Wavelet CMAC for MIMO uncertain nonlinear systems using a modified social ski-driver algorithm

This study uses a Mexican hat wavelet membership function for a cerebellar model articulation controller (CMAC) to develop a more efficient adaptive controller for multiple input multiple output (MIMO) uncertain nonlinear systems. The main controller is called the adaptive Mexican hat wavelet CMAC (MWCMAC), and an auxiliary controller is used to remove the residual error. For the MWCMAC, the online learning laws are derived from the gradient descent method. In addition, the learning rate values are very important and have a great impact on the performance of the control system; however, they are difficult to choose accurately. Therefore, a modified social ski driver (SSD) algorithm is proposed to find optimal learning rates for the control parameters. Finally, a magnetic ball levitation system and a nine-link biped robot are used to illustrate the effectiveness of the proposed SSD-based MWCMAC control system. The comparisons with other existing control algorithms have shown the superiority of the proposed control system.     

电力有源滤波器控制器的研究与仿真分析

建立了包括有源电力滤波器（ＡＰＦ）在内的公共连接点（ＰＣＣ）的数学模型;针对实际控制器计算过程中的时间延迟,提出对负载电流值进行预测的两种算法,对逆变器的开关元件提出一种新型脉宽调制（ＰＷＭ）控制方案,并采用电力电子仿真软件包进行了仿真验证。     

μC/OS-Ⅱ实时操作系统中时间管理的改进

通过介绍μC/OS-Ⅱ实时操作系统中的时间管理功能,分析了系统中任务延时的优缺点.研究了一种基于硬件的延时机制,以提高系统的运行速度与实时性.在C8051F120单片机上进行测试,经实验得出此方法可以提高系统的实时性,减少系统的额外开销.     

Two-step design of critical control systems using disturbance cancellation integral controllers

An efficient critical control system design is proposed in this paper. The key idea is to decompose the design problem into two simpler design steps by the technique used in the classical loop transfer recovery method (LTR). The disturbance cancellation integral controller is used as a basic controller. Since the standard loop transfer recovery method cannot be applied to the disturbance cancellation controller, the nonstandard version recently found is used for the decomposition. Exogenous inputs with constraints both on the amplitude and rate of change are considered. The majorant approach is taken to obtain the analytical sufficient matching conditions. A numerical design example is presented to illustrate the effectiveness of the proposed design.     

我国煤矿自动化现状及发展趋势

根据先进的煤矿自动化产品的特点,分析了我国煤矿自动化产品存在的问题,指出了建立具有统一网络平台的煤矿综合自动化系统是我国煤矿自动化与信息化的发展趋势;介绍了我国煤矿综合自动化系统的现有基础及其在建设中主要涉及的方面,给出了基于工业以太网和基于现场总线的煤矿综合自动化系统的网络平台结构及特点,以及实施煤矿综合自动化系统需要注意的问题。     

嵌入式系统的课程实验研究

分析现有高低端嵌入式系统实验板的问题和不足,针对本科生"嵌入式系统"实验教学的实际需求,提出实验所应遵循的设计指导思想,并阐述了一种新电路设计,较好地解决了现有系统的问题。最后介绍其应用至"可编程逻辑器件"课程实验的效果。     

Tuning of multi-loop PI controllers based on gain and phase margin specifications

In this paper, a single-iteration strategy is proposed for the design of a multi-loop PI controller to achieve the desired gain and phase margins for two-input and two-output (TITO) processes. To handle loop interactions, a TITO system is converted into two equivalent single loops with uncertainties drawn from interactions. The maximum uncertainty is estimated for the initial controller design in one loop and single-input and single-output (SISO) controller design is applied. This controller is substituted to other equivalent loop for design, and finally, the first loop controller is refined on knowledge of other loop controller. For SISO controller tuning, a new method is presented to determine the achievable gain and phase margins as well as the relevant controller parameters. Examples are given for illustration and comparison.     

Stability analysis and time-varying walking control for an under-actuated planar biped robot

This paper presents two walking controllers for a planar biped robot with unactuated point feet. The control is based on the tracking of reference motions expressed as a function of time. First, the reference motions are adapted at each step in order to create a hybrid zero dynamic (HZD) system. Next, the stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the HZD. When the controlled outputs are selected to be the actuated coordinates, most periodic walking gaits for this robot are unstable, that is, the eigenvalues of the linearized Poincaré map (ELPM) is larger than one. Therefore, two control strategies are explored to produce stable walking. The first strategy uses an event-based feedback controller to modify the ELPM and the second one is based on the choice of controlled outputs. The stability analysis show that, for the same robot and for the same reference trajectory, the stability of the walking (or ELPM) can be modified by some pertinent choices of controlled outputs. Moreover, by studying some walking characteristics of many stable cases, a necessary condition for stable walking is proposed. It is that the height of swing foot is nearly zero at the desired moment of impact. Based on this condition, the duration of the step is almost constant in presence of initial error, so a method for choosing controlled outputs for the second controller is given. By using this method, two stable domains for the controlled outputs selection are obtained.     

Robust parametric CMAC with self-generating design for uncertain nonlinear systems

In this paper, a robust parametric cerebellar model articulation controller (RP-CMAC) with self-generating design, called RPCSGD, is proposed for uncertain nonlinear systems. The proposed controller consists of two parts: one is the parametric CMAC with self-generating design (PCSGD), which is utilized to approximate the ideal controller and the other is the robust controller, which is designed to achieve a specified H^∞ robust tracking performance of the system. The corresponding memory size of the proposed controller can be suitably constructed via the self-generating design. Thus, the useless or untrained memories will not take possession of the space. Besides, the concept of sliding-mode control (SMC) is adopted so that the proposed controller has more robustness against the approximated error and uncertainties. The stability of the system can be guaranteed surely due to the derivations of the adaptive laws of the proposed RPCSGD based on the Lyapunov function. Finally, the proposed controller is applied to the second-order chaotic system and the one-link rigid robotic manipulator. The tracking performance and effectiveness of the proposed controller are verified by simulations of the computer.     

A novel associative memory approach to speech enhancement in a vehicular environment

Numerous attempts have been undertaken to apply the spectral subtraction method to cancel noise perturbations but these efforts have yet to produce an algorithm that is able to adapt well to the environmental changes in the perturbations. In addition, the variants of the spectral subtraction method so far proposed in the literature would require a non-voice activity detector (NVAD), for a single microphone system, to store the perturbation. This is used as an estimate for the reference signal. Inaccuracy in the perturbation estimates causes the cleaned speech to be corrupted by musical artifacts, which is unacceptable. Post processing of signals corrupted by the musical artifacts is very costly. This paper provides an alternative approach that employs associative memory for speech enhancement. Extensive comparison is made using the soft computing approaches for noise cancellation based on associative memories. A set of stereo microphones captures the corrupted speech in a vehicle and is used to point to the closest associative memory location. The Wiener filter approach is used to cancel the noise. The paper discusses novel examples of the associative memories using the cerebellum model for noise modeling. Experimental results show the potential of these novel soft computing architectures in generating and adapting the required Weiner filters to cancel perturbation even at signal to noise ratio (SNR) of less than −13 dB.