UCC项目总承包工程建设的过程管理

由成都建筑材料工业设计研究院有限公司(简称成都院)和中国建材装备有限公司组成联合体总承包的UCC 10 000 t/d熟料水泥生产线,成都院负责提供合同范围内所有的工程设计、核心技术及核心设备、现场管理、人员培训、生产线达标考核,并具体负责实施和完成所有的土建及安装工程。在总承包工程建设的过程管理中,成都院以设计为灵魂,贯彻了"工艺流程顺畅,总图布局合理,系统配置先进可靠,合理节省投资"的设计理念;成都院克服了要求高、工期短、气候条件恶劣、国外施工人员管理难度大、功效低等重重困难,按时、保质保量、安全地完成了土建、安装、调试和试车任务;2007年4月26日,该生产线一次性通过业主的达标考核。我们的经验是:(1)有专业设计院全面介入的工程总承包是项目顺利进行的可靠保证;(2)参与建设的相关单位要相互信任、相互配合、目标一致;(3)工程建设管理科学化、人性化很重要。该项目的成功建设,使成都院总包工程建设的过程管理更加正规化、合理化和科学化。     

Reaching for redundant arms with human-like motion and compliance properties

This work proposes a redundant arm torque controller for reaching, guaranteeing desired completion time and accuracy requirements without the need for trajectory planning and prior knowledge of robot dynamics. The proposed controller is designed based on the prescribed performance control methodology and it is a reaching regulator in which the target pose for the hand acts as an attractor for the arm. It provides configuration consistency in return motions and hand and joint velocity smoothness. Its use in an admittance control scheme given measurements or estimates of external forces is also proposed providing active compliance capabilities in robot–environment interactions. Simulation studies for a 5dof human arm-like robot and experiments with a 7dof arm are performed to verify the approach and demonstrate the proposed controller’s performance.     

基于幂次趋近律的一类离散时间系统的变结构控制

针对一类离散时间系统,提出一种变结构控制设计方法.通过构造幂次趋近律,使得系统的准滑动模态不仅能保持步步穿越切换面的基本属性,而且能大幅度削弱抖振,有效地改善控制品质,提高系统的鲁棒性.采样周期越短,该控制方法的效果越明显.仿真实例表明了所设计控制器的可行性和有效性.     

引入趋近律的功率因数校正滑模控制仿真研究

提出一种引入趋近律的滑模变结构控制(SMVSC)方法来实现有源功率因数校正(APFC),减少电流的谐波成分.SMVSC是一种解决非线性时变系统(如APFC系统)问题的良好办法,但是实际应用中SMVSC的"抖振"现象问题必须要解决好.引入趋近律来削弱APFC系统在滑模控制中的"抖振"现象,并且依此推导出了控制APFC系统中的功率开关的PWM占空比.采用Matlab平台进行仿真验证控制策略控制APFC电路几乎得到单位功率因数,同时超调减小、响应时间缩短.     

Robot arm reaching through neural inversions and reinforcement learning

We present a neural method that computes the inverse kinematics of any kind of robot manipulators, both redundant and non-redundant. Inverse kinematics solutions are obtained through the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics. The inversion provides difference vectors in the joint space from difference vectors in the workspace. Our differential inverse kinematics (DIV) approach can be viewed as a neural network implementation of the Jacobian transpose method for arm kinematic control that does not require previous knowledge of the arm forward kinematics. Redundancy can be exploited to obtain a special inverse kinematic solution that meets a particular constraint (e.g. joint limit avoidance) by inverting an additional neural network The usefulness of our DIV approach is further illustrated with sensor-based multilink manipulators that learn collision-free reaching motions in unknown environments. For this task, the neural controller has two modules: a reinforcement-based action generator (AG) and a DIV module that computes goal vectors in the joint space. The actions given by the AG are interpreted with regard to those goal vectors.     

