基于MEMS加速度传感器的双轴倾角计及其应用

利用MEMS加速度传感器设计了双轴倾角计,并采用单片机进行了线性化和温度补偿,倾斜角以模拟量和数字量2种形式输出。该倾角计体积小、重量轻、精度高,能够很好地满足MAV姿态控制及其他应用的倾角测量。     

基于苯丙氨酸解氨酶的生物传感器线性化研究

针对苯丙氨酸解氨酶生物传感器非线性特性，依据最小二乘法理论，采用最优化技术，建立了最佳拟合直线的数学模型，并给出基于可编程控制器的数据拟合程序，实际运行表明，该方法克服了生物传感器校正传统方法拟合准确度低的缺点，对生物传感器线性化研究提供了新思路。     

Adaptive-like control methodologies for a CSTR system with dynamic actuator constraints

This paper deals with a catalytic continuous stirred tank reactor example, modeled as a two-input constrained nonlinear system. Under the Lyapunov-based linearization strategy, the saturation-type parameterized control design can reduce the effect of actuator subject to amplitude and rate constraints. Using the two-input control framework, it turns out to be robust against unknown disturbances, and it also ensures the asymptotic output regulation. For the purpose of practical implementation, the adaptive-like control methodology is developed. A reduced-order nonlinear observer plus the integration of both controllers is synthesized. Our results are illustrated via numerical simulation.     

基于精确线性化的MIMO双线性系统预测函数控制

针对典型多输入多输出双线性系统, 提出了基于非线性过程精确反馈解耦线性化的预测函数控制方法这是一种分层的控制策略, 首先设计一个静态的非线性状态反馈, 使得闭环系统是输入输出解耦和线性的;然后设计一组单输入单输出预测函数控制器, 下层为上层预测函数控制提供一组单输入单输出模型, 而上层预测函数控制以其固有的鲁棒性来补偿参数变化和解耦线性化的近似性, 并以纸机加压网前箱为例进行了仿真实验, 结果是令人满意的.     

Trajectory tuning for the tracking problem of the underactuated mechanical systems: application to the PVTOL aircraft

The Planer vertical take-off and landing (PVTOL) aircraft is a typical example of an underactuated mechanical system and has a nonminimum-phase nature. When considering output tracking control, the Input/Output (I/O) linearization method is not appropriate since the stability of the internal dynamics is not guaranteed. Hauser et al. regarded this system as a slightly nonminimum-phase system which approximates to a minimum-phase one. Their control scheme yielded good results when the coupling factor was small, but the results were not acceptable when the coupling factor increased. In this article, we propose two approaches to improve the control performance. First, we consider the approximation error of Hauser's scheme as uncertainty, and apply the Linear Quadratic Regulator (LQR) method, which possesses robustness against uncertainty, to determine the stabilizing feedback coefficients. Second, from the fact that the tracking error is unavoidable, we use the “virtual reference trajectory” to design the tracking control law, and optimize this trajectory to reduce the tracking error between the “actual reference trajectory” and the “resulting trajectory”. This optimization also improves the control performance by choosing a suitable performance index. By using our approach, we achieve better performance even if the coupling factor is increased. We show these results by numerical simulation. This work was presented, in part, at the Seventh International Symposium on Artificial Life and Robotics, Oita, Japan, January 16–18, 2002     

柔性机器人的动力学建模及其控制*

本文首先综述了近年来在柔性机器人动力学建模方面所取得的进展，着重介绍了目前较常见的几种建模方法和模型，同时对柔性机器人的控制问题进行了评述，指出了今后研究的方向。     

一种基于最小二乘支持向量机的预测控制算法

针对工业过程中普遍存在的非线性被控对象，提出一种基于最小二乘支持向量机建模的预测控制算法．首先，用具有RBF核函数的LS-SVM离线建立被控对象的非线性模型；然后，在系统运行过程中，将离线模型在每一个采样周期关于当前采样点进行线性化，并用广义预测算法实现对被控系统的预测控制．仿真结果表明了该算法的有效性和优越性．     

Application of Feedback Linearization Method in Airplane Automatic Landing Control System

Summarizes the I/O feedback linearization about MIMO system, and applies it to nonlinear control equation of airplane. And also designs the tracing control laws for airplane longitudinal automatic landing control system.     

达芬-谐波振子的改进解析逼近解

研究达芬-谐波振子的解析逼近解。所谓达芬-谐波振子是指当位移远小于1时，系统可化为三次非线性振子，而当位移远大于1时，该系统则化为线性谐波振子。通过将变形后的控制方程的线性化与谐波平衡法组合起来，我们建立了达芬-谐波振子频率及周期解的改进解板逼近。改进的解析逼近在振幅的全部取值范围内，包括振幅趋于零及无穷的情况，都有令人非常满意的精度。     

损耗测量装置的压电陶瓷线性化设计实现

为了减小测量装置的谐振法测量中由压电陶瓷引入的损耗误差,采用对压电陶瓷驱动信号补偿的办法进行线性化.谐振法测量中需要使用压电陶瓷驱动扫频激光实现损耗检测,压电陶瓷形变非线性会导致模间距T产生误差,损耗值与模间距T成反比,损耗计算中会出现误差,因此压电陶瓷驱动信号需要经过线性化处理,减小在任何位置出的模中的模间距T的误差.实验结果表明:对压电陶瓷进行线性化,使接收到的功率谱信号模间距T的误差从±275(10%)降低至±50(2%),降低了损耗测量误差.