网络系统中动态矩阵控制的稳定性条件

网络控制系统中的时滞和丢包会影响控制器的稳定性;因此,传统的动态矩阵控制器设计方法无法适应网络化环境.本文针对这一问题设计了一种改进型动态矩阵控制器.通过建立缓存器将不确定时滞转化为固定时滞;并提出了一种更新系统单位阶跃响应系数的方法,用来处理时滞对控制器的影响.采用一次性传输整个控制序列的方法,避免了丢包时需要更新控制量的问题.此外,进一步分析了该控制系统的稳定性问题,给出了考虑时滞和丢包信息的系统稳定性充分条件.最后通过实时仿真软件示范了如何确定允许的最大时滞和丢包.验证了该方法的有效性.     

基于二次型性能指标的混合动力汽车实时优化控制

为解决混合动力系统实时优化控制问题,本文提出了一种基于二次型性能指标最优的混合动力汽车功率分配优化方案.通过合理的假设和近似,建立了混合动力系统的线性模型,并利用二次型最优控制理论将混合动力最优控制问题转化为二次型最优调节问题进行求解,得到了一个结构简单的实时优化控制算法.5种道路工况下的仿真结果表明,本文提出的控制方法在未来道路工况未知的情况下能够实现混合动力系统的实时优化控制,且节油率与离线计算以燃油消耗最小为性能指标的全局最优控制的节油率相近.     

基于腹腔微创手术机器人的主从控制技术研究

根据机器人辅助腹腔微创手术任务的特点,采用高性能工业计算机为平台,构建以PCI总线方式通讯、功能可扩展的硬件结构,设计手术机器人主从控制系统.针对传统的基于运动学反变换法的主从控制存在超越函数和存在多解而影响主从响应速度的问题,基于等效微分变换法,提出适合于术机器人的实时主从摔制算法.设计了适合手术机器人实时主从控制的...     

基于图像特征的锑浮选矿浆pH值预测控制

适宜的矿浆pH值是泡沫浮选高效生产的关键。针对浮选矿浆pH值无法在线检测和控制滞后的问题,提取pH关联泡沫表面敏感特征,建立了基于仿射传播聚类(AP)的多模型最小二乘支持向量机(LSSVM)软测量模型;提出一种基于差分进化(DE)的在线支持向量回归(OSVR)pH值预测控制方法,离线建立和在线校正pH值预测模型,采用DE优化方法求解预测控制决策变量实现pH值实时控制。金锑浮选工业数据表明所提出的控制策略稳定了矿浆pH值,减少了药剂消耗。     

流程控制系统中数据访问中间件设计与实现

在自动化应用中,传统的直接访问数据库方法和Web数据访问方法,在实时性、安全性、安装维护等方面存在不足。针对此种不足设计开发了数据访问中间件。作为一个独立的软件产品,它适合应用于工业自动化中B/S模式的分布式在线监控系统中。中间件采用多线程程序设计、两子层通信协议、ADO数据访问接口、切断式记录集等技术,以VC++语言开发实现,提高了系统的实时性、安全性和可维护性。本中间件成功应用某电厂热经济型在线分析系统中,取得了良好的应用成效。     

Two-stage on-board optimization of merging velocity planning with energy management for HEVs

This paper proposes a two-stage hierarchy control system with model predictive control (MPC) for connected parallel HEVs with available traffic information. In the first stage, a coordination of on-ramp merging problem using MPC is presented to optimize the merging point and trajectory for cooperative merging. After formulating the merging problem into a nonlinear optimization problem, a continuous/GMRES method is used to generate the real-time vehicle acceleration for two considered HEVs running on main road and merging road, respectively. The real-time acceleration action is used to calculate the torque demand for the dynamic system of the second stage. In the second stage, an energy management strategy (EMS) for powertrain control that optimizes the torque-split and gear ratio simultaneously is composed to improve fuel efficiency. The formulated nonlinear optimization problem is solved by sequential quadratic programming (SQP) method under the same receding horizon. The simulation results demonstrate that the vehicles can merge cooperatively and smoothly with a reasonable torque distribution and gear shift schedule.     

Constrained multivariable extremum-seeking for online fuel-efficiency optimization of Diesel engines

This work presents a new method for online fuel-efficiency optimization of Diesel engines, using constrained extremum-seeking. A two-input optimization problem, which is suitable for extremum-seeking, is integrated into a tracking control system. As a result, both air-path and fuel-path actuators are used for tracking and extremum-seeking. A key element of the proposed method is a cost function based on real-time BSFC estimation. Moreover, an existing constrained extremum-seeking method is extended to multiple output constraints. Experiments on a Euro-VI heavy-duty Diesel engine demonstrate the constraint handling, robustness with respect to real-world disturbances, and the fuel saving potential of the control design.     

