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针对采煤机电液伺服系统中PID控制器的参数寻优问题,利用人工蜂群算法来优化PID参数。人工蜂群算法通过模拟群蜂寻找花蜜的过程,将误差绝对值和控制输入平方项的时间积分作为优化目标,经过迭代寻优计算得到系统最优控制量。通过典型函数测试,对比分析遗传算法和粒子群优化算法,人工蜂群算法具有较好的全局收敛能力。结果表明:人工蜂群算法用于采煤机电液伺服系统的参数调节,比遗传算法和粒子群优化算法收敛速度快,超调量小,具有更好的动态响应性能,验证了该方案的可行性和有效性。 相似文献
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针对非线性系统辨识和控制器的设计,提出一种混沌映射产生初值的人工蜂群优化算法,并将该算法应用于非线性系统中的参数辨识和PID控制器的设计。参数辨识的仿真结果表明,基于混沌映射理论的人工蜂群优化算法比其他传统的算法具有更好的收敛特性和辨识性能;自动电压调节系统的仿真结果表明,基于混沌人工蜂群优化的PID控制自动电压调节系统是可行性的,且具有良好的动态调节性能。 相似文献
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针对传统PID控制不能满足数控进给伺服系统对控制性能的要求,提出将自抗扰控制器引入伺服进给系统的设计方法,采用改进遗传算法对自抗扰控制器参数进行整定优化。仿真结果表明采用改进遗传算法优化的伺服进给系统自抗扰控制器具有良好的控制性能和鲁棒性,所提出的数控伺服系统自抗扰设计方法有效可行。 相似文献
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基于小生境粒子群优化的挖掘机器人自抗扰视觉伺服控制 总被引:1,自引:0,他引:1
为提高挖掘机器人的自主挖掘能力,设计一种基于图像的自抗扰视觉伺服控制器,对挖掘机器人的动臂、斗杆、铲斗组成的3节机械臂末端位置和姿态在x-z平面进行控制,实现自主挖掘目标任务。针对自抗扰控制器需要整定的参数较多,参数间相互影响,整定困难的特点,引入粒子群算法对控制器参数进行优化。由于原始粒子群算法存在后期易陷入局部最优的缺欠,采用小生境粒子群算法对自抗扰控制器参数进行整定优化。对粒子群及小生境粒子群算法的优化性能进行比较研究的基础上,设计了适合挖掘机器人的自抗扰视觉伺服控制器,采用小生境粒子群算法得到自抗扰控制器整定参数。搭建xPCTarget主机—目标机环境进行试验及仿真,表明小生境粒子群优化的自抗扰视觉伺服控制器控制精度高、鲁棒性强。 相似文献
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研究了自抗扰控制技术在风力发电变桨距控制系统中的应用。首先介绍了风力发电机组的机理模型,然后介绍了自抗扰控制的基本原理。最后,设计了自抗扰控制器,并介绍了其参数整定方法,并应用在了风力发电的变桨距控制系统中。仿真结果表明这种方法可以有效抑制随机风扰动下电机转速偏差,实现恒功率控制。 相似文献
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A computer simulation model for the contact between longitudinally-oriented rough surfaces has been formulated. This model closely duplicates the actual surf ace contact deformation behavior by taking into account the elastic interactions between the asperities. There were no assumptions made about the shapes, or any deformation behavior of the asperities, except for their obeying the laws of elasticity. The plastic deformations on the high asperity peaks were taken into account by setting a ceiling on their contact pressures at the material hardness value. The simulations used real surface profiles which were digitized from unworn circumferentially ground steel surfaces. Each pair of these profiles was mathematically combined to form an equivalent rough profile pressing against an infinitely rigid flat and having the appropriately adjusted elastic modulus. A total of 28 different pairs of profiles were used in the simulations. Each contacting pair was subjected to 30 different load levels and the local contact pressures and deformations were calculated. The contact simulations yielded some important mathematical relationships between parameters, such as the real area of contact, average gap, and average asperity load through statistical curve fitting. Two analytical functions were generated to relate the average load to average gap and the real area of contact to load. 相似文献
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针对实际电网存在着大量的三绕组变压器,但国际上一些著名商业软件,如BPA仿真软件、Matpower这一权威潮流计算开源软件,均只提供双绕组变压器模型,限制了其在具有三绕组变压器的电力系统中的应用的问题,潮流计算是自主开发的电力系统各种应用软件的核心模块,因此依托国际权威开源程序进行二次开发,是一种较好的选择。对Matpower要求的数据格式进行了归纳,对变压器的一般的等值电路及带理想变压器的等值电路和带标幺值的等值电路进行了分析研究,提出了三绕组变压器转换为双绕组等效模型的建模方法,使得原先只适应双绕组变压器的潮流计算软件可以适用于三绕组变压器电网的潮流计算;最后以Matpower软件为例进行了案例计算,并用PSASP仿真软件进行对比验证。研究结果证明,所提出的建模方法是有效的。 相似文献
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针对电站锅炉风险等级评价问题,将模糊综合评价技术应用到电站锅炉风险等级评价中。开展了电站锅炉失效影响因素及模糊评价因素的重要程度分析,建立了一套科学合理适于在线评价的电站锅炉风险评价体系,提出了模糊综合评价技术与改进的模糊层次分析法相结合的模糊风险评价方法,利用改进的模糊层次分析法计算了指标体系中各层指标权重。对某一台电站锅炉的实际运行工况影响子因素进行了模糊风险评价,采用模糊合成算子进行模糊综合运算得到电了站锅炉运行工况影响子因素的评价向量。研究结果表明:电站锅炉的运行工况影响子因素的风险评价等级为第6级,失效可能性等级为小,该电站锅炉运行工况良好。 相似文献
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交通荷载作用下桥梁结构参数识别方法 总被引:2,自引:1,他引:1
应用动力节点加载法,将作用在桥梁上的交通荷载转化为等效节点荷载,再用两步构造法识别结构物理参数.第1步,用Newmark-β方法变换结构运动方程,并用结构的加速度响应求得变换空间内的位移、速度和加速度响应;第2步,基于最小二乘原理,构造出变换空间内求解结构参数的递推式,进行结构物理参数识别.数值模拟结果表明,在交通荷载作用下,该方法能够快速、准确地进行桥梁结构参数识别. 相似文献
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The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisci... 相似文献
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针对具有进油孔的有限长滑动轴承油膜力求解问题,采用变分原理和分离变量法,求得了有限长滑动轴承油膜压力分布的近似解析表达式。将油膜压力分布的近似解析表达式在油膜存在区域上进行积分,即得到了油膜力。将提出的计算有限长滑动轴承油膜力方法与无限长轴承模型、有限元方法的计算结果进行了比较,发现了提出的方法与有限元方法的计算结果很接近。最后,研究了进油孔位置和进油压力对油膜存在区域、油膜力等的影响,研究结果表明进油孔位置和进油压力对油膜存在区域和油膜力有较大的影响。 相似文献
