Robots positioning control revisited

Positioning control systems for robot arms are presented within a general framework in view of unification and classification. Treating coupling torques from other links as an external disturbance reduces the design of the control system to that of SISO servomechanisms driving each of the robot axes individually. A short survey of many control strategies proposed in the literature presents them as different methods aiming at attenuation of this disturbance. The use of disturbance observers is shown to provide a nice and simple way for that purpose. This could be applied to the improvement of actual industrial robots at the cost of slight software modifications.     

Optimal Performance in Tracking Stochastic Signal Under Disturbance Rejection

The analysis method of optimal tracking performance is proposed for multiple‐input multiple‐output (MIMO) linear time‐invariant (LTI) systems under disturbance rejection. An H₂ criterion of the error signal between the output of the plant and the reference signal is used as a measure for the tracking performance. Spectral factorization is applied to obtain the optimal solution of the system tracking error. The explicit expressions are derived for this minimal tracking error with respect to random reference signals under disturbance rejection. It is shown that the nonminimum phase zeros, the zero direction, the unstable poles, the pole direction of a given plant, statistical characteristics of the reference input signal, and disturbance signal have a negative effect on a feedback system's ability to reduce the system error with disturbance rejection. The results show that the optimal tracking performance will further be damaged because of disturbance rejection. Some typical examples are given to illustrate the theoretical results.     

Boundary layer model for char combustion and gasification

A non-steady boundary layer model is developed for numerical simulation of combustion and gasification of a single shrinking char particle. The model considers mass and energy conservation coupled with heterogeneous char reactions producing CO and homogeneous oxidation of CO to CO₂ in the boundary layer surrounding the char particle. Mass conservation includes accumulation, molecular diffusion, Stefan flow and generation by chemical reaction. Energy conservation includes radiation transfer at the particle surface and heat accumulation within the particle. Simulation results predict experimentally measured conversion and temperature profiles of a burning Spherocarb particle in a laminar flow reactor. Effects of bulk oxygen concentration and particle size on the combustion process are addressed. Predicted particle temperature is significantly affected by boundary layer combustion of CO to CO₂. With increasing particle size, char gasification to char combustion ratio increases, resulting in decreasing particle temperature and increasing peak boundary layer temperature.     

不同重力环境的空间机械臂自抗扰轨迹跟踪控制

针对空间机械臂在地面装调与空间应用时,由于重力环境变化导致机械臂模型发生变化的问题,提出了一种自抗扰控制算法,用于完成空间机械臂轨迹跟踪控制的任务.该算法通过将系统模型及未知外扰作为系统的总和扰动,并利用扩张状态观测器对该扰动进行观测且给予补偿,从而提高了系统抗扰的性能.当机械臂模型随重力环境变化而发生变化时,使用同一个自抗扰控制器对其末端轨迹进行控制,均能取得较好的控制效果.通过对系统的稳定性进行分析,证明了所设计控制器的有效性.将仿真结果与PD控制及自适应鲁棒控制做比较,结果表明该控制算法不仅能适应机械臂模型的变化而且还能有效抵抗系统的扰动,从而使系统具有较强的鲁棒性.     

物联网技术在科研量化管理平台中的应用及探索

科研管理的现代化及高效化是社会发展的趋势,将物联网技术集成到科研管理平台中,能达到高效、科学、高效的效果。完善当前科研管理系统的功能,使得平台除基本的管理功能外,同时具备量化积分功能及论文共享机制等功能,为考核、评价及后续工作提供参考数据,适应当前形势下的复杂需求。     

基于广义预测控制的船舶编队

针对多船舶之间的编队合作问题,对船舶的编队控制进行研究。利用广义预测控制方法在船舶运行中对理想路径曲线进行预测,得出船舶的运动控制策略;通过运用领导-跟随者编队方法,在Cartesian坐标系下建立船舶编队控制模型,基于这种模型建立一系列船舶航迹约束,得到船队跟随者成员的控制策略。同时在船舶运行过程中,加入风浪的扰动,进行模拟仿真,得到船队的运行轨迹。     

泥岩隧道光面爆破的技术参数研究及应用

针对泥岩隧道的特殊性,通过优化光面爆破的爆破参数,讨论泥岩隧道掘进的经济性、安全性。采用预埋振速传感器监测的方式,分析光面爆破对隧道周围岩体的扰动。现场光爆技术应用效果显著,隧道开挖轮廓线内基本未出现超欠挖现象,半孔率达86%以上,爆破进尺提升约15%,孔痕长度基本均匀分布一般都在孔长的66%以上;萨道夫斯基公式的系数K衰减明显、α基本稳定,光爆的振动速度和围岩扰动都得到了有效控制。     

An Active Disturbance Rejection Approach to Leader‐Follower Controlled Formation

This article describes the design of a linearizing, observer‐based, robust dynamic feedback control scheme for output reference trajectory tracking tasks in a leader‐follower non‐holonomic car formation problem. The approach is based on the cars' kinematic models. A radical simplification in the form of a global ultra‐model is proposed on the follower's exact open loop position tracking error dynamics obtained via flatness considerations. This results in a system described by an additively disturbed set of two, second order integrators with non‐linear velocity dependent control input gain matrix. The unknown additive disturbances are modeled as absolutely uniformly bounded time signals which may be locally approximated by arbitrary elements of a sufficiently high degree family of Taylor polynomials. Linear high‐gain Luenberger observers of the generalized proportional integral (GPI) type may be readily designed. These observers include the self updating internal model of the unknown disturbance input vector components in the form of generic, instantaneous, time‐polynomial models. The proposed (GPI) observers, which are the dual counterpart of GPI controllers [17], achieve a simultaneous disturbance estimation and tracking error phase variables estimation. This on‐line gathered information is used to advantage on the follower's feedback controller thus allowing for a simple, yet efficient, disturbance and control input gain cancelation effort. The results are applied to have the follower track a time‐delayed version of the actual leader's trajectory. Experimental results are presented which illustrate the robustness and viability of the proposed approach.     

基于互相关定位法的干涉仪分析与仿真

首次提出用时域互相关法处理Sagnac/Mach-Zehnder分布式光纤传感系统的干涉输出信号, 对扰动进行检测和定位。首先对Sagnac/Mach-Zehnder分布式光纤传感系统进行了扰动检测和定位的理论分析, 推导出扰动引起的干涉输出信号的表达式, 利用Bessel函数展开, 确定了该系统的两路干涉输出满足时域互相关的特性。在此基础上进一步分析了两路干涉信号的表达式, 提出基频定位法和微分定位法两种时域互相关方法处理干涉信号, 确定扰动位置。对两种扰动定位方法进行了Matlab仿真, 并通过实验在多个扰动位置多次验证了两种方法的正确性。     

氨内参比法测定尿素熔融液中缩二脲含量

研究了尿素熔融液中缩二脲含量测定时各种消除氨干扰的方法，确定了氨内参比法可作为消除氨干扰的最佳方法，完善了该法应用时的具体操作步骤，建立了一个适用于尿素合成各工段尿液中缩二脲含量测定的简单、快速、准确的分析方法。