基于Matlab的一阶倒立摆系统建模及仿真

倒立摆系统是一个典型的快速、多变量、非线性、不稳定系统,建立其数学模型研究其稳定性对于很多工程控制有着重大意义。论文采用机理建模法对一阶倒立摆系统进行分析,建立其数学模型。采用Matlab软件进行仿真验证,仿真结果表明,实验结果符合实际实验设计,所建立的一阶倒立摆系统的数学模型是有效正确的。     

冲击能力验证中可疑数据的分析

阐述了冲击能力验证产生可疑数据的原因，并通过试验作了验证。试验表明，由于使用的JB30B摆锤式冲击试验机在摆锤铅垂时，冲击刀刃到垂直支撑面的距离公差过小，且砧座之间跨距公差过大，造成了金属夏比能力验证在高能量级组数据出现了可疑数据的现象。就冲击试验现行的有关国家标准对这两项指标的规定作了比较与分析，提出了建议。     

Impacts to the chest of PMHSs – Influence of impact location and load distribution on chest response

The chest response of the human body has been studied for several load conditions, but is not well known in the case of steering wheel rim-to-chest impact in heavy goods vehicle frontal collisions. The aim of this study was to determine the response of the human chest in a set of simulated steering wheel impacts. PMHS tests were carried out and analysed. The steering wheel load pattern was represented by a rigid pendulum with a straight bar-shaped front. A crash test dummy chest calibration pendulum was utilised for comparison. In this study, a set of rigid bar impacts were directed at various heights of the chest, spanning approximately 120 mm around the fourth intercostal space. The impact energy was set below a level estimated to cause rib fracture. The analysed results consist of responses, evaluated with respect to differences in the impacting shape and impact heights on compression and viscous criteria chest injury responses. The results showed that the bar impacts consistently produced lesser scaled chest compressions than the hub; the Middle bar responses were around 90% of the hub responses. A superior bar impact provided lesser chest compression; the average response was 86% of the Middle bar response. For inferior bar impacts, the chest compression response was 116% of the chest compression in the middle. The damping properties of the chest caused the compression to decrease in the high speed bar impacts to 88% of that in low speed impacts. From the analysis it could be concluded that the bar impact shape provides lower chest criteria responses compared to the hub. Further, the bar responses are dependent on the impact location of the chest. Inertial and viscous effects of the upper body affect the responses. The results can be used to assess the responses of human substitutes such as anthropomorphic test devices and finite element human body models, which will benefit the development process of heavy goods vehicle safety systems.     

基于ADAMS的摆式剪切机的运动仿真分析

以上下剪刃同时运动剪切轧件的摆式剪切机为研究对象,对其平面机构进行分析,并在CAD系列软件SolidWorks中建立摆式剪切机剪切机构的三维模型,与虚拟样机仿真软件ADAMS相结合,对导入ADAMS中的模型进行运动仿真以分析其动态性能。从仿真结果可以了解摆式剪切机的剪切状况,反应剪切过程中出现的问题,同时验证所设置的驱动条件下剪切机良好的剪切性能,为摆式剪切机的研究提供了依据。     

挠性摆式微硅加速度计的有限元分析

】微硅加速度计是近年来发展起来的新型器件,在结构设计阶段必须对其进行力学分析,以期对使用条件下的摆片位移、应力等作到心中有数。本文采用有限元分析方法对挠性摆式微硅加速度计进行有限元分析,其中包括对未封装及封装后实体单元进行敏感轴位移、侧向位移、横向灵敏度、受力情况等分析。分析结果表明所设计的微硅加速度计符合仪表性能要求。     

Variable structure control with sliding mode prediction for discrete-time nonlinear systems

A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining feedback correction and receding horizon optimization methods which are extensively applied on predictive control strategy, a discrete-time variable structure control law is constructed. The closed-loop systems are proved to have robustness to uncertainties with unspecified boundaries. Numerical simulation and pendulum experiment results illustrate that the closed-loop systems possess desired performance, such as strong robustness, fast convergence and chattering elimination.     

基于潜遗传变论域的倒立摆模糊控制系统的研究

针对多变量、非线性的倒立摆系统，采用欧拉法建立了其动力学方程，得到了状态空间模型，并用它建立了一种双闭环模糊控制系统的仿真框图。用Mamdani模糊控制器和潜遗传变论域模糊控制器分别对倒立摆进行了仿真，并通过对伸缩因子参数t的调整，得到了它影响控制性能的规律。     

基才研华数据采集卡PCI-1710-B的倒立摆控制系统研究

倒立摆控制系统是一个典型的高阶次、不稳定、多变量、非线性和强藕合控制系统。本文研究对象是基于研华公司数据采集卡PCI-1710-B的倒立摆控制系统。通过对一级倒立摆系统控制原理分析、数学建模分析、状态反馈设计、MATLAB仿真。然后在搭建的实验平台上用LQR方法编程实现对其最优控制。MATLAB仿真结果良好，软件部分采用VB开发，实现了对系统的‘倒立’控制和相关实时参数的显示。     

Exponential Stability of Slowly Time-Varying Nonlinear Systems

Let be a time-varying vector field depending on t containing a regular and a slow time scale (α large). Assume there exist a k (τ)≥1 and a γ(τ) such that ∥x _τ(t, t ₀, x ₀)∥≤k(τ) e ^{−γ(τ)(t−t0)}∥x ₀∥, with x _τ(t, t ₀, x ₀) the solution of the parametrized system with initial state x ₀ at t ₀. We show that for α sufficiently large is exponentially stable when “on average”γ(τ) is positive. The use of this result is illustrated by means of two examples. First, we extend the circle criterion. Second, exponential stability for a pendulum with a nonlinear slowly time-varying friction attaining positive and negative values is discussed. Date received: January 22, 2000. Date revised: April 14, 2001.     

基于TS-PID的单级小车倒立摆控制系统

提出了利用TS-PID对单级小车倒立摆进行控制的方法,并且对TS-PID控制器进行了简要的理论分析,最后利用mat-lab的simulink工具对该控制系统进行了仿真,其结果表明该控制方法可行且效果明显。TS-PID控制器综合了模糊控制及PID控制的优点,具有结构简单、易于实现以及具有较强的适应性和鲁棒性,并且可以获得良好的动态性能和稳态性能。