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RLS and LMS blind adaptive multi-user detection algorithm and multi-user detector was proposed to solve the problem of multi-user signal detection problem encountered in underwater acoustic communication networks.In simulation analysis,RLS and the LMS blind adaptive multi-user detector were designed and tested for synchronous and asynchronous multi-user communication process.The results of SIR comparison and MMSE comparison show that,both of the two methods can realize blind adaptive detection when any user change in multi-user communication,during this process,the training communication sequences are not needed.The RLS algorithm has about 5 dB higher in SIR compared with LMS algorithm,and the convergence velocity of RLS algorithm is also higher than LMS algorithm when the communication users change.RLS algorithm has better ability in multi-user detection than that of LMS algorithm,and it has great attraction and guiding significance for solving the problem of multiple access interference(MAI) in multi-user communication. 相似文献
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For robot interaction control,the interaction force between the robot and the manipulated object or environment should be monitored.Impedance control is a type ... 相似文献
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CHEN Guangyuan DU Libin HE Haijing LEI Zhuo WU Chengxuan ZHANG Qisheng 《Instrumentation》2015,(2):18-27
This paper analysis the developing of expendable conductivity temperature depth measuring system(XCTD)and introduce its principle of measuring about temperature,salinity and depth of ocean.Some key techniques are put forward.According to the real needs of XCTD,conductivity sensor with high sensitivity is designed by principle of electromagnetic induce,the ocean conductivity from induced electromotive force has been calculated.Adding temperature correction circuit would help to reduce error of conductivity measurement because of sharply changing temperature.Advanced temperature measuring circuit of high precision and the constant current source is used to weaken effect of self-heating of resistance and fluctuation of the source.On respect of remote data transmission,LVDS is a good choice for the purpose of guarantee the quality of data transmitted and the transmission distance is reaching to thousand meters in the seawater.Modular programming method is also brought into this research aimed at improve the stability,reliability and maintainability of the whole measuring system.In February,2015,the trials in South China Sea demonstrate that the developed XCTD realize effective measurement at a speed of 6 knots and detection depth at 800 m.The consistency coefficient of the acquired data is greater than 0.99 and the success rate of probe launching is above 90%. 相似文献
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ZHOU Jianfeng GU Boqin 《机械工程学报(英文版)》2007,20(6):54-61
In order to investigate the sealing performance variation resulted from the thermal deformation of the end faces, the equations to calculate the fluid film pressure distribution, the bearing force and the leakage rate are derived, for the fluid film both in parallel gap and in wedgy gap. The geometrical parameters of the sealing members are optimized by means of heat transfer analysis and complex method. The analysis results indicate that the shallow spiral grooves can generate hydrodynamic pressure while the rotating ring rotates and the bearing force of the fluid film in spiral groove end faces is much larger than that in the flat end faces. The deformation increases the bearing force of the fluid film in flat end faces, but it decreases the hydrodynamic pressure of the fluid film in spiral groove end faces. The gap dimensions which determine the characteristics of the fluid film is obtained by coupling analysis of the frictional heat and the thermal deformation in consideration of the equilibrium condition of the bearing force and the closing force. For different gap dimensions, the relationship between the closing force and the leakage rate is also investigated, based on which the leakage rate can be controlled by adjusting the closing force. 相似文献