Robust pole clustering in a good ride quality region of aircraft for matrices with structured uncertainties

This paper presents a general analysis of robust pole clustering in a good ride quality region (GRQR) of aircraft for matrices with structured uncertainties. This region is an intersection of a ring and a horizontal strip, located in the left half-plane, which is a specific non-Ω-transformable region providing good ride quality of aircraft. The paper applies the Rayleigh principle along the norm theory to analyze robust pole clustering within this region since the generalized Lyapunov theory is not valid for non-Ω-transformable regions. Concerned uncertainties are structured/parametric uncertainties, including interval matrices. The results are useful for robust control analysis and design, especially, of robust good ride quality of aircraft, shuttles, vehicles and space station, as well as some industrial systems. An example of the F-16 dynamics for which GRQR is suitable is included to illustrate the results.     

Robot control and parameter estimation with only joint position measurements

Most adaptive control schemes for rigid robots assume velocities measurements to be available. Although it is possible to measure velocities by using tachometers, this increases costs and the signals delivered may be contaminated with noise. Since the use of encoders allows to read joint position pretty accurately, it is desirable to estimate joint velocities through an observer. This paper presents an adaptive scheme designed in conjunction with a linear observer. Boundedness of the estimated parameters and uniform ultimate boundedness for the tracking and observation errors are guaranteed. Experimental results are included to support the developed theory.     

Dynamic Studies On Human Body Sway By Using A Simple Model With Special Concerns On The Pelvic And Muscle Roles

The human pelvis is such a unique structure that enables our upper body to work so perfectly with the two legs so as to control the body's balance in the complicated postures. The aim of this study is to establish a new dynamic body sway control model in the upright standing body position in coronal plane, and to reveal the possible control mechanisms underlying the body sway with special concerns on the roles that the pelvis and its muscles are performing during the sway. The plant of control model, the dynamics of human body, includes five parts, i.e. two ankles, two hips and one lumbosacral joint, which makes up a multi‐link inverted pendulum system, and is driven by two pairs of muscles, the psoas major (PM) and glutaeus medius (GM). Body sway records from eight healthy young subjects showed that the angular sway scopes of the ankle on roll (lateral) plane are 0.94±0.36± (eye‐open) and 1.35±0.52± (eye‐closed) respectively, while in lumbosacral plane, the scopes are 0.99±0.41± (eye‐open) and 1.27±0.72± (eye‐closed). The ankle and lumbosacral sways were almost in the same degree, yet their phase difference was near ±n, which means that the body trunk maintains perpendicular to horizon during the upright stance. Surface electromyographic (sEMG) activity from GM also showed the same evidence: the activated GM was always in the same side as the deviated center‐of‐pressure (COP). By assuming the corrective torque of posture is regulated by PID (proportional, integral and derivative) control, the body sway can be simulated by applying human physical parameters. Our study results demonstrated that the simulated traces are consistent with the experimental recorded, suggesting that the pelvis is an important structure for the posture maintenance and control, and the mechanism of balance keeping control during upright stance can be approximately taken as a PID control. The result also suggests a novel means for postural stability assessment in individual in the future.     

乌江流域大型复杂水电站群联合优化调控关键技术及其应用研究

根据乌江流域总体规划、长江三峡以上防洪要求、南方电网运行特点、乌江流域水文特性等,贵州乌江水电开发有限责任公司组织开展了乌江梯级水库优化调度和发电优化控制的基本理论研究,并根据该研究建立了乌江流域水电站群联合优化调控系统,经过一系列优化调度规则、方法、措施在系统中的应用,实现了节水增发电的目的,取得了良好的社会经济效益。     

NPD-A1500泥水平衡顶管施工与质量控制

简要介绍了NPD-A1500泥水平衡顶管机的工作原理,阐述了采用NPD-A1500泥水平衡顶管机进行顶管施工的方法与质量控制措施,同时提出了施工过程中应注意的问题.     

大系统分解协调在库群防洪优化调度中的应用

文章介绍了大系统分解协调理论,建立了串联、并联库群水库防洪优化调度模型.以澧水流域并联系统为例进行了优化调度计算,并以常规调度方案成果进行了分析比较论证.     

三相四线制有源滤波器的新型无差拍控制

建立了三相四线制有源滤波器的完整数学模型。针对三相四线制有源滤波器，提出了一种基于重复预测型谐波电流观测器的新型无差拍控制方案，以改善有源滤波器的动态性能。详细阐述了新型无差拍控制的原理、控制系统的离散化模型、重复预测型谐波电流观测器的工作原理及保证其稳定工作的充分条件。基于MATLAB/Simulink的有源滤波器控制系统仿真分析表明，所提出的新型无差拍控制方案在保证系统稳态精度良好的同时有效改善了系统的动态响应。     

一种高效可控恒流源

提出了一个设计高效可控恒流源方案.首先分析了影响其效率的各种因素,提出了提高效率的途径和方法.其次又给出应用微机实现双回路的测控方法及数学模型,该方案已成功的应用于某些专用设备中.     

应用遥感图像分析九江瑞昌地区构造与金铜成矿的关系

九瑞地区是长江中下游重要的金铜成矿区,遥感图像分析认为,北东东向断裂是主要的控矿构造,与北西向断裂的交汇部位是金铜成矿的有利地段。此外,环形构造又是另外一种控矿构造,目前所发现的金铜矿床均有物化探异常显示,并形成于环形构造的边缘。     

模糊技术的发展及在相关领域中的应用

本文介绍了模糊技术的发展和现状，以及在相关领域中的应用情况，并且讨论了模糊技术在我国的产业化方向等问题。