基于滑模控制的可拓控制器设计

根据滑模控制概念, 提出一种新的可拓控制器。在控制策略设计上分为两个部分,第一个部分是根据系统已知部分设计滑模控制的等效控制, 另一部分为鲁棒控制以解决系统的不确定性因素及外部干扰问题。首先,构造一基本可拓控制器,用所定可拓集的关联函数作为系统状态信息的评价指针, 并在其中植入一组待调增益参数,经参数修正来综合滑模可拓控制的鲁棒控制(滑模的撞击控制),以保证系统的稳定性。最后以一个非线性控制系统的仿真为例来说明所设计的可拓控制器的控制性能。     

基于可拓自适应理论的三轴并联机器人控制系统设计

为了提高并联机器人的轨迹跟踪控制精度,以平面二自由度并联机器人为研究对象,构建了一种可拓自适应控制器用于其控制系统中.利用自适应控制器善于处理不变和慢时变问题,可拓控制器善于处理时变和突变问题,将2种控制器的优点结合起来,设计了一种新型的可拓自适应控制器.仿真结果表明,可拓自适应控制器能较大地提高并联机器人关节位置精度和末端执行器的轨迹精度,能够满足机器人的控制要求.研究所得的方法和结论具有较强的通用性,对并联机器人的控制具有普遍的应用意义．     

可拓学基础理论研究的新进展

简要介绍近年可拓学研究在基础理论方面的新进展，包括可拓学的框架、基元理论、可拓集合理论和可拓逻辑等所取得的成果。     

可拓学——研究“矛盾转化，开拓创新”的新学科

可拓学是以蔡文研究员为首的我国学者们创立的 ,研究事物的可拓性与开拓规律 ,探索矛盾转化、开拓创新方法和技术的新学科。经过可拓学研究者们多年的艰苦创业、共同奋斗 ,可拓学已初具规模 ,包括可拓论、可拓方法、可拓工程等。在理论和方法上都取得了创新性、突破性的研究成果 ,在实际应用中 ,具有多领域、多类型的成功事例。可拓学及其应用已引起国内外学术界的广泛关注 ,具有一定的影响。可拓论　可拓学的理论基础是物元理论、可拓集合理论和事元理论 ,统称为可拓论。物元理论　提出了描述事物基本元的物元概念与性质、定性与定量相结合…     

挖掘变化知识的可拓数据挖掘研究

规范了可拓信息与可拓知识基本概念，即在信息和知识的概念上扩充了变化的信息和变化的知识。明确了可拓数据挖掘概念以及可拓推理新概念。证明了可拓数据挖掘两个定理和可拓推理公式。提出的从挖掘静态知识的数据挖掘扩展到挖掘变化知识的可拓数据挖掘，为数据挖掘开辟了新的研究方向，并通过实例进行了说明     

基于可拓符号学的非遗衍生品设计方法研究

目的针对非遗衍生品设计中的文化元素提取与表征过程中的模糊性问题,从可拓符号学的视角研究非遗衍生品中的创新设计方法。方法基于可拓基元理论,构建非遗衍生品设计符号的可拓基元模型,提出一种适用于非遗衍生品设计的可拓基元转化、设计元素符号提取和设计方案优度评价的方法,并以天津非遗"狗不理包子"衍生品组合灯具设计为例,对上述方法进行深入分析和验证。结论基于可拓符号学的非遗衍生品创意设计和评价方法具有较好的可行性,可以为非遗衍生品的创意设计提供方法参考。     

可拓市场的类型与实现方式研究

根据可拓市场的概念，探讨了在不同可拓变换下可拓市场的类型及实现可拓市场的方式。这些研究为企业开拓市场提供了有效的形式化方法。     

可拓策划研究

可拓策划是从处理矛盾问题的角度，应用可拓学的方法而进行的策划。文章简介了可拓策划的基本思想、理论和方法，试图用形式化的方法告诉人们，在遇到矛盾问题时，如何生成策划创意，如何进行全面的资源分析、寻找可拓资源，以化不相容为相容，化对立为共存。在可拓策划的实务操作部分，介绍了资源整合的可拓策划、项目的可拓策划、市场开拓的可拓策划及危机防范与处理的可拓策划。     

