利用炉气分析预报AOD炉终点锰磷含量

采用以飞行质谱仪为核心构造的炉气分析系统所测得的一氧化碳、二氧化碳、氧气、氮气等气体的体积分数,依据反应平衡和质量守恒定律并结合炉气分析模型所得到的炉内的氧的积累,分别建立了预测吹炼终点的锰和磷含量的数学模型,并对模型预测值和实测值进行了分析比较。此模型能很好地预测终点的锰、磷含量,为AOD炉终点的锰和磷含量的预报提供了一种参考方案。     

Adaptive Learning with Large Variability of Teaching Signals for Neural Networks and Its Application to Motion Control of an Industrial Robot

Recently, various control methods represented by proportional-integral-derivative (PID) control are used for robotic control.To cope with the requirements for high response and precision, advanced feedforward controllers such as gravity compensator,Coriolis/centrifugal force compensator and friction compensators have been built in the controller.Generally, it causes heavy computational load when calculating the compensating value within a short sampling period.In this paper, integrated recurrent neural networks are applied as a feedforward controller for PUMA560 manipulator.The feedforward controller works instead of gravity and Coriolis/centrifugal force compcusators.In the learning process of the neural network by using back propagation algorithm, the learning coefficient and gain of sigmoid function are tuned intuitively and empirically according to teaching signals.The tuning is complicated because it is being conducted by trial and error.Especially, when the scale of teaching signal is large, the problem becomes crucial.To cope with the problcm which concerns the learning performance, a simple and adaptive learning technique for large scale teaching signals is proposed.The learning techniques and control effectiveness are evaluated through simulations using the dynamic model of PUMA560 manipulator.     

A decentralized approach to integrated flight control synthesis

A new approach to decoupled control of large-scale non-linear systems is applied to a dynamic flight control. Control synthesis is performed in two steps. First the nominal, programmed control is synthesized using the complete model of flight dynamics. This nominal control should realize the nominal trajectory under ideal conditions with no perturbations. In the second step the tracking of the nominal trajectory is realized. The system is viewed as a set of decoupled subsystems and for each subsystem local control is synthesized. Then, the stability of the overall system is analyzed and the global control is introduced to compensate coupling among some of the subsystems. A particular choice of subsystems in a case of flight control and of local and global control synthesis is proposed. A simulation of flight control with the proposed control law is also presented.     

被动目标定位系统观测平台的最优机动轨迹

对仅有方位量测的被动目标定位中观测平台最优机动轨迹问题进行了探讨.在最大化Fisher信息阵 (FIM)行列式指标下给出了当前时刻一种新的机动控制策略,从理论上证明了最优机动轨线有且仅有2支,并给出了最优机动策略和最优机动轨线方程;它的特点是对任意时刻均为最优,而不仅仅在观测时间的末端,几何直观描述了机动控制序列的可执行性;与最大化方位变化率下观测平台最优机动轨线相比较,本文的机动策略兼顾了距离和方位2个因素的影响,可看成是对距离信息和方位信息之间的折中.数字仿真表明,与传统方法比较,提出的新机动策略能获得更大的信息.     

低速飞行模拟转台变结构控制设计

针对飞行模拟转台在低速运行时的控制问题进行研究。由于摩擦力矩对飞行模拟转台在低速运行的影响较大,为了使转台在低速运行时具有精确的跟踪能力,采用变结构控制方法设计了控制器,并利用干扰观测器对摩擦力矩进行估计,从而在不增加系统硬件设备及改变转台结构的情况下对摩擦力矩进行补偿。仿真表明,该方法可以使飞行模拟转台在低速情况下具有良好的跟踪能力,干扰观测器可以准确地对摩擦力矩进行估计,并有效地补偿了摩擦力矩的影响,验证了该方法的有效性。     

等离子体电流反向平衡位形中带电粒子运动的数值模拟研究

本文采用数值方法求解Grad-Shafranov方程获得CT-6B交流放电实验总电流过零时的平衡位形和磁场分布,进而结合粒子在磁场中的运动方程,模拟氘离子在该平衡位形中的运动轨迹,统计氘离子的损失率与损失位置。结果表明：总电流过零时刻的平衡位形为内外两侧电流反向平衡位形,在强、弱场侧各存在1个磁岛,电流在磁岛附近取极值;位于强场侧的粒子几乎不损失,弱场侧的粒子在径向位置很大时存在损失,越靠近边界损失率越高;损失位置基本上位于赤道面以下并在最底部达到极值;随初始角变大,氘离子轨迹由通行轨迹变成损失轨迹再向香蕉轨迹演变。     

基于突发特征分析的事件检测*

针对新闻数据流的事件检测问题,提出了一种基于突发特征分析的事件检测方法。事件由在一定时间窗口内代表它的特征构成,通常它们在事件发生时表现出一定的突发。通过多尺度突发分析算法识别出突发特征,并计算突发特征突发模式的相似性及所在新闻的重合度,对突发特征进行聚类分析以构造事件。在路透社80多万篇新闻数据集中验证上述算法,可准确地识别出突发特征各种跨度上的突发,且能有效地检测出事件。     

基于VxWorks的MUAV飞行控制系统设计

针对微小型无人机（MUAV）功能要求复杂,迫切需要提高可靠性与实时性等现状,以嵌入式实时操作系统VxWorks为平台,完成了MUAV飞行控制软件系统的开发,实现了多传感器数据采集、捷联解算、卡尔曼滤波、飞行控制、地面通信、故障处理等多项功能。给出了基于Vxworks的MUAV飞行控制软件系统中多任务划分、优先级分配的方法,对各模块进行了详细设计,并利用多任务机制对单任务飞控软件存在的不足之处作出了改进。外场试验与对比试验证明：嵌入式实时操作系统的引入显著提高了MUAV飞行控制系统的实时性与可靠性。     

复杂机动动作最优航迹控制模型及操纵特性分析

为了提高驾驶员对机动动作的控制能力,从驾驶员操纵角度避免机动动作过程中的风险,提出以控制量变化率作为优化参数的机动动作最优航迹控制模型.将机动动作划分为彼此相连的轨迹片段,轨迹片段划分合理,则每个轨迹片段具有相同的控制量变化率,控制量变化率不但能够给出机动动作控制量的输入,更重要的是能够反映机动动作过程中驾驶员操纵的快慢程度.使用小生境稳态遗传算法(niching steady-state genetic algorithm,niching SSGA)对最优航迹控制模型进行求解,求解结果为机动动作最优控制量变化率序列,以该序列对应的控制量作为机动动作的输入,能够实现一个标准的机动动作.仿真实验部分以典型纵向机动动作斤斗及横侧向机动动作桶滚为例进行分析,研究了两类动作的最优控制量变化率序列,并对两类动作的操纵特性进行了分析.