Sliding Mode Observer Driver IC Integrated Gate Driver for Sensorless Speed Control of Wide Power Range of PMSMs

This work proposes a highly efficient sensorless motor driver chip for various permanent‐magnet synchronous motors (PMSMs) in a wide power range. The motor driver chip is composed of two important parts. The digital part is a sensorless controller consisting mainly of an angle estimation block and a speed control block. The analog part consists of a gate driver,which is able to sense the phase current of a motor. The sensorless algorithms adapted in this paper include a sliding mode observer (SMO) method that has high robust characteristics regarding parameter variations of PMSMs. Fabricated SMO chips detect back electromotive force signals. Furthermore, motor current–sensing blocks are included with a 10‐bit successive approximation analog‐to‐digital converter and various gain current amplifiers for proper sensorless operations. Through a fabricated SMO chip, we were able to demonstrate rated powers of 32 W, 200 W, and 1,500 W.     

脉冲噪声环境下高斯稀疏信源贝叶斯压缩感知重构

 大多数现有的压缩感知重构算法对脉冲噪声不具有鲁棒性,在脉冲噪声环境下,重构性能急剧下降,使得整个重构系统崩溃.针对此问题,本文提出了一种脉冲噪声环境下的稀疏重构算法BINSR算法,其基于贝叶斯理论,可以有效地估计出信号的支撑集和脉冲噪声中脉冲的位置,并且根据压缩感知观测序列的democracy特性,利用最小均方误差MMSE估计量,有效地估计出原信号.在此基础上,本文结合鲁棒统计学,提出自适应的ABINSR算法,使其不再依赖于信号以及噪声的统计参数.实验结果表明,BINSR算法在脉冲噪声环境下可以有效地恢复出稀疏信号,很大程度上改善了脉冲噪声环境下算法的重构性能.ABINSR算法不仅对脉冲噪声具有鲁棒性,而且可以在高斯白噪声环境下实现有效的信号重构.     

Robust Audio Fingerprinting Method Using Prominent Peak Pair Based on Modulated Complex Lapped Transform

The robustness of an audio fingerprinting system in an actual noisy environment is a major challenge for audio‐based content identification. This paper proposes a high‐performance audio fingerprint extraction method for use in portable consumer devices. In the proposed method, a salient audio peak‐pair fingerprint, based on a modulated complex lapped transform, improves the accuracy of the audio fingerprinting system in actual noisy environments with low computational complexity. Experimental results confirm that the proposed method is quite robust in different noise conditions and achieves promising preliminary accuracy results.     

印刷作品版权保护中的数字图像水印技术

数字水印一个重要的应用扩展就是对纸质图像产品的保护。数字水印技术应用于音频、图像、视频和文本的版权保护,在该领域的各种不同分支都有很多学者做了大量研究。论文主要讨论了抵抗打印扫描信道的数字图像水印技术,并根据数据嵌入域的不同对这些技术进行了分类讨论。     

SINS/CNSSAR组合导航系统设计与高性能算法研究

在吸收SINS、CNS和SAR三者优点的基础上,设计了SINS/CNS/SAR组合导航系统,建立了该组合导航系统的非线性数学模型;然后,在研究抗差自适应滤波和粒子滤波优点的基础上,提出了一种新的抗差自适应Unscented粒子滤波算法和自主导航多源信息融合算法.将提出的算法应用于SINS/CNS/SAR自主导航系统中进行计算仿真,并与Unscented卡尔曼滤波和粒子滤波比较,结果表明:提出的新算法不仅解算精度明显高于Unscented卡尔曼滤波和粒子滤波算法,而且可靠性好,能提高组合导航系统的精度.     

基于时间序列分析的频谱异常自主检测和稳健估计方法

复杂电磁环境和无用频先验知识条件下有效检测电磁频谱异常使用信息,是无线电监测和电磁环境评估等领域的重要难题.本文基于时间序列分析理论,通过构建反映有限频谱占用度序列动态依存关系且包含频谱异常值的时序模型,实现对无线电频谱异常的自主检测和稳健估计.研究结果表明,该方法无需用频数据库或无线电监测历史数据支持,能够有效识别典型频谱异常类型、发生时间以及异常影响强度等信息;同时通过对频谱占用度时序模型的稳健估计,能够显著降低模型拟合误差,提高模型对外部干扰环境的适应性和鲁棒性.     

基于扰动观测器的机载云台扰动复合补偿方法

针对多旋翼无人机(mUAV)机载云台的扰动补 偿需求,提出一种基于改进的扰动观测器(IDO,improved disturbance observer)的伺服控 制器与减振装 置相结合的复合补偿方法。深入分析了IDO的扰动补偿能力和鲁棒性,构建 了基于IDO的云 台伺服控制结构;依据mUAV机载云台的振动特性,设计出减振装置的结构参数 及安装位置。飞行实验表明, 引入复合补偿方法后,视轴(LOS)指向误差减小到了0.03°,振动隔 离度提高了约15dB。复合补偿方法有效地补偿了机载云 台的扰动,完全满足了mUAV机载云台扰动补偿的需求。     

Amplitude information based robust tracking method for multiple marine targets

A robust multi-Bernoulli filter based on the amplitude information of the target in sea clutter was proposed,in which the amplitude information of the target and sea clutter was exploited to improve the measurement likelihood.Therefore,the proposed approach could distinguish targets from clutter better when they were spatially close,which further enhanced the ability to track targets in marine radar detection applications.The simulation results of Swerling type Ⅰfluctuating targets tracking in K distributed sea clutter show that,the proposed algorithm is superior in performance to the robust multi-Bernoulli filter in terms of state estimation,cardinality estimation,as well as clutter rate estimation.     

Adaptive robust control of fully-constrained cable driven parallel robots

In this paper, adaptive robust control (ARC) of fully-constrained cable driven parallel robots is studied in detail. Since kinematic and dynamic models of the robot are partly structurally unknown in practice, in this paper an adaptive robust sliding mode controller is proposed based on the adaptation of the upper bound of the uncertainties. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The proposed controller not only keeps all cables under tension for the whole workspace of the robot, it is chattering-free, computationally simple and it does not require measurement of the end-effector acceleration. The stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov second method and it is shown that the tracking error will remain uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control algorithm is examined through some experiments on a planar cable driven parallel robot and it is shown that the proposed controller is able to provide suitable tracking performance in practice.     

基于视频序列的图像拼接

为消除视频序列之间的冗余信息,以简单的摘要形式表达视频的主要内容,提出了一种基于视频序列的图像拼接方法。首先,采用改进的帧间聚类算法提取视频的关键帧;其次,利用SIFT算法提取关键帧的特征点,采用最近邻算法进行特征点匹配,通过引导互匹配法和投票过滤法提高匹配精度;再次通过RANSAC鲁棒估计算法得到所选帧间的单映矩阵,并使用LM非线性迭代算法对单映矩阵进行精炼。最后,利用级联单映矩阵结合加权融合算法实现了视频序列的无缝拼接,实验效果较为理想。