基于可拓变换的专利创新再设计方法

目的对现有优秀专利文本进行挖掘和二次开发,高效快速地实现产品的创新再设计。方法首先以功能本体知识库为基础,通过归类分析目标专利文本中动词之间的关系,提取其功能知识。其次,将从专利文本中提取的功能原理知识词集抽象表示,建立可拓基元模型。然后,根据基元的可拓性寻找目标功能基元的可拓集,运用可拓变换原则实现基元的创新变换。结论将专利文本转化为可拓模型,增加可操作性,同时使得专利的核心技术内容更加直观具象。针对节能灯包装盒,验证了方法的可行性。     

基于可拓符号学和眼动实验的黄梅挑花再设计研究

目的 针对传统文化符号再设计过程中,显隐性因子提取与表征存在模糊主观问题,提出一种基于可拓符号学和眼动实验的显隐性文化特征提取与应用的研究方法。方法 以黄梅挑花为例,在可拓符号学的基础上融入眼动实验,首先,利用爬虫技术提取黄梅挑花文化特征词(隐性因子),并进行可拓语义评估得到其可拓区间值;其次,运用眼动实验提取挑花纹样特征(显性因子),结合隐性因子可拓区间值进行综合图解语义评估;最后,将图案元素进行可拓变换设计。结果 变换结果在服饰纹样图案设计中得到合理应用。结论 研究表明:运用该方法可修正传统的依据从业经验及主观思维表征文化特征存在的偏差,能客观、科学地提取显隐性因子并作为设计因素,有助于更好地表达文创产品的文化内涵。     

Adaptive backstepping motion control of induction motor drives

Abstract

In this paper, an adaptive backstepping controller is proposed for position tracking of a mechanical system driven by an induction motor. The mechanical system is a single link fixed on the shaft of the induction motor such as a single‐link robot. The backstepping methodology provides a simpler design procedure for an adaptive control scheme and provides a method to define the sliding surface if the robust slidingmode control is applied. Thus, the backstepping control can be easily extended to work as an adaptive sliding‐mode controller. The presented position control system is shown to be stable and robust to parameter variations and external disturbances. The effectiveness of the proposed controllers is demonstrated in experiments.     

风力发电机自适应鲁棒保性能控制器设计

本文针对变速变桨距风力发电机系统对于风能利用率、动态稳定性要求高的特点,建立了风能转换系统的线性参数变化（LPV）模型,给出了设计一个具有自适应机制的鲁棒保性能控制器的充分条件,进而设计出了一种新的自适应鲁棒保性能控制器。首先,运用自适应方法估计出系统的不确定参数,然后利用参数估计和鲁棒保性能控制方法设计系统的状态反馈控制器,其反馈增益阵是通过求解一组线性矩阵不等式（LMI）的约束而得到,并且满足某二次型性能指标。仿真表明,无论在低风速下还是在高风速下,控制器不仅使系统具有良好的动态特性和鲁棒性,而且使系统具有抑制外界干扰能力。     

Design and implementation of an adaptive inverse controller for a micro-permanent magnet synchronous motor control system

An adaptive inverse controller design for a micro-permanent magnet synchronous motor control system is proposed. The adaptive inverse controller is constructed by using an adaptive model and an adaptive controller. The parameters of the adaptive model and adaptive controller are on-line tuned. By using the proposed adaptive inverse controller, the transient responses, load disturbance responses and tracking responses of the control system are improved. To detect the shaft rotor position, a micro-encoder is attached with the micro-permanent magnet synchronous motor. The micro-encoder provides only 100 pulses/revolution because of its space limitation. As a result, the resolution of the position signal and speed signal is not good enough. In order to improve the resolution, a state estimator is proposed here. By using the proposed state estimator, the control system can be operated from 1 to 25 000 r/min. The adaptive inverse control algorithm and the state estimation algorithm are executed by a digital signal processor, TMS320F28335. In addition, the proposed adaptive inverse control algorithm can be applied to the position control for the micro-permanent magnet synchronous motor as well. Several experimental results validate the theoretical analysis. The experimental results show that the proposed system has good performance including transient responses, load disturbance responses, and tracking responses.     

Novel concept of a single-mass adaptively controlled triaxial angular rate sensor

This paper presents a novel concept for an adaptively controlled triaxial angular rate (AR) sensor device that is able to detect rotation in three orthogonal axes, using a single vibrating mass. Pedestrian navigation is presented as an example demonstrating the suitability of the proposed device to the requirements of emerging applications. The adaptive controller performs various functions. It updates estimates of all stiffness error, damping and input rotation parameters in real time, removing the need for any offline calibration stages. The parameter estimates are used in feedforward control to cancel out their otherwise erroneous effects, including zero-rate output. The controller also drives the mass along a controlled oscillation trajectory, removing the need for additional drive control. Finally, the output of the device is simply an estimate of input rotation, removing the need for additional demodulation normally used for vibratory AR sensors. To enable all unknown parameter estimates to converge to their true values, the necessary model trajectory is shown to be a three-dimensional Lissajous pattern. A modified trajectory algorithm is presented that aims to reduce errors due to discretization of the continuous time system. Simulation results are presented to verify the operation of the adaptive controller. A finite-element modal analysis of a preliminary structural design is presented. It shows a micro electro mechanical systems realizable design having modal shapes and frequencies suitable for implementing the presented adaptive controller.     

