超空泡航行体加速段控制设计

为研究超空泡航行体在加速阶段动力学建模及稳定控制设计问题,根据空泡截面独立膨胀原理研究了空泡形态及其轴线的偏移,并考虑了空泡记忆效应、重力、空化器定向效应及航行体攻角的影响.采用细长体理论计算了超空泡航行体各区域的流体动力,建立超空泡航行体加速段纵平面内运动数学模型,设计了基于输入输出精确线性化的深度跟踪控制器,并对此进行数学仿真.仿真结果表明:控制器跟踪效果良好;滑行力在极短时间内变为零,有利于提高航行体的稳定性及减小部分沾湿区的摩擦阻力.     

Investigation on full vehicle height control algorithm using feedback linearization method

Aiming to improve the control accuracy of the vehicle height for the air suspension system, deeply analyzing the processes of variable mass gas thermodynamics and vehicle dynamics, a nonlinear height control model of the air suspension vehicle was built. To deal with the nonlinear characteristic existing in the lifting and lowering processes, the nonlinear model of vehicle height control was linearized by using a feedback linearization method. Then, based on the linear full vehicle model, the sliding model controller was designed to achieve the control variables. Finally, the nonlinear control algorithm in the original coordinates can be achieved by the inverse transformation of coordinates. To validate the accuracy and effectiveness of the sliding mode controller, the height control processes were simulated in Matlab, i.e., the lifting and lowering processes of the air suspension vehicle were taken when vehicle was in stationary and driving at a constant speed. The simulation results show that, compared to other controllers, the designed sliding model controller based on the feedback linearization can effectively solve the "overshoot" problem, existing in the height control process, and force the vehicle height to reach the desired value, so as to greatly improve the speed and accuracy of the height control process. Besides, the sliding mode controller can well regulate the roll and pitch motions of the vehicle body, thereby improving the vehicle''s ride comfort.     

温室大棚温湿度跟踪切换最优控制器

温室大棚中的温湿度系统具有非线性、耦合关系强和滞后等特性,为了实现对温室的温湿度控制,建立了基于能量和质量平衡的温室大棚环境机理模型.针对温室大棚控制系统的非线性,对多个工作点系统进行线性化,得到了一组线性系统模型.基于切换思想,在不同工作点附近采用不同的系统模型参数;基于线性二次型性能指标,设计了温湿度跟踪切换最优控制器,并通过共同Lyapunov函数法验证了该切换系统的稳定性.仿真结果表明,设计的控制器可以很好地实现对温湿度目标值的跟踪控制.     

基于状态反馈线性化法的多馈入高压直流输电系统控制器设计

高压直流输电（HVDC）系统的附加控制器可以改善系统的稳定性。针对多馈入高压直流输电系统,应用非线性控制理论中的状态反馈线性化法设计了直流系统的附加控制器。首先建立了多馈入高压直流输电系统的数学模型,然后推导出稳定控制规律,推导过程中考虑了2条直流系统附加控制的相互影响,最后以一个3机和2条直流线路构成的系统为例进行了仿真研究。研究结果表明：与传统控制器相比,该控制器能更好地改善系统的稳定性。     

A Fully Differential Interface Circuit of Closed-loop Accelerometer with Force Feedback Linearization

In this paper,a fifth-order fully differential interface circuit（ IC） is presented to improve the noise performance for micromechanical sigma-delta（ Σ-Δ） accelerometer. A lead compensator is adopted to ensure the stability of the closed-loop high-order system. A low noise capacitance detection circuit is described with a correlated-double-sampling（ CDS） technique to decrease 1 /f noise and offset of the operational amplifier. This paper also proposes a self-test technique for the interface circuit to test the harmonic distortion. An electrostatic force feedback linearization circuit is presented to reduce the harmonic distortion resulting in larger dynamic range（ DR）. The layout of the IC is implemented in a standard 0. 6 μm CMOS technology and operates at a sampling frequency of 250 kHz. The interface consumes 20 mW from a 5 V supply. The post-simulation results indicate that the noise floor of the digital accelerometer is about- 140 dBV /Hz1 /2at low frequency. The sensitivity is 2. 5 V /g and the nonlinearity is 0. 11%. The self-test function is achieved with 98. 2 dB thirdorder harmonic distortion detection based on the electrostatic force feedback linearization.     

