AGC系统中的非线性观测器设计

AGC(自动发电控制)系统是一个十分复杂的系统,其具有严重的非线性,且输入(锅炉、轮机等动力产生部分)和输出(频率负载)均存在未知扰动,为了实现对发电系统的精确控制,设计出输入输出扰动的观测器显得尤为重要.在阐述了一种带有未知输入输出扰动的非线性观测器设计方法的同时,是对传统的只能观测输入环节中的未知扰动观测器的一大改进.通过对系统状态方程和输出方程的一系列解偶变换,将输入、输出扰动从系统中分离出来.解偶后,系统分为受扰子系统和无扰动子系统两部分,通过对无扰动子系统的分析,最终设计出输入输出未知扰动观测器.系统观测器增益矩阵则通过求解一个代数Riccati方程(ARE)得到.将设计出的观测器用于故障检测与隔离(FDI)并取得良好的效果.     

基于有限时间未知输入观测器的一类受扰非线性系统故障检测与估计

针对一类非线性系统同时存在执行器故障、传感器故障和扰动的问题,提出一种基于有限时间未知输入观测器的故障检测与估计方法.首先,通过线性非奇异变换将原系统解耦为两个降阶的子系统,其中一个子系统只包含扰动,另一个子系统同时包含扰动和故障;然后,通过一阶低通滤波器获得新的状态并与子系统构成增广系统,实现将原系统的传感器故障转化为增广系统的执行器故障;接着,设计未知输入观测器对增广系统故障进行检测,实现在有限时间内估计出系统的扰动和故障,并通过理论分析验证所设计观测器的有限时间收敛性;最后,基于永磁同步电机(PMSM)转速系统进行仿真研究,仿真结果验证了所提出方法的有效性.     

具有未知负载扰动的水井钻机电液伺服系统无模型自适应控制

针对电液伺服系统在水井钻机推进工况下存在的参数不确定以及未知负载扰动突变等非线性因素,提出了基于径向基(RBF)神经网络扰动观测器的无模型自适应控制方法.首先,通过改进的无模型自适应控制动态线性化方法,将被控系统线性化为与输入输出相关的增量形式,并将未知负载扰动合并到一个非线性项中;然后,设计了径向基神经网络扰动观测器对含有未知负载扰动的非线性项进行估计,作为对未知扰动的补偿;最后,设计了时变参数估计律,通过在线调整伪偏导数,给出了电液伺服系统的控制更新律.仿真结果表明,所设计的控制器能够对未知负载扰动突变进行补偿,并能确保跟踪误差有界收敛.     

具有非匹配扰动的非线性变参数系统模型参考跟踪控制

本文研究了一类含有非匹配扰动的非线性变参数系统的跟踪控制问题.首先,设计非线性扰动观测器用于估计系统所受到的未知扰动.其次,在前馈–反馈跟踪控制器中引入扰动补偿控制项,提出一种基于扰动观测器的跟踪控制策略.利用依赖于状态和时变参数的线性矩阵不等式,导出保证闭环系统输入–状态稳定的充分条件,进而运用平方和凸优化技术解析地构造出扰动观测器和跟踪控制器.通过理论证明,所设计的控制策略能够实现非线性变参数系统输出对参考模型输出的跟踪,消除输出通道中非匹配扰动的影响.最后,由数值仿真例子验证了所提方法的有效性.     

基于微分同胚变换的故障重构算法

针对一类含有未知输入扰动的不确定非线性系统提出一种鲁棒故障重构方案. 采用全局微分同胚变换, 将非线性系统变换为二个子系统, 使得其中一子系统不受故障影响, 状态部分可观, 另一子系统受故障影响但状态完全可观. 利用滑模变结构原理对两个子系统分别设计状态观测器消除扰动对系统的影响后, 再利用等值控制方法实现对故障的重构. 应用案例验证了所提方法的有效性.     

无未知参数先验信息的非线性自适应观测器设计

研究了一类具有未知参数的非线性系统自适应观测器设计问题．不同于现有结果,本文所研究的非线性系统更为。一般,已知的系统信息更少：1）系统未知参数的范数的上界未知;2）具有关于可测输出非Lipschitz连续的非线性动态;3）系统输出显式地依赖于控制输入．通过设计自适应调节器来估计未知参数范数,从而给出了不基于未知参数先验信息的非线性自适应观测器设计的新方法．所设计的观测器为令局渐近收敛的,即实现了系统状态的渐近重构,确保了未知参数估计的一致有界性．此外,在系统输出不显式地依赖于控制输入的条件下,研究了降维观测器的设计问题．仿真例子验证了本文理论结果的正确性．     