不确定电液位置伺服系统的动态面跟踪控制

针对一类含有动态不确定性的双作用液压缸电液伺服系统跟踪控制问题,采用动态面控制方法设计了一个鲁棒自适应跟踪控制器.由于在逆推设计过程中加入了低通滤波器使得该方法不用对模型非线性进行多次微分,因而设计方法简化.所设计的自适应鲁棒控制器不仅能保证闭环系统的半全局渐近稳定,使得输出渐近跟踪期望轨迹;而且,跟踪误差可以通过控制器的设计参数加以调整.数字仿真结果表明,控制系统对给定位置的跟踪具有良好的动态特性,对系统的不确定性,具有较强的鲁棒性.     

Design of robust adaptive controller and feedback error learning for rehabilitation in Parkinson's disease: a simulation study

Deep brain stimulation (DBS) is an efficient therapy to control movement disorders of Parkinson''s tremor. Stimulation of one area of basal ganglia (BG) by DBS with no feedback is the prevalent opinion. Reduction of additional stimulatory signal delivered to the brain is the advantage of using feedback. This results in reduction of side effects caused by the excessive stimulation intensity. In fact, the stimulatory intensity of controllers is decreased proportional to reduction of hand tremor. The objective of this study is to design a new controller structure to decrease three indicators: (i) the hand tremor; (ii) the level of delivered stimulation in disease condition; and (iii) the ratio of the level of delivered stimulation in health condition to disease condition. For this purpose, the authors offer a new closed‐loop control structure to stimulate two areas of BG simultaneously. One area (STN: subthalamic nucleus) is stimulated by an adaptive controller with feedback error learning. The other area (GPi: globus pallidus internal) is stimulated by a partial state feedback (PSF) controller. Considering the three indicators, the results show that, stimulating two areas simultaneously leads to better performance compared with stimulating one area only. It is shown that both PSF and adaptive controllers are robust regarding system parameter uncertainties. In addition, a method is proposed to update the parameters of the BG model in real time. As a result, the parameters of the controllers can be updated based on the new parameters of the BG model.Inspec keywords: adaptive control, medical control systems, diseases, medical disorders, patient rehabilitation, neurophysiology, surgeryOther keywords: robust adaptive controller design, feedback error learning, Parkinson''s disease rehabilitation, deep brain stimulation, DBS, movement disorders, Parkinson''s tremor, stimulatory signal Reduction, side effects, excessive stimulation intensity, hand tremor, controller structure, closed‐loop control structure, subthalamic nucleus, adaptive controller, partial state feedback controller, robust regarding system parameter uncertainties, BG model     

Adaptive feed-forward controller of piezoelectric actuator for micro/nano-positioning

In this paper, design and implementation of an adaptive feed-forward controller for micro/nano-positioning control of piezoelectric actuator (PEA) is described. Discrete-time Dahl hysteresis-based mathematical model of the PEA is developed and the values of the model parameters are estimated through an autoregressive with exogenous terms (ARX) model identification technique using experimental input–output data. A recursive least-square estimator (RLSE)-based adaptive feed-forward (FF) controller is proposed, which takes into account the parameter uncertainty. The FF controller has also been implemented in a DsPIC30F4011 microcontroller. The established PEA model and the controller are validated by simulation and experimental results including parameter variation.     

电液伺服系统的逆向递推鲁棒自适应控制

针对电液伺服系统存在的非线性特性、参数不确定性,且不确定性不满足匹配条件,引入虚拟控制量的概念,提出了一种逆向递推鲁棒自适应控制方法。该方法把整个系统分成了一个二阶和一个一阶两个子系统,对其进行递推式的分步自适应控制,从而简化了控制器的设计,使计算量大为减少;利用参数自适应和鲁棒控制相结合的方法,使控制器具有较强的抗干扰性。仿真结果显示,该控制方法具有较强的鲁棒性及良好的跟踪性能,与采用 PID 的控制方法相比,系统具有更好的控制性能及更强的抗干扰性。