基于Bouc-Wen模型的压电执行器的前馈线性化控制器

本文提出并研究了利用Bouc-Wen模型构建压电陶瓷执行器的迟滞位移在线观测器的方法,并采用迟滞位移在线观测器构成前馈控制系统实现了压电陶瓷执行器的输出位移与输入控制电压之间迟滞关系的线性化。在此基础上设计了相应的数字控制算法,实现了一种基于数字信号处理器的前馈线性化控制器,建立了相应的实验装置并进行了实验验证。实验结果表明,当前馈线性化控制器的输入控制电压为频率0.5 Hz幅值5 V的正弦电压时(功率放大器放大倍数为20倍),压电陶瓷执行器输出位移的最大绝对误差和非线性度分别为1.25μm和2.37%;当前馈线性化控制器的输入控制电压为频率0.5 Hz幅值递增的三角波电压时,压电陶瓷执行器输出位移的最大绝对误差和非线性度分别为1.80μm和3.06%。采用DSP实现的前馈线性化控制器能够较好地实现压电陶瓷执行器输出位移与输入控制电压之间迟滞关系的线性化,而且由于是开环控制,成本较低。     

大角度压电式快速控制反射镜

针对现有的基于压电陶瓷叠堆执行器的快速控制反射镜偏转角度较小的问题,提出了一种大角度定轴偏转压电式快速控制反射镜。采用基于柔性铰链的桥式位移放大机构将压电陶瓷叠堆执行器的输出位移放大,并将其作用到反射镜面上实现大角度定轴偏转。在此基础上,建立了压电式快速控制反射镜的结构和偏转角度输出方程,并通过理论推导和仿真对其工作时的最大偏转角度、最大应力和自然频率特性进行了分析。最后,通过实验测试对建立的压电式快速控制反射镜的工作原理和特性分析结果进行了验证。结果表明,建立的偏转角度输出方程能够根据压电陶瓷叠堆执行器的输出位移准确估计压电式快速控制反射镜的机械偏转角度,从而大大提高设计的效率;建立的压电式快速控制反射镜可以实现大于3°的镜面机械偏转,其固有频率为180Hz,能够满足高速稳像系统的偏转角度大、响应速度快的要求。     

WTYD型压电陶瓷微位移器的迟滞特性模拟

为了模拟WTYD型压电陶瓷微位移器的输出位移与驱动电压之间的迟滞曲线,本文通过采用Bouc-Wen模型模拟迟滞分量提出了一种表征WTYD型压电陶瓷微位移器的输出位移与驱动电压之间的迟滞关系的Bouc-Wen模型并建立了相应的参数辨识方法。为了验证Bouc-Wen模型及其相应的参数辨识方法的有效性,建立了相应的实验装置并对模型进行了实验验证。研究结果表明,本文提出并研究的WTYD型压电陶瓷微位移器的Bouc-Wen模型及相应的参数辨识方法能较好地模拟WTYD型压电陶瓷微位移器的迟滞特性。     

宏纤维复合材料作动器非对称迟滞建模与前馈线性化控制研究

宏纤维复合材料(Macro fiber composite, MFC)具有柔性高、驱动力大、机电响应快等优点被广泛应用于柔性结构精密变形控制，但其固有的非对称迟滞非线性特征严重影响控制精度。基于Sigmoid函数的凹凸形特征构造了非对称改进Bouc-Wen模型，采用信赖域反射法和异步粒子群优化相结合的混合算法对模型参数进行辨识，开展MFC作动器前馈线性化控制应用研究。结果表明，改进Bouc-Wen模型能够准确描述MFC作动器非对称迟滞特征，相对经典Bouc-Wen模型，改进Bouc-Wen模型对MFC在0.1 Hz、1 Hz、5 Hz下迟滞曲线拟合的相对均方误差分别降低了73%、71%、52%。非对称修正算子在电压加载和卸载阶段均呈现出凹凸组合修正方式，在电压加载阶段以凹修正为主，卸载阶段以凸修正为主。基于修正Bouc-Wen迟滞逆模型的前馈补偿方法对正弦波和三角波位移跟踪均具有较高的控制精度。     

WTYD型压电陶瓷微位移器的迟滞特性建模与实验验证

为了模拟WTYD型压电陶瓷微位移器的输出位移与驱动电压之间的迟滞曲线,通过采用Bouc-Wen模型模拟迟滞分量,提出了一种表征WTYD型压电陶瓷微位移器的输出位移与驱动电压之间迟滞关系的Bouc-Wen模型并建立了相应的参数辨识方法。为了验证Bouc-Wen模型及其相应的参数辨识方法的有效性,建立了相应的实验装置并对模型进行了实验验证。研究结果表明,Bouc-Wen模型的最大绝对误差为3.78μm,最大相对误差为5.79%,表明Bouc-Wen模型及相应的参数辨识方法能较好地模拟WTYD型压电陶瓷微位移器的迟滞特性。     