Reaching phase free adaptive fuzzy synergetic power system stabilizer

In this paper, an adaptive fuzzy power system stabilizer is developed based on robust synergetic control theory and terminal attractor techniques. The main contribution consists in making the dynamic system insensitive to parameters variation. This aim is achieved using a new synergetic controller design such that power system states start, evolve and remain on a designer chosen attractor toward the equilibrium point therefore avoiding transient mode. Rendering the design more robust, fuzzy logic systems are used to approximate the unknown power system dynamic functions without calling upon usual model linearization and simplifications. Based on an indirect adaptive scheme and Lyapunov theory, adaptation laws are developed to make the controller handle parameters variations due to the different operating conditions occurring on the power system and to guarantee stability. The performance of the proposed stabilizer is evaluated for a single machine infinite bus system and for a multi machine power system under different type of disturbances. Simulation results show the effectiveness and robustness of the proposed stabilizer in damping power system oscillations under various disturbances and better overall performance than classical PSS and some other types of power stabilizers.     

Ocular movements under taskload manipulations: Influence of geometry on saccades in air traffic control simulated tasks

Traffic geometry is a factor that contributes to cognitive complexity in air traffic control. In conflict‐detection tasks, geometry can affect the attentional effort necessary to correctly perceive and interpret the situation; online measures of situational workload are therefore highly desirable. In this study, we explored whether saccadic movements vary with changes in geometry. We created simple scenarios with two aircraft and simulated a conflict detection task. Independent variables were the conflict angle and the distance to convergence point. We hypothesized lower saccadic peak velocity (and longer duration) for increasing complexity, that is, for increasing conflict angles and for different distances to convergence point. Response times varied accordingly with task complexity. Concerning saccades, there was a decrease of peak velocity (and a related increase of duration) for increased geometry complexity for large saccades (>15°). The data therefore suggest that geometry is able to influence “reaching” saccades and not “fixation” saccades. © 2011 Wiley Periodicals, Inc.     

Discrete sliding mode controller with reaching phase elimination for TITO systems

Sliding mode control (SMC) is emerged as a powerful robust controller for the process control application. However, it does not posses robustness properties during reaching phase and suffers from chattering, which is undesirable. In this paper, a chatter free discrete sliding mode controller (DSMC) with reaching phase elimination is proposed. The issue of existence of reaching phase due to physical constraints such as saturation of actuating devices is also addressed. The two-input–two-output (TITO) system is decoupled into two single-input–single-output (SISO) systems using ideal decoupler. The DSMCs are separately designed for two decoupled SISO systems. The stability is ensured via Lyapunov approach. Simulation study and experimentation on real life interacting two tank liquid level system are included to demonstrate effectiveness and applicability of the proposed controller.     

基于新型趋近律的PMSM反演滑模控制

在永磁同步电机(PMSM)矢量控制系统中,针对传统的PI控制器控制精度不足、超调量大、易受外界扰动影响的问题,本文提出了一种反演滑模控制器替换传统的PI控制器,该反演滑模控制器是由反演法与滑模控制理论相结合产生的,且在趋近律设计方面引入双曲正切函数和系统状态变量,从而形成一种新型趋近律,代替传统的指数趋近律,提高系统的收敛速度,减小滑模抖振现象。在MATLAB/Simulink中搭建仿真模型,仿真结果表明,该方法使系统对电机的转速有着良好的控制效果,与PI控制、传统滑模控制以及变指数滑模控制相比较,具有较好的动态响应性能,转速超调量分别减少了22.15%、18%和2.75%,系统抗扰动能力提高,具有较强的稳定性。     

A novel adaptive control for reaching movements of an anthropomorphic arm driven by pneumatic artificial muscles

Pneumatic artificial muscle is widely used since it has the advantage including simple structure, lightweight, force controllable, compliance and so on. In this paper, a two-link anthropomorphic arm is constructed by pneumatic artificial muscles for the upper-limb rehabilitation training. In order to assist impaired upper-limb patients to achieve various training, the anthropomorphic arm should realize flexible human reaching movements. Due to frictions and model uncertainties of the anthropomorphic arm system, an adaptive fuzzy backstepping control is proposed to ensure the stability and the adaptivity during the motion. The control method is proved by Lyapunov asymptotic stability and is verified by numerical simulations. Furthermore, experiments are performed and results demonstrate that the proposed control method is efficient and robust.