基于ARID控制系统的固定式海洋风机纵摇控制

针对固定式海洋风机在随机风浪载荷及其联合作用下产生的具有倒立摆运动特征的纵摇,研究采用主动转动惯量驱动系统(Active Rotary Inertia Driver, ARID)对海洋风机纵摇进行控制的问题。ARID控制系统通过伺服电机驱动转动惯性质量产生控制结构摆动的最优力矩,从而减小海洋风机的纵摇运动。基于拉格朗日原理建立海洋风机-ARID控制系统的理论分析模型;采用Simulink对海洋风机-ARID控制系统的有效性进行验证,并分析系统参数(控制算法参数、转动惯量比等)对控制效果的影响规律;设计海洋风机-ARID控制系统的振动台试验,设置多种载荷激励形式,验证控制系统的稳定性与广谱有效性。数值模拟和试验结果均验证了所建立的分析模型的正确性,表明ARID控制系统对风机的纵摇运动具有显著的控制作用,为ARID控制系统在具有倒立摆运动规律的工程结构中的应用奠定理论基础。     

Parametric Stabilization of Quantized Interconnected Systems with Application to Coupled Inverted Pendulums

This paper studies the analysis of parametric stability and decentralized state feedback control of a kind of quantized interconnected systems. The output of each controller is quantized logarithmically before it is input to the subsystem, and the quantized density would affect the stability of the systems. First, a decentralized state feedback controller is designed for interconnected systems without quantization and the corresponding stable region is obtained. Second, for a given controller, the lower bound of the quantization density is evaluated from parameters of local controllers. Finally, the proposed method is applied to coupled inverted pendulums systems which can be viewed as quantized interconnected systems. The simulation results show that by using the proposed quantized controllers, the interconnected inverted pendulum systems are parametrically stabilized.     

计算机信息技术辅助下的小学语文教学研究

人类文化的发展离不开语言的发展,我们在日常生活中的交际也离不开语言。关于语文教学,就是将语言的交际性和它的人文性进行有机的结合。在进行语文教学过程中,我们要培养学生对祖国语言的热爱之情,教会他们如何理解语言、积累词汇和恰当准确地运用语言。为了提高学生的语文思维能力,要注重平常对学生写作能力、阅读能力和表达能力的锻炼和教导。计算机网络多媒体的运用,可以为小学语文教学提供一个广阔的空间。     

Design of hexa‐band planar inverted‐F antenna using hybrid BSO‐NM algorithm for mobile phone communications

This article presents a new design of multiband planar inverted‐F antenna with slotted ground plane and S‐etched slot on the radiation patch. The proposed antenna is optimized using an efficient global hybrid optimization method combining bacterial swarm optimization and Nelder‐Mead (BSO‐NM) algorithm to cover a very important six service bands including GSM900, GPS1575, DCS1800, PCS1900, ISM2450, and 4G5000 MHz with enhanced bandwidths. The BSO‐NM algorithm in Matlab code is linked to the CST Microwave studio software to simulate the antenna. To validate the results, the antenna is analyzed using the finite difference time domain (FDTD) method. A good agreement is achieved between the results of EM simulation and that produced from the FDTD method. © 2012 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2013.     

认知无线电中动态频谱分配问题的研究

介绍了认知无线电的研究现状,对认知无线电系统中已有的动态频谱分配模型进行了分析并结合各种算法进行了比较。在此基础上总结并提出了频谱共享的一些挑战性问题,探讨了动态频谱分配的一些热点问题并构想了未来的发展方向。     

倒立摆的迭代学习控制方法研究

针对倒立摆系统典型的非线性、多变量和自然不稳定的特点,在建立系统数学模型基础上,利用迭代学习控制方法,根据动态指标的要求设计了控制器,并完成了系统仿真,结果表明:与传统反馈控制相比较,所设计的迭代学习控制器使系统的动态性能得到了很大的改善。     

一级直线倒立摆匀速行走的模糊控制研究与实现

当前针对倒立摆的研究一般是把角度控制或者位置控制作为控制目标,很少着眼于速度控制,有鉴于此,设计了一种简单的模糊控制器,应用于一级直线倒立摆的匀速行走控制中;仿真实验和实物实时控制实验均验证了该控制器的有效性,对于设定的速度整定值,通过调整几个比例环节的系数,系统具有很好的动态性能指标,而且控制器在有外界扰动时体现了很好的抗扰性;考虑到实际物理系统中倒立摆行程的限制,设计的自动换向开关实现了倒立摆在一段给定的行程上匀速来回行走的控制目标,通过手动切换开关也能实现倒立摆的位置控制。     

二级倒立摆的Sugeno型模糊神经网络控制

为了提高二级倒立摆系统实时控制的响应速度和稳定性,在设计Mamdani型模糊推理规则控制器控制倒立摆系统稳定的基础上,设计了一种更有效率的基于Sugeno型模糊推理规则的模糊神经网络控制器.该控制器使用BP神经网络和最小二乘法的混合算法进行参数训练.能够准确归纳输入输出量的模糊隶属度函数和模糊逻辑规则.通过与Mamdani型控制器的仿真对比及实际控制实验结果,表明该Sugeno型模糊神经网络控制器时二级倒立摆实验装置的控制具有良好的稳定性、快速性和较高的控制精度.     

Shaping stable periodic motions of inertia wheel pendulum: theory and experiment

We consider an underactuated two‐link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC‐motor. The goal is to create stable oscillations of the pendulum, which is not directly actuated. We exploit a recently proposed feedback‐control design strategy based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving orbitally exponentially stable oscillatory motions. The main contribution is a step‐by‐step procedure on how to achieve oscillations with pre‐specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society