基于改进PI模型的压电陶瓷迟滞特性补偿控制

压电陶瓷执行器的迟滞特性会降低星间激光通信精瞄系统的定位精度,对信标光的捕获以及链路的稳定性造成影响。针对这一问题,通过分析压电陶瓷执行器迟滞特性产生机理,提出一种基于PLAY迟滞算子的改进(Prandtl-Ishlinskii,PI)数学模型及其辨识方法,并利用该模型对压电陶瓷执行器迟滞特性进行前馈线性化逆补偿。并通过实验来验证数学模型和线性化的有效性,实验结果表明,通过对系统输入不同频率下等幅和减幅正弦控制信号来验证前馈逆补偿性能时,改进的模型最大拟合误差均在1%之内,通过前馈模型逆补偿的控制方法可使压电陶瓷驱动的线性度误差由5%减小到1%以内,并且改进PI模型在计算复杂度上由O(n)简化为O(1)。     

基于扩张状态观测器的迟滞非线性系统辨识

针对一类迟滞非线性系统提出一种参数辨识新方法。通过构造合适的周期输入信号,分析Bouc-Wen模型的积分特性,该特性在后续线性参数与迟滞参数辨识中起到重要作用。利用扩张状态观测器获得系统状态和等效扰动构造方程组,实现线性参数和非线性参数的分离辨识,所有参数通过线性方程组求解得到。通过数值仿真验证了方法的有效性。最后,方法应用于一类压电系统的迟滞非线性模型辨识,所得模型能够很好地反应实际系统的特性。     

压电执行器的Bouc-Wen模型在线参数辨识

现有的定参数Bouc-Wen模型由于无法表征压电执行器迟滞具有的频移和时变性,极易产生较大的模拟误差。为了精确地模拟压电执行器的迟滞特性,本文建立了压电执行器的Bouc-Wen模型,并采用递推最小二乘在线辨识方法来实时辨识Bouc-Wen模型的参数。为了避免出现数据饱和现象,使用限定记忆来限定辨识方法所使用的数据组数。为验证该辨识方法的有效性,建立了相应的实验系统对其进行实验验证。实验结果表明,限定记忆递推最小二乘在线辨识方法能使Bouc-Wen模型也呈现频移和时变特性。以100 Hz的驱动电压为例,其最大绝对模拟误差从1.38μm降为0.51μm。因此,与传统的离线参数辨识方法相比,限定记忆递推最小二乘在线辨识方法能够有效地提高Bouc-Wen模型的模拟精度。     

压电陶瓷作动器非对称迟滞的建模与补偿控制

针对传统Bouc-Wen模型不能反映压电陶瓷作动器迟滞的非对称特性而导致其补偿控制精度难以提高的问题,提出了一种改进Bouc-Wen模型,通过修改形状控制参数使其能够模拟压电陶瓷作动器的非对称迟滞曲线.利用粒子群优化算法辨识了所需的模型参数,进一步研究了基于模型的前馈补偿控制、前馈加PI反馈补偿控制对于实现高精度位移输出的效果;在开环前馈补偿控制实验中,采用改进Bouc-Wen模型比传统Bouc-Wen模型的控制误差可降低约42％;在前馈加PI反馈补偿控制实验中,采用改进Bouc-Wen模型比传统Bouc-Wen模型的控制误差可降低约20％.研究结果表明:在相同的控制方式下,采用改进Bouc-Wen模型能够得到比传统Bouc-Wen模型更高的轨迹跟踪精度;与单纯采用基于模型的前馈补偿控制相比,采用基于模型的前馈加PI反馈补偿控制可显著提高压电陶瓷作动器的位移输出精度.     

压电作动器非对称迟滞模型的建立和参数辨识

现有的众多基于传统Bouc-Wen改进的压电陶瓷非对称迟滞模型存在参数冗余,降低了模型参数辨识的准确性,而且常用的粒子群算法(PSO)在辨识压电陶瓷非对称迟滞模型参数方面收敛慢且容易陷入局部最优值。为此,首先提出了一种归一化的非对称迟滞模型,采用两个多项式达到非对称效果,利用归一化Bouc-Wen消除参数冗余;然后采用参数和变异策略自适应的差分进化算法进行迟滞参数辨识;建立了相应的测试系统,对压电陶瓷作动器进行了实验研究。结果表明,相比于传统的Bouc-Wen模型,所提出的模型能更精确地描述压电陶瓷实际电压位移曲线,而且消除了参数的冗余,降低了参数辨识的难度。相比于粒子群算法和传统差分进化算法,自适应差分进化算法能更快更精准地找到最优参数值。     

