一种基于过零点的时延测量方法

信号传输时间（时延）的测量,是雷达、声纳系统的关键技术之一。本文研究了一种基于过零点的时延测量方法,在建立过零点搜索模型的基础上推导得出时延测量的测量结果表达式;定量分析了高斯白噪声条件下过零点时延测量的测量精度,得到测量误差的理论表达式。仿真与实验表明,过零点时延测量精度与信号频率、过零点数目、信噪比密切相关,当信噪比较高时,其测量精度与经典FFT法相当,而优势在于过零点时延测量的算法简单、计算量小,适用于对实时性要求较高的测量场合。     

Modified ESPRIT (M-ESPRIT) algorithm for time delay estimation in both any noise and any radar pulse context by a GPR radar

This paper presents M-ESPRIT, a modified version of the ESPRIT algorithm, for the purpose of time delay estimation of backscattered radar signals. The proposed algorithm takes both the transmitted pulse shape and any noise into account. It can process raw data from experimental device without the preprocessing which would be required with the conventional ESPRIT algorithm.     

复杂环境下基于时延估计的声源定位技术研究简

为了改善在复杂环境下声源定位算法的性能,提出了一种新的时延估计（TDE）方法,即基于传递函数比的统计模型方法（ATFR-SM）。该方法采用统计模型去除噪声对传递函数（ATF）的影响,在计算传递函数时对功率谱密度（PSD）进行平滑和“白化”,以去除混响对传递函数的影响。同时,算法中引入话音激活检测（VAD）去除对求取传递函数无用的噪声段,以提高时延估计的准确性。此外,将所提时延估计方法与线性定位法相结合,构成一套完整的声源定位方法。实验结果表明,在复杂环境下,时延估计方法具有更低的异常点百分比（PAP）和均方根误差（RMSE）,且明显优于传统的参考算法,同时声源定位方法具有更高的定位精度。     

高速率通信系统中均衡技术的研究

文章将原先用于时域均衡中经典的最小均方（LMS）算法与单载波频域均衡技术相结合,提出了使用LMS算法来更新频域均衡器的均衡系数,从而使均衡器的均衡系数根据信道特性自适应地变化。通过仿真验证了LMS算法在频域土毛衡技术中的有效性,并取得了良好的均衡效果。     

无先验参数条件下直扩信号时差估计研究

周期谱相关具有较强的抑制噪声和抗干扰的能力,适应于低信噪比时差估计的情况,但其抗噪声和干扰能力完全在于循环频率的选择。目前关于直扩信号时差估计的研究都是建立在循环频率已知的前提下进行的。运用直扩信号的周期谱特性,可在无先验参数条件下确定其循环频率,对时差进行估计,大大降低了谱相关时差估计算法的计算量。仿真结果表明,该方法是切实可行的。     

基于零阶统计量的韧性归一化自适应时间延迟估计

依据零阶统计量理论,给出对数矩过程、对数宽平稳及对数各态遍历的定义,提出一种韧性的归一化自适应时间延迟估计方法(简称NZOSTDE).该算法用FIR滤波器对两个含有脉冲噪声的观测信号建模,利用不存在有限方差的脉冲信号经过对数变换后其各阶矩的存在性和几何功率的概念,在对数域基于最小均方误差(LMS)准则归一化自适应得到FIR滤波器的系数,该系数最大值对应的序号就是时间延迟的估计值.本文提出的新算法克服了基于分数低阶统计量(FLOS)算法的局限性.计算机仿真实验表明,NZOSTDE算法在强脉冲噪声环境下比归一化最小平均P范数时间延迟估计方法(简称NLMPTDE)算法更具有韧性.     

Adaptive super-twisting fractional-order nonsingular terminal sliding mode control of cable-driven manipulators

This paper proposes a novel adaptive super-twisting fractional-order nonsingular terminal sliding mode (AST–FONTSM) control scheme using time delay estimation (TDE) for the cable-driven manipulators. The designed control scheme utilizes TDE to obtain the estimation of system dynamics, and therefore no system dynamic model information will be required. Afterwards, AST and FONTSM schemes are applied to ensure good control performance in both reaching and sliding mode phases. Due to the adoption of AST scheme, good robustness and high control precision are obtained in the reaching phase, while the boundary information of the lumped uncertainties will be no longer required. Thanks to the utilization of FONTSM error dynamics, fast convergence and accurate tracking and strong robustness can be simultaneously ensured in the sliding mode phase. Corresponding comparative simulation and experimental results demonstrate the effectiveness and superiorities of our proposed method over the existing control methods.     

基于麦克风阵列的GCC时延估计算法分析

准确的时延估计（Time Delay Estimation,TDE）是基于到达时间差（Time Difference of Arrival,TDOA）的声源定位技术的前提.在众多时延估计算法中,广义互相关（Generalized Cross Correlation,GCC）算法因其较低的运算复杂度和易于实现的特点得到了广泛的应用.针对不同的噪声情况,GCC时延估计算法利用不同的加权函数来抑制噪声干扰.本文在介绍麦克风阵列模型和GCC时延估计算法的基础上,针对GCC算法的弊端提出了一种改进算法,并在多种信噪比条件下,对部分加权函数的GCC时延估计算法进行了MATLAB仿真,通过比较其时延估计性能和声源定位精度,分析了这些加权函数各自的优劣性.     

A new practical robust control of cable‐driven manipulators using time‐delay estimation

In this paper, a new practical robust control scheme is proposed and investigated for the cable‐driven manipulators under lumped uncertainties. There are three parts in the proposed method, ie, a time‐delay estimation (TDE) part, a modified super‐twisting algorithm (STA) part, and a fractional‐order nonsingular terminal sliding mode (FONTSM) error dynamics part. The TDE uses intentionally time‐delayed system signals to estimate the lumped dynamics of the system and ensures an attractive model‐free control structure. The STA is applied to guarantee high performance and chattering suppression simultaneously in the reaching phase. The FONTSM error dynamics is utilized to obtain fast convergence and strong robustness in the sliding mode phase. Thanks to the above three parts, the proposed control scheme is model free and can ensure high control performance under lumped uncertainties. The stability considering the FONTSM error dynamics and modified STA scheme is analyzed. Comparative simulation and experiments were conducted to demonstrate the effectiveness and superiorities of the newly proposed control scheme. Corresponding experimental results show that our newly proposed control scheme can provide more than 20% improvement of the steady control accuracy under three different reference trajectories.