基于PID反馈的高Q值加速度计闭环检测电路

高Q值加速度计由于能够很好地降低热机械布朗噪声,被广泛应用于高精度低噪声检测领域,相应的闭环接口电路却成为其应用的困难之一.通过分析传感器的器件结构和动态响应,提出了一种基于PID反馈的闭环检测电路来克服传感器因高Q值造成的不利影响,改善系统的频率特性和动态响应.根据设计原理设计和测试了基于PCB板级的闭环检测电路.电...     

Design of optimized fuzzy cascade controllers by means of Hierarchical Fair Competition-based Genetic Algorithms

In this study, we present a design of an optimized fuzzy cascade controller based on Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) for a rotary inverted pendulum system. In this system, one controls the movement of a pendulum through the adjustment of a rotating arm. The objective is to control the position of the rotating arm and to make the pendulum maintain the unstable equilibrium point at vertical position. To control the system, we design a fuzzy cascade controller scheme which consists of two fuzzy controllers arrange in a cascaded topology. The parameters of the controller are optimized by means of the HFCGA algorithm. The fuzzy cascade scheme comprises two controllers located in two loops. An inner loop controller governs the position of the rotating arm while an outer controller modifies a set point of the inner controller implied by the changes of the angle of pendulum. The HFCGA being a computationally effective scheme of the Parallel Genetic Algorithm (PGA) has been developed to eliminate an effect of premature convergence encountered in Serial Genetic Algorithms (SGA). It has emerged as an effective optimization vehicle to deal with very large search spaces. A comparative analysis involving computing simulations and practical experiment demonstrates that the proposed HFCGA based fuzzy cascade controller comes with superb performance in comparison with the conventional Linear Quadratic Regulator (LQR) controller as well as HFCGA-based PD cascade controller.     

基于双离心机的加速度计动态校准装置

加速度计动态校准装置基于双离心机原理,通过主离心机和从离心机的同时旋转产生动态线加速度,从而实现对加速度计的动态校准.介绍了加速度计动态校准装置的工作原理,建立了其复现加速度的幅值数学模型,针对在大过载条件下从离心机精密旋转问题,设计了从离心机的结构形式和控制方案,并对校准设备所复现加速度的幅值不确定度进行了分析和试验验证,试验结果表明该装置复现动态加速度幅值测量不确定度优于0.2％.     

爆炸冲击条件下的加速度传感器结构分析

针对加速度传感器在爆炸与冲击测试中的应用,从理论与有限元仿真出发,分析传感器结构的静态响应与冲击响应.在15.4×104gn的静态载荷下,传感器结构最大应力超过材料的许用应力,将会发生结构断裂.在静态载荷下,加速度传感器在15.4×104gn的冲击加速度载荷下结构最大应力超过材料的许用应力,将会发生结构断裂.在加速度传感器的工作方向上施加幅值为15×104gn,半周期为5μs、10μs、20μs、30μs、40μs的半正弦加速度冲击载荷.在幅值为15×104gn、半周期为30μs的冲击载荷下,传感器的固定端处应力为334MPa,将会使传感器断裂失效.在幅值为15×104gn、半周期为5μs、10μs、20μs的冲击载荷下,固定端处应力超过材料许用应力,将也会发生结构断裂.悬臂梁在半周期为5μs、10μs、20μs的冲击下,将会出现断裂.大体上,冲击载荷的周期越小,固定端的应力越大集中越严重.由于传感器固有周期为9.5μs,加速度传感器在半周期为10μs的冲击载荷下出现谐振,固定端处应力变大集中加剧.分析加速度传感器在冲击载荷下的结构响应为传感器的结构设计与具体应用时的可靠性分析提供了理论依据.     

基于加速度传感器的大手势集手势识别算法改进研究

搭载着加速度传感器的智能移动终端为手势识别提供广泛的应用平台,在已有的基于单枚加速度传感器的手势识别研究中,识别正确率、速度和手势集合难以达到良好的平衡。本文以一种基于加速度符号序列的识别算法为基础,改进了其特征提取方法,并设计了基于加权树结构模板库的匹配方法,实现了大手势集、高正确率、速度快的手势识别。实验表明,所述系统在21个手势组成的手势集合上,实现了95.2%的用户依赖识别率和94.6%的用户非依赖识别率,识别时间小于10毫秒,对手势识别研究有一定的借鉴价值。     

PF-MPC: Particle filter-model predictive control

In this article, a new model predictive control approach to nonlinear stochastic systems will be presented. The new approach is based on particle filters, which are usually used for estimating states or parameters. Here, two particle filters will be combined, the first one giving an estimate for the actual state based on the actual output of the system; the second one gives an estimate of a control input for the system. This is basically done by adopting the basic model predictive control strategies for the second particle filter. Later in this paper, this new approach is applied to a CSTR (continuous stirred-tank reactor) example and to the inverted pendulum. These two examples show that our approach is also real-time-capable.     

基于加速度计的胸外按压深度检测研究

为了给急救人员提供实时、便携、可靠、精确的胸外按压深度反馈,辅助其进行高质量的胸外按压操作,基于加速度计,设计了加速度二次积分算法,并搭建了实验平台,对实验结果进行了测试分析。结果表明:基于加速度二次积分计算的胸外按压深度误差较小,能够满足临床胸外按压深度检测应用的要求。     

单级倒立摆的LQR控制和DMC控制Matlab仿真比较

建立了单级直线倒立摆的状态空间模型,分别从线性最优二次型（LQR）控制和模型预测控制的原理出发,在MAT-LAB/SIMULINK环境下,设计了LQR控制器和动态矩阵控制（DMC）控制器,对所建立的倒立摆模型对象进行系统控制仿真。仿真结果表明,作为先进控制的DMC控制的效果比作为最优控制的LQR控制效果更好,鲁棒性更强。     

单级倒立摆的逼近逆模型及趋近控制

基于非线性分级控制思想,研究了逼近逆模型的设计方法,并结合变结构趋近控制律规则,将基于综合误差方法的滑动模逼近控制应用在某单级倒立摆上,通过仿真分析,收到了良好的控制效果.     

Stabilization of the inverted pendulum around its homoclinic orbit

The inverted pendulum has been used as a benchmark for motivating the study of nonlinear control techniques. We propose a simple controller for balancing the inverted pendulum and raise it to its upper equilibrium position while the cart displacement is brought to zero. The control strategy is based on an energy approach of the cart and pendulum system.