实时视频系统的数据编码速率智能控制

该文探讨在CDMA无线网络环境下实现更高QoS的实时视频传输，包括了对实时视频编码速率调整的智能控制方法，以及如何对编码速率调整的内容。采用网络特征反馈的样本，将其通过动态神经网络异步输入，经过合适的训练，得到一个确定神经网络参考模型，用该模型对未来的网络环境作出预测，并由预测出来的结果控制数据编码调整方案的一种智能控制手段。通过神经网络来实现对网络特征的捕捉，再作出合适的编码速率调整，这种调整更接近真实需要，更好地满足了实时QoS的实时视频系统要求，使得实时性能得到显著的提高。     

A two-stage iterative learning control technique combined with real-time feedback for independent disturbance rejection

A novel control framework for batch and repetitive processes is proposed. The currently practiced methods to combine real-time feedback control (RFC) with iterative learning control (ILC) share a problem that RFC causes ILC to digress from its convergence track along the run index when there occur real-time disturbances. The proposed framework provides a pertinent means to incorporate RFC into ILC so that the performance of ILC is virtually separated from the effects of real-time disturbances. As a prototypical algorithm, a two-stage algorithm has been devised by modifying and combining the existing QILC and BMPC techniques.     

多输入／多输出实时计算机协调施力控制系统的设计与实现

本文给出了电液伺服系统三点实时协调控制加载的一种设计方法.这种具有条件输出反馈补偿器的系统在协调结构上是比较简单的.该协调控制器是用于变后掠机机翼的升力加载控制系统之中.通过5000次重复试验表明,本文所提出的方法是可行的,试验结果是优良的.本方法对静止和运动加载式实时计算机力控制系统的设计具有实用价值.     

On real-time robust model predictive control

High-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in most MPC implementations guarantees on feasibility and stability are sacrificed in order to achieve a real-time setting. In this paper we develop a real-time MPC approach for linear systems that provides these guarantees for arbitrary time constraints, allowing one to trade off computation time vs. performance. Stability is guaranteed by means of a constraint, enforcing that the resulting suboptimal MPC cost is a Lyapunov function. The key is then to guarantee feasibility in real-time, which is achieved by the proposed algorithm through a warm-starting technique in combination with robust MPC design. We address both regulation and tracking of piecewise constant references. As a main contribution of this paper, a new warm-start procedure together with a Lyapunov function for real-time tracking is presented. In addition to providing strong theoretical guarantees, the proposed method can be implemented at high sampling rates. Simulation examples demonstrate the effectiveness of the real-time scheme and show that computation times in the millisecond range can be achieved.     

Optimal adaptive scheduling and control of beer membrane filtration

An adaptive optimal scheduling and controller design is presented that attempts to improve the performance of beer membrane filtration over the ones currently obtained by operators. The research was performed as part of a large European research project called EU Cafe with the aim to investigate the potential of advanced modelling and control to improve the production and quality of food. Significant improvements are demonstrated in this paper through simulation experiments. Optimal scheduling and control comprises a mixed integer non-linear programming problem (MINLP). By making some suitable assumptions that are approximately satisfied in practice, we manage to significantly simplify the problem by turning it into an ordinary non-linear programming problem (NLP) for which solution methods are readily available. The adaptive part of our scheduler and controller performs model parameter adaptations. These are also obtained by solving associated NLP problems. During cleaning stages in between membrane filtrations enough time is available to solve the NLP problems. This allows for real-time implementation.     

基于验证因子的实时多版本并发控制

为了解决乐观并发控制方法的不必要重启与即将超过截止期事务的重启引发的负载问题，提出了验证因子的概念及基于验证因子的实时多版本并发控制方法（MVOCC-VF）．通过对验证因子的检测，优先调度完成度较高的事务；同时结合多版本技术增强事务调度的并发度，避免了更多的不必要重启问题，尤其能有效保证即将超截止期事务的完成，并证明了协议的正确性．实验结果表明：与已有的实时并发控制方法相比，MVOCC—VF降低了事务重启个数及超截止期百分率，提高了系统的总体性能．     

不确定时滞系统的基于Razumikhin定理的鲁棒H∞可靠控制

主要研究了一类状态时滞不确定线性系统的时滞依赖鲁棒H∞可靠控制问题.系统状 态矩阵和时滞状态矩阵中存在着范数有界的时变参数不确定性,故障执行器集合是执行器集合 的子集.采用Razumikhin定理,最终将问题归结为通过线性矩阵不等式(Linear Matrix Inequalities,LMIs) 的求解得到无记忆状态反馈鲁棒H∞可靠控制器综合设计方法.     