飞行时间质谱仪射频四极杆驱动器的研制

针对自制垂直引入式飞行时间质谱仪（orthogonal extraction time-of-flight mass spectrometer, O-TOFMS）的需要,运用直接数字频率合成 (direct digital frequency synthesis,DDS)技术,研制了射频四极杆的高压射频驱动电路装置。该驱动器频率可调范围为0.5~2 MHz,幅度最高达到1 000 Vp-p。该射频四极杆驱动器（radio frequency quadrupole driver,RFQ Driver）可用于分子离子反应器（molecule ion reactor,MIR）和RFQ驱动,其结构简洁、成本低、性能稳定可靠。     

从光电容积图中提取脉搏率、呼吸率和心率的新方法

光电容积描记图(PPG)是一种利用光学技术无创检测人体心血管脉搏波的方法。PPG信号来源于MIMIC数据库,它含有许多生理信息。本文提出了将集合经验模态分解(EEMD)、倒谱、快速傅里叶变化和过零点检测相结合的方法,从PPG中可靠地估算脉搏率(PR)、心率(HR)和呼吸频率(RR)。首先,将PPG信号通过EEMD分解为有限个固有模态函数(IMF)。因为EEMD有自适应滤波特性,所以估算不同的生理参数时,可以用不同的IMF分量来重构信号。其次,估算脉搏率时,舍去低频含有伪迹的IMF,再通过过零点检测可以得到瞬时脉搏率。然后,估算心率时,用1 Hz~1.67 Hz(60次/分钟~100次/分钟)的IMF来重构信号,再求倒谱,选取反映心脏活动的频带来得到心率。最后,估算呼吸率时,用0.05 Hz~0.75 Hz(3次/分钟~45次/分钟)的IMF来重构信号,然后对呼吸信号求快速傅里叶变化得到频谱图,寻找频谱图中的峰值得到呼吸率。对来自MIMIC数据库的53个成人PPG信号进行了仿真。仿真结果表明使用该综合信号处理方法提取的生理参数与实际生理参数一致,且该方法有运算量小,精确度高的优点(误差不超过1.17%)。     

UPLC-MS/MS测定二苯甲烷二异氰酸酯

建立了二苯甲烷二异氰酸酯（MDI）的超高效液相色谱-串联质谱（UPLC-MS/MS）联用的分析方法。实验用甲醇作衍生试剂,将二苯甲烷二异氰酸酯衍生成二苯甲烷二氨基甲酸甲酯（MDC）,通过测定二苯甲烷二氨基甲酸甲酯来确定二苯甲烷二异氰酸酯的含量。实验采用Waters Acquity BEH C18超高效液相色谱柱,甲醇-0.1%甲酸作为梯度洗脱液,二苯甲烷二氨基甲酸甲酯在1.5 min内与其他化合物进行完全分离,经四极杆质谱选择离子监测模式检测。线性范围为2~100 μg/L,检出限为1 μg/L,相关系数0.999 4。考察了水、甲酸、甲酸铵流动相体系,以及进样量大小对样品的分离效果,发现甲酸流动相体系的分离效果优于其他两种流动相体系,同时发现在进样量大时出现平头峰。并且在优化条件下,对实际样品中游离的二苯甲烷二异氰酸酯进行了测定。     

Rapid one-of-a-kind production

To shorten the product development cycle time and reduce the cost at the same time, which is very critical for the survival of those small and mid-sized one-of-a-kind production (SMOKP) companies, various computer communication, simulation and computer aided engineering and management techniques have been widely used in these SMOKP companies. However, according to our study, the applications of these advanced computer technologies in these SMOKP companies are lack of system integration and synergy, which result in communication errors, reworks, duplications and hence a longer product development lead time and a higher cost. To solve this problem, an inter/intranet based computer aided rapid product development system is presented in this paper. This system consists of a number of inter/intranet based computer models or sub-systems for supporting rapid development of a one-of-a-kind product. It also employs a novel concurrent product development strategy called “prototype based incremental product development strategy” and an integrated product data structure called “product production structure”. Some industrial implementations of the proposed system, product development strategy and product data structure are also reported in the paper.     