基于扩张状态观测器的PMSM积分时变滑模控制

为了实现永磁同步电机(PMSM)驱动系统的高精度跟踪控制,提出了新型积分时变滑模控制策略,该策略考虑到系统的非线性和耦合特性对动、静态性能的影响,首先采用反馈线性化原理将系统模型线性化,然后为了加快动态响应过程,采用单回路结构取代串级结构设计积分时变滑模控制器。针对负载扰动的问题,设计了一种以负载转矩为观测对象的扩张状态观测器,并将观测值反馈到控制器中以克服扰动对性能的影响。最后在永磁同步电机实验平台上开展了对比实验研究,通过实验结果可以看出,积分时变滑模控制器使系统具有无超调、快速性的优点,提高了系统的动态和稳态性能,扩张状态观测器能够快速跟踪负载的变化,增强了控制器对负载扰动的鲁棒性。     

双电机驱动关节的线性化控制研究

本文基于齿轮传动系统存在的齿隙非线性问题,提出了一种双电机驱动双主动齿轮啮合同一从动齿轮的驱动方案。设计了双电机协调控制算法,包括力矩线性化控制算法与单速度环速度反馈线性化控制算法,解决了电机齿轮传动系统运动过程中的齿隙非线性问题。本文首先介绍了双电机消隙原理与控制方案,然后建立双电机系统控制模型进行分析,最后搭建仿真模型进行控制方案的验证。仿真结果表明,本文所提出的双电机控制方案可以有效地解决齿轮传动中的齿隙非线性问题。     

高桩码头Pushover分析影响因素研究

非线性静力分析方法或Pushover分析方法是近年提出并在高桩码头抗震设计中得到应用的位移计算方法,该方法将Pushover曲线与反应谱相结合对结构位移进行估计。探讨了影响高桩码头Pushover分析结果的因素,对Pushover分析的能力谱法和N2法及能力谱法中采用的不同等效线性化方法、等效阻尼比公式和不同反应谱进行了定性和定量分析,同时通过一个实际工程案例,比较了上述不同情况的目标位移计算结果。研究表明,能力谱法与N2法的计算结果之间存在差异,差异的大小与能力谱法采用的等效阻尼比计算公式有关;能力谱法中,不同等效阻尼比公式和反应谱曲线下降段的形状对高桩码头目标位移的计算结果有较大影响;Pushover曲线双折线化方法对位移计算结果的影响不是很大。     

铍青铜倾角传感器及其线性度补偿

用弹性较好的铍青铜材料作为振动元件,设计制作了“三明治”式差动电容检测结构的倾角传感器、给出敏感头结构尺寸,利用弹性力学分析了传感器的力学特性,推导出被测倾角和铍青铜元件偏角的关系。使用单片机,通过软件线性度补偿,提高了倾角传感器的输出线性度。该传感器结构简单,成本低,稳定性好,使用方便,并经过在全量程范围内测试,最大误差为6°。     

Adaptive actuator failure compensation for multivariable feedback linearizable systems

A feedback linearization‐based adaptive control scheme is developed for multivariable nonlinear systems with redundant actuators subject to uncertain failures. Such an adaptive controller contains a direct adaptive actuator failure compensator to compensate the uncertain actuator failure, a nonlinear feedback to linearize the nonlinear dynamics, and a linear feedback to stabilize the linearized system. The key new design feature is the estimation of both the failure patterns and the failure values, for direct adaptive actuator failure compensation, newly developed for multivariable feedback linearizable nonlinear systems. With direct control signal adaptation, the adaptive failure compensation design ensures closed‐loop stability and asymptotic output tracking in the presence of actuator failure uncertainties. Simulation results from an application to attitude control of a near‐space vehicle dynamic model are presented to verify the desired system performance with adaptive actuator failure compensation. Copyright © 2015 John Wiley & Sons, Ltd.