具有输入饱和的近空间飞行器鲁棒控制

针对近空间飞行器这一类存在外部扰动,输入饱和和参数不确定的多输入多输出线性系统,提出了一种基于干扰观测器的抗饱和鲁棒控制方案.将干扰观测器与抗饱和控制技术相结合,从而消除系统存在的未知外部扰动、输入饱和和不确定性对系统控制的影响.首先,设计干扰观测器对线性外部系统产生的未知扰动进行估计.然后根据干扰观测器输出,通过超前抗饱和方法设计抗饱和补偿器,并将其加入到鲁棒控制器的设计中,保证闭环系统存在输入饱和、未知外部扰动和参数不确定情况下的稳定性.为便于设计,干扰观测器、抗饱和补偿器和控制器设计矩阵均通过求解线性矩阵不等式得到.最后,将提出的鲁棒抗饱和控制方法应用于近空间飞行器,仿真结果验证了该控制方案的有效性.     

基于未知输入观测器的非线性系统故障诊断

针对一类含未知输入和执行器故障的非线性系统,提出基于未知输入观测器的故障诊断算法,改进了Luenberger故障诊断观测器对系统出现未知扰动时的不足.利用广义逆方法,将未知输入从残差信号中完全解耦,通过产生对故障高敏感性以及对未知扰动强抗扰动性的观测器实现系统的故障诊断,并通过Lyapunov函数用线性矩阵不等式保证了系统稳定性.     

无未知参数先验信息的非线性自适应观测器设计

研究了一类具有未知参数的非线性系统自适应观测器设计问题.不同于现有结果,本文所研究的非线性系统更为一般,已知的系统信息更少:1)系统未知参数的范数的上界未知;2)具有关于可测输出非Lipschitz连续的非线性动态:3)系统输出显式地依赖于控制输入.通过设计自适应调节器来估计未知参数范数,从而给出了不基于未知参数先验信息的非线性自适应观测器设计的新方法.所设计的观测器为全局渐近收敛的,即实现了系统状态的渐近重构,确保了未知参数估计的一致有界性.此外,在系统输出不显式地依赖于控制输入的条件下,研究了降维观测器的设计问题.仿真例子验证了本文理论结果的正确性.     

船舶动力定位非线性自适应反步控制器设计

针对扰动不确定非线性船舶动力定位问题,提出了一种带观测器的不确定扰动非线性船舶动力定位自适应输出反馈控制.设计了一个非线性观测器,从附有噪声的输出中估计出船舶位置以及运动速度.用滤波后的位置信号,针对扰动不确定非线性船舶设计带观测器的自适应反步控制器,该控制在Backstepping设计方法的基础上引入积分环节,对存在未知参数和动态不确定扰动的船舶能有效的改善系统性能.根据Lyapunov稳定性理论证明所设计的控制器是全局渐近稳定的,仿真结果验证了该方法的有效性.     

空间·创意·精神——从传统而来,向时代中去

每个国家、地区与民族的建筑环境设计都有自己的风格个性和辉煌成就。摆在设计师今天的责任,就是研究如何继承和创新,这是每个设计师、艺术家责无旁贷的。现代环境艺术设计,只能走中国现代之路,立足于我们自己基础之上的实践过程。从传统而来,向时代中去,本质讲一切继承都是为了创新,因而继承只有植根于本民族的土壤之中,才能有生机,并对社会的创造保持文化发展的连续性,科学地运用传统的创作思想来启发、创意环境艺术设计。     

交互式电子白板在课堂教学中的应用

本文通过交互式电子白板和之前教育方式的对比,以及交互式电子白板在历史课堂上的种种合适的应用,描绘了一个高效的,生动活泼的,师生相长相宜的新兴历史教学法。     

国内外标准法规比对分析系统设计与实现

为发现我国国家标准与国外发达国家标准法规的差距,从根本上提高我国国家标准的总体质量,提升我国产品的质量安全水平,以关键指标(因子)为核心,研究国内外标准法规比对的工作流程,利用面向对象的方法设计,实现了国内外标准法规比对分析系统。该系统适用于所有产品国内外标准法规的比对工作。     

Study and application of temporal index technology

This paper addresses the mathematical relation on a set of periods and temporal indexing constructions as well as their applications. First we introduce two concepts, i.e. the temporal connection and temporal inclusion, which are equivalence relation and preorder relation respectively. Second, by studying some basic topics such as the division of “large” equivalence classes and the overlaps of preorder relational sets, we propose a temporal data index model (TDIM) with a tree-structure consisting of a root node, equivalence class nodes and linearly ordered branch nodes. Third, we study algorithms for the temporal querying and incremental updating as well as dynamical management within the framework of TDIM. Based on a proper mathematical supporting, TDIM can be applied to researching some significant practical cases such as temporal relational and temporal XML data and so on. Supported by the National Natural Science Foundation of China (Grant Nos. 60373081, 60673135), the Natural Science Foundation of Guangdong Province (Grant No. 05003348), the Program of New Century Excellent Person Supporting of Ministery of Education of China (Grant No. NCET-04-0805)     

