化梯典范形与最小阶Kx-观测器的线性设计方法

本文提出了定基形矩阵的概念及多变量系统的行简化梯形典范形理论.该典范形与系统 的可观测性矩阵或可控性矩阵之间可用子块集建立计算关系式.应用该理论可以把最小阶 Kx-观测器设计中的一组非线性代数方程组化为一类可解的线性代数方程组(附录中介绍了这 一分析过程).由此得到一种新的最小阶Kx-观测器线性设计法.该算法较Roman-Bullock设 计法计算简单,计算误差小,且更便于用计算机设计.文中还用例题指出Sirisena设计法的缺 点.     

线性时变广义系统的能控性与能观性问题

讨论了线性时变系统和线性时变广义系统的两个基本问题, 得到了两种判定时变系统能控性与能观性的必要条件, 该判定条件只依赖于系统矩阵A(t)和输入矩阵B(t), 不必计算系统的系统状态转移矩阵, 使得判别时变系统能控性与能观性易于实现. 说明了本文结论是线性定常系统相应结论的自然扩展. 对进一步深入研究时变系统和时变广义系统具有实际启发作用.     

Controllability and observability of Boolean control networks

The controllability and observability of Boolean control networks are investigated. After a brief review on converting a logic dynamics to a discrete-time linear dynamics with a transition matrix, some formulas are obtained for retrieving network and its logical dynamic equations from this network transition matrix. Based on the discrete-time dynamics, the controllability via two kinds of inputs is revealed by providing the corresponding reachable sets precisely. Then the problem of observability is also solved by giving necessary and sufficient conditions.     

On the structure of balanced and other principal representations of SISO systems

A new matrix Wcowhich can be considered as a cross-Gramian matrix which contains information about both controllability and observability is defined for single-input, single-output, linear systems. Using this matrix, the structural properties of linear systems are studied in the context of principal component analysis. The matrix Wcocan be used in obtaining balanced and other principal representations without computation of the controllability and the observability Gramians. The importance of this matrix in model-order reduction is highlighted.     

Controllability and observability of 2D thermal flow in bulk storage facilities using sensitivity fields

To control and observe spatially distributed thermal flow systems, the controllable field and observable field around the actuator and sensor are of interest, respectively. For spatially distributed systems, the classical systems theoretical concepts of controllability and observability are, in general, difficult to apply. In this study, sensitivity fields were used to analyse the behaviour from input to state and from initial state to output. For the analysis of controllability and observability, a large-scale, bulk storage facility with coupled thermal flow of air and agro-products was used. Analysis of this system using the classical systems theory results in controllability and observability results that are dependent on the step size of the spatially discretised system. Due to matrix multiplications, inaccurate results are calculated if the step size is too small. Our findings indicate that input-state and initial-state output sensitivity fields provide sufficient information about the controllability and observability of large coupled spatially distributed systems, using finite-dimensional state space representation with small discretisation steps.     

Controllability and observability of linear time-invariant compartmental models

The problems of complete controllability and complete observability of linear time-invariant compartmental models with general input-output structures are considered. The analysis of these problems is based largely on graph-theoretic methods and the properties of polynomial matrices. Specifically, statements on complete controllability and complete observability are proven by using graphical constructions which do not change the basic properties of controllability and observability. The major results of this paper are: 1) A unique decomposition of the digraph of a compartmental model into sources, sinks, and transits. 2) A theorem which states that a compartmental model with closed sinks is completely observable if and only if the matrix [C^{T}, A^{T}] is full rank, and a corollary which provides a sufficient condition for complete observability of all other linear time-invariant compartmental models. 3) A theorem which states that a single sink compartmental model is completely controllable if and only if a compartment from each source is controlled. 4) A controllability algorithm which provides sets of excitations which are sufficient for complete controllability of any linear time-invariant compartmental model.     

Robustness of controllability and observability of continuouslinear time-varying systems with parameter perturbations

The controllability and the observability of continuous linear time-varying systems with norm-bounded parameter perturbations are analyzed. The sufficient conditions which ensure the controllability of the perturbed system are presented by using the derived state transition matrix relationship between the nominal system and the perturbed system. The proposed sufficient conditions allow the evaluation of controllability under the norm-bounded parameter perturbations. The robustness of the observability is also studied for continuous linear time varying systems with norm-bounded parameter perturbations, and the corresponding sufficient conditions are provided