汽车ESC系统DIL/HIL仿真平台设计

全面准确地标定与测试是开发车辆电子稳定控制(electronic stability control,ESC)系统的关键环节。车辆控制过程是典型的强非线性系统,建立精确的车辆模型比较困难,驾驶员模型也很难准确模拟紧急工况下驾驶员的真实反应。在仿真系统中将难以精确建模的液压制动系统、ESC压力调节单元、转向及电子节气门装置采用真实硬件,并在试验平台中嵌入真实驾驶员,基于Matlab/Simulink/dSPACE环境和车辆动力学软件veDYNA,开发硬件在环(hardware-in-the-loop,HIL)和驾驶员在环(driver-in-the-loop,DIL)的仿真试验平台,并在此平台上对所设计的ESC系统进行仿真试验研究。试验结果表明,所设计的DIL/HIL仿真平台可以大幅提高ESC系统的开发效率和测试准确性。     

Effect of the molecular weight on deformation states of the polystyrene film by AFM single scanning

Nanobundles patterns can be formed on the surface of most thermoplastic polymers when the atomic force microscope (AFM)‐based nanomechanical machining method is employed to scratch their surfaces. Such patterns are reviewed as three‐dimensional sine‐wave structures. In the present study, the single‐line scratch test is used firstly to study different removal states of the polystyrene (PS) polymer with different molecular weights (MWs). Effects of the scratching direction and the scratching velocity on deformation of the PS film and the state of the removed materials are also investigated. Single‐wear box test is then employed to study the possibility of forming bundle structures on PS films with different MWs. The experimental results show that the state between the tip and the sample plays a key role in the nano machining process. If the contact radius between the AFM tip and the polymer surface is larger than the chain end‐to‐end distance, it is designated as the “cutting” state that means the area of both side ridges is less than the area of the groove and materials are removed. If the contact radius is less than the chain end‐to‐end distance, it is designated as the “plowing” state that means the area of both side ridges is larger than the area of the groove and no materials are removed at all. For the perfect bundles formation on the PS film, the plowing state is ideal condition for the larger MW polymers because of the chains’ entanglement. SCANNING 35:308‐315, 2013. © 2012 Wiley Periodicals, Inc.     

Rapid one-of-a-kind production

To shorten the product development cycle time and reduce the cost at the same time, which is very critical for the survival of those small and mid-sized one-of-a-kind production (SMOKP) companies, various computer communication, simulation and computer aided engineering and management techniques have been widely used in these SMOKP companies. However, according to our study, the applications of these advanced computer technologies in these SMOKP companies are lack of system integration and synergy, which result in communication errors, reworks, duplications and hence a longer product development lead time and a higher cost. To solve this problem, an inter/intranet based computer aided rapid product development system is presented in this paper. This system consists of a number of inter/intranet based computer models or subsystems for supporting rapid development of a one-of-a-kind product. It also employs a novel concurrent product development strategy called “prototype based incremental product development strategy” and an integrated product data structure called “product production structure”. Some industrial implementations of the proposed system, product development strategy and product data structure are also reported in the paper.     

The efficacy of back propagation neural network with delta bar delta learning in predicting the wear of carbide inserts in face milling

Face milling is a process predominantly affected by dynamic variation of cutting forces, thermo-mechanical shocks and vibration leading to catastrophic tool failure along with gradual wear of the inserts. Keeping in view the industrial importance of this process, it is necessary to devise suitable methods to predict in advance the onset of tool failure without grossly impairing the machining set-up and the job. Hence, the applicability of back propagation neural network with delta bar delta learning rule for faster convergence has been studied with the above objective. The multi sensor based tool condition monitoring strategy shows that the learning rate adaptation scheme combined with the selection of suitable process parameters drastically reduces the training time of the artificial neural network without dispensing with the prediction accuracy.     

复合ICA-SVM机械状态模式分类

提出了一种新颖的、基于独立分量分析(ICA)的复合神经网络，用于不同机械状态模式的特征提取。利用支持向量机(SVM)进行最终分类。与通常的基于经验风险最小化(ERM)原理的神经网络方法相比，基于结构风险最小化(SRM)原理的支持向量机分类方法具有更好的推广能力。而借助多个独立分量分析网络，隐藏于多通道振动观测信号中的不变特征得到有效提取，从而实现了支持向量机分类器在分类能力和推广性两者间的合理平衡。     

同位素稀释质谱法测定贻贝中多氯联苯的国际比对研究(CCQM-P67)

A method developed to participate the pilot study of international comparison CCQM-P67 was introduced. Isotope dilution mass spectrometry (IDMS) was used in the detection of five PCB congeners in freeze-dried muscle tissue. Soxhlet Extraction is used for extraction of mussel, duplicate clean-up of GPS and SPE column were used, C-13 labeled PCB congeners were added as internal standard to avoid the error from sample preparation and diction. High resolution Mass spectrometer was used to give good result of detection.