High Resolution Tracking of Non-Rigid Motion of Densely Sampled 3D Data Using Harmonic Maps

We present a novel automatic method for high resolution, non-rigid dense 3D point tracking. High quality dense point clouds of non-rigid geometry moving at video speeds are acquired using a phase-shifting structured light ranging technique. To use such data for the temporal study of subtle motions such as those seen in facial expressions, an efficient non-rigid 3D motion tracking algorithm is needed to establish inter-frame correspondences. The novelty of this paper is the development of an algorithmic framework for 3D tracking that unifies tracking of intensity and geometric features, using harmonic maps with added feature correspondence constraints. While the previous uses of harmonic maps provided only global alignment, the proposed introduction of interior feature constraints allows to track non-rigid deformations accurately as well. The harmonic map between two topological disks is a diffeomorphism with minimal stretching energy and bounded angle distortion. The map is stable, insensitive to resolution changes and is robust to noise. Due to the strong implicit and explicit smoothness constraints imposed by the algorithm and the high-resolution data, the resulting registration/deformation field is smooth, continuous and gives dense one-to-one inter-frame correspondences. Our method is validated through a series of experiments demonstrating its accuracy and efficiency.     

An embedding of Timed Transition Systems in HOL

The theory of Timed Transition Systems developed by Henzinger, Manna, and Pnueli provides a formal framework for specifying and reasoning about real-time systems. In this paper, we report on some preliminary investigations into the mechanization of this theory using the HOL theorem prover.We review the main ideas of the theory and describe how it has been formally embedded in HOL. A graphical notation of timed transition diagrams and a real-time temporal logic for requirements have also been embedded in HOL using the embedding of timed transition systems. The proof rules proposed by Henzinger et al have been verified formally and we illustrate their use, as well as some problems we have encountered, by reference to a small example. More work is required on interfaces and proof methods to have a generally usable system.     

矿物与岩石的可见-近红外光谱特性综述

矿物和岩石的系统光谱学研究是当今高光谱遥感发展的基础。在简要介绍了吸收光谱产生的电子过程和振动过程机理后,系统归纳了主要矿物类型和岩石类型的可见-近红外光谱特征。认为矿物的吸收光谱主要由二价、三价铁离子和过渡族元素的电子跃迁以及晶体场效应等电子过程产生;此外,还可以由水分子、Al-OH、Mg-OH、碳酸根的振动过程及卤化物的色心和硫化物的导带产生;岩石的吸收光谱都是杂质、包体、蚀变及替代成分产生的,主要为铁、水和羟基、碳酸根、硼酸根的光谱。最后指出,不同物理、化学环境下的矿物光谱特征变异研究在将来的高光谱遥感地质勘察中将变的更为重要。     

Type inference of SELF: Analysis of objects with dynamic and multiple inheritance

We have designed and implemented a type inference algorithm for the SELF language. The algorithm can guarantee the safety and disambiguity of message sends, and provide useful information for browsers and optimizing compilers. SELF features objects with dynamic inheritance. This construct has until now been considered incompatible with type inference because it allows the inheritance graph to change dynamically. Our algorithm handles this by deriving and solving type constraints that simultaneously define supersets of both the possible values of expressions and of the possible inheritance graphs. The apparent circularity is resolved by computing a global fixed-point, in polynomial time. The algorithm has been implemented and can successfully handle the SELF benchmark programs, which exist in the ‘standard SELF world’ of more than 40,000 lines of code.     

A fuzzy analysis of country-size argument for the Feldstein-Horioka puzzle

This study aims to analyze the effect of country size, represented by relative Gross National Products (GNP), on the association between domestic investment and saving, using data from a panel of 21 OECD countries. The countries are clustered into four groups with respect to their relative country sizes with an application of Fuzzy c-Means clustering technique. The novelty of this approach is that it is an unsupervised method that generates membership values between zero and one instead of binary values that take values of zero or one only. In addition to this it has the advantages of its tolerance to imprecise data and the ease of understanding. The results show that the saving retention coefficients are greater for larger countries except for the cluster which contains the largest country. Thus, this work presents only partial evidence that the country size affects the relationship of domestic saving and investment.     

测控任务并发调度管理的研究与设计

论文分析了测控系统中测控任务的特点,据此提出了测控任务的并发调度管理方法,介绍了测控任务并发调度管理模型、测控任务的表示要素、任务管理的操作以及这些操作的设计方法。