多关节机器人通用体系结构的研究

结合一个五自由度教学工业两用型机器人应用实例，构造出多关节机器人通用体系结构，包括总体原型、机械结构、关节传动链、伺服驱动元件、电气控制系统、关节坐标系及其运动学方程、通信协议和软件设计思路等。通过实际使用表明，本文提出的通用体系结构是实用的、合理的。     

离心泵性能参数的自动测定和自动控制

通过将计算机技术应用于离心泵性能参数的研究，实现了离心泵性能参数的自动测定和自动控制。     

Analysis and tuning of adaptive generalized predictive control

The adaptive Generalized Predictive Controller (Clarke et al., 1987a, b) is capable of controlling plants with variable dead-time, unknown model orders and unstable poles and zeros. This paper shows how the GPC control law can be written in an equivalent general linear transfer function form which simplifies closed-loop (eg. root locus) analysis. Three recommended strategies for selecting the design parameters during the commissioning stage allow the user to adjust the closed-loop speed of response on-line using only a single active tuning parameter. Experimental runs confirm the ability of adaptive GPC to provide a consistent closed-loop response in spite of large process changes.     

浅谈一次盐水的工艺指标控制

介绍了一次盐水的各项工艺指标对生产的影响以及稳定控制这些指标的方法，强调了在生产中控制好一次盐水的工艺指标是影响产品质量及离子交换膜使用寿命的关键。     

CENTUM-CS1000在离子膜制碱工艺中的应用

介绍了DCS在离子膜制碱工艺中的应用及常用控制方案的实现和运行效果。     

炭素厂的消烟除尘和噪声控制

针对炭素制品生产过程产生的粉尘、沥青烟气、噪声等主要涉及工业卫生及环境保护等方面的问题进行剖析，并对治理方法做了简要的介绍。     

Consistent hierarchical economic NMPC for a class of hybrid systems using neighboring-extremal updates

A hierarchical two-layer control algorithm is developed for a class of hybrid (discrete-continuous dynamic) systems to support economically optimal operation of batch or continuous processes with a predefined production schedule. For this class of hybrid systems, the optimal control moves as well as the controlled switching times between two adjacent modes are determined online. In contrast to closely related schemes for integrated scheduling and control, the sequence of modes is not optimized. On the upper layer, the economic optimal control problem is solved rigorously by a slow hybrid economic model predictive controller at a low sampling rate. On the lower layer, a fast hybrid neighboring-extremal controller is based on the same economic optimal control problem as the slow controller to ensure consistency between both layers. The fast neighboring-extremal controller updates rather than tracks the optimal trajectories from the upper layer to account for disturbances. Consequently, the fast controller steers the process to its operational bounds under disturbances and the economic potential of the process is exploited anytime. The suggested two-layer control algorithm provides fully consistent control action on the fast and slow time-scale and thus avoids performance degradation and even infeasibilities which are commonly encountered if inconsistent optimal control problems are formulated and solved.     

JITL-based concentration control for semi-batch pH-shift reactive crystallization of l-glutamic acid

Although concentration control (C-control) strategy has been shown to give effective and robust control performance for batch cooling and semi-batch antisolvent crystallizations in recent years, no research work was reported concerning the potential application of conventional C-control for the more challenging semi-batch pH-shift reactive crystallization that is common in the process industries. To this end, this paper presents detailed analysis to find out that it is not feasible to apply the C-control to semi-batch pH-shift reactive crystallization. To circumvent this problem, a variant of C-control strategy by incorporating the Just-in-Time Learning (JITL) method to cope with strong process nonlinearity inherent in the pH-shift reactive crystallization is developed in this paper. Simulation results are presented to illustrate the proposed design and a comparison with conventional optimal control is made.     

Ⅰ效蒸发器液位控制改造

叙述了Ⅰ效蒸发器液位测量所存在的问题并提出了解决方案，新改进的液位测量控制合理、简单、便于维护，投运效果良好。     

四种杀菌剂对枸杞黑果病的防治效果

枸杞黑果病是枸杞产区的主要病害．发病后造成黑花、黑蕾和黑果，使枸杞产量降低，品质变劣。为探明四种杀菌剂对枸杞黑果病的防治效果及最佳剂量，2003年对下述四种杀菌剂进行了田间药效对比试验，调查防效结果如下：20％三苯基醋酸锡WP450～281g／hm^2(以有效成分计，下同)，20％氟硅唑EC21．08g／hm^21．5％噻霉酮EW16、88～21．08g／hm^2、40％氟硅唑EC450g／hm^2和70％甲基托布津WP787．5g/hm^2对枸杞黑果病防效均在88．25％以上。经LSD检验各处理间防效无显著差异。