一种水电站最优发电实时控制算法及其应用

作者研究了一种新的水电站最优发电实时控制迭代算法.其基本思想简单清晰,易于实 现.这种算法对水电站发电机组的负荷经济分配和机组的最优组合相当有效.以该算法为基 础的控制系统已实际应用于黄坛口水电站的微机实时监控系统中.现场运行表明,本算法具 有实时性、平稳性和最优性.     

Suboptimal supervisory control of Petri nets in presence of uncontrollable transitions via monitor places

This paper deals with the problem of enforcing generalized mutual exclusion constraints (GMEC) on place/transition nets with uncontrollable transitions. An efficient control synthesis technique, which has been proposed in the literature, enforces GMEC constraints by introducing monitor places to create suitable place invariants. The method has been shown to be maximally permissive and to give a unique control structure in the case that the set of legal markings is controllable. This paper investigates on and formally shows that the class of controllers obtained by this technique may not have a supremal element for uncontrollable specifications. Moreover, it is shown that the family of monitor places enforcing an uncontrollable specification can be parameterized with respect to the solution of a linear system of equation. An algorithm to obtain such parameterization is presented here.     

Windows系统在压铸机中的实时控制

结合J11280型卧式冷室压铸机,研究了基于Windows界面的压铸机电气控制系统的开发。通过分析Windows9X操作系统的运行机制和压铸机的性能指标,讨论了实现压铸机实时控制需要解决的问题,采用虚拟设备驱动程序技术解决了压铸机控制中的实时性和设备相关性问题,并介绍了实现实时控制的关键技术一实时钟中断的获取方法和实现过程。经过实际调试和运行证明,该系统完全达到了性能指标的要求,界面友好。运行稳定,灵活性好,对开发通用的工控软件具有借鉴意义。     

yoyo运动的实时轨迹生成

基于NTG（Nonlinear Trajectory Generation）软件包提出了一种机器人yoyo运动实时最优轨迹生成的通用方法,即数值解法,该方法也可以应用于其他类似周期性动态系统的轨迹规划问题。对于这类系统的实时最优控制来说,一个最为关键的问题就是如何实现快速求解最优轨迹,以满足实时性要求。而传统的数值求解方法都很费时。通过把最优问题映射一个较低维的空间进行求解,并且利用多线程编程技术,大大减少了计算所用的时间。仿真结果显示所求得的数值解与解析解完全相同,这也验证了该方法的正确性。单循环yoyo仿真的计算时间为10 ms左右,这表明该方法完全可以应用于实时控制。     

A MODIFIED METHOD FOR SUPERVISOR SPECIFICATION AND SYNTHESIS OF A CLASS OF DISCRETE EVENT SYSTEMS

In this paper, a model‐refining method is proposed to alleviate the complexity involved in specification interpretation of DES control problems. The legal constraint language is defined in terms of illegal states and events in contrast with constructing the automaton of the specification language. This method could provide a more intuitive view of the DES control problem and would be suitable for practical implementation. Two examples, which have commonly been used in the literature, are employed to show the efficiency of the proposed method. Further, under this framework, it is shown that the supremal controllable sublanguage can take a simpler form based on the concept of an illegal state set. A state‐based supervisor synthesis procedure is presented, and a simple example is provided.     

Energy-efficient receding horizon trajectory planning of high-speed trains using real-time traffic information

Optimal trajectory planning of high-speed trains (HSTs) aims to obtain such speed curves that guarantee safety, punctuality, comfort and energy-saving of the train. In this paper, a new shrinking horizon model predictive control (MPC) algorithm is proposed to plan the optimal trajectories of HSTs using real-time traffic information. The nonlinear longitudinal dynamics of HSTs are used to predict the future behaviors of the train and describe variable slopes and variable speed limitations based on real-time traffic information. Then optimal trajectory planning of HSTs is formulated as the shrinking horizon optimal control problem with the consideration of safety, punctuality, comfort and energy consumption. According to the real-time position and running time of the train, the shrinking horizon is updated to ensure the recursive feasibility of the optimization problem. The optimal speed curve of the train is computed by online solving the optimization problem with the Radau Pseudo-spectral method (RPM). Simulation results demonstrate that the proposed method can satisfy the requirements of energy efficiency and punctuality of the train.