基于红外传感原理的无人机姿态测量系统设计

由于红外温度传感器能有效感知天空间的热辐射,并且相比传统姿态测量的传感器具有体积小、重量轻、成本低等特点,设计一种基于红外传感原理的无人机姿态测量系统;该系统以新型的ARM Cortex—M3内核微处理器STM32F103ZET6作为处理单元,通过采集红外传感器的姿态信息,进行姿态解算,进而获得无人机的姿态角;同时分析了太阳干扰对实验的影响。实验测试表明:该姿态测量系统简单实用,性能稳定,精度高,能有效满足一般无人机姿态测量的要求。     

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。     

A Discrete‐Time Global Quasi‐Sliding Mode Control Scheme with Bounded External Disturbance Rejection

A global quasi‐sliding mode control (GQSMC) scheme is introduced to ensure zigzag motion with a smaller bound than that offered by Gao's method and to provide disturbance rejection throughout the entire response in discrete time. The design of an augmented forcing function is followed by three conditions in discrete time extended from global sliding mode control (GSMC) in continuous time. Furthermore, we adopt a switching gain, which is auto‐tuned as a function of sliding surface s(k), such that chattering phenomena can be considerably alleviated during the steady‐state, significantly reducing switching control applied to the plant. The proposed GQSMC scheme can provide more advantages such as an even distribution of the control input throughout the entire response and an improvement in the accuracy and speed of the desired performance, guaranteeing a quasi‐sliding mode throughout the entire response. In addition, we also consider the input disturbance rejection according to the norm‐bounded exogenous signal. Results from both the simulation and the experiments are reported. The results further verify that we can use the global sliding surface to curtail reaching the phase stage.     

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.     

分布式多输入系统的自律鲁棒自适应分散控制

为了实现一类分布式多输入系统的分散鲁棒自适应控制, 基于状态扩张和反演干扰抑制控制, 提出一种自律鲁棒自适应分散控制的新方法. 结合直接反馈线性化和最优控制, 给出了自律最优鲁棒自适应分散控制的设计方法. 仿真结果表明, 所提出方法能够有效实现各子系统的自律鲁棒稳定、全系统整体鲁棒稳定和不确定参数自适应, 同时通过求解LMI, 具备了最优干扰抑制的功能.

     

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。     

基于扰动测度的电能质量扰动源定位方法

针对现有电能质量扰动源定位方法中对扰动方向表征不足的问题,引入扰动测度概念,测量扰动的大小和方向,提出一种扰动方向的定量表示方法以及相应的扰动源定位算法。首先利用基本信度分配函数对扰动方向进行量化处理,然后通过隶属度函数对扰动功率和扰动能量进行综合定位,得出多测点的扰动方向测度列向量,结合覆盖矩阵得出最终的定位结果.仿真结果表明：在原方法定位不准确的情况下,新方法仍然能够正确定位扰动源,证实了此方法的有效性和可行性.