电动汽车液压ABS与再生制动协调控制及仿真

为了提高电动汽车机电复合方式完成制动效果，开发了一种能够同时满足能量高效回收并达到安全制动性能的机械摩擦与电机制动相结合的协调制动分配方法。该协调制动控制方案通过电机提供稳态制动力，并且液压制动系统对轮速进行稳态调节，防止车轮发生抱死现象，最终实现ABS液压制动效果。分别在新标欧洲测试循环（New European Driving Cycle,NEDC）和全球轻型汽车测试循环（WLTC）工况下对开展仿真测试，采用CRUISE建立相应的仿真工况。本控制方案构建的再生制动系统行驶测试后发现电池SOC降低程度更小，可以实现对更多制动能量的回收，表现出了优异的节能效果，可以达到现有车辆的制动条件。通过综合比较发现，这里控制方案获得了比传统控制方案更优的性能。     

基于并行工程的产品开发过程进程控制

本文从并行工程及其信息集成框架出发，提出了并行工程进程控制的重要性，通过分析产品及其相关过程开发中进程的特点，确定出螺旋模型的运行机理，建立了产品并行开发进程控制的实施方案，并对依此方案开发的系统作以简单介绍。     

大模型不确定性下的汽车纵向加速度控制

针对汽车纵向动力学模型存在较大不确定性的问题，提出了一种基于鲁棒控制理论的多模型分层切换控制方法。在分析汽车纵向动力学特性基础上，用4个乘性不确定模型描述对象，并应用鲁棒控制理论设计控制器集合。考虑鲁棒控制理论特点，设计了一种基于不确定性估计的切换指标函数，实现了汽车纵向加速度多模型分层切换控制。理论分析和实验表明，提出的方法在模型具有大不确定性时可以对加速度进行有效控制，系统具有良好的跟踪性能，稳态误差小于0．1m／s^2。     

基于KP模型的GMA迟滞系统辨识与补偿

采用改进的Krasnosel’skii—Pokrovkii（KP）模型对所设计的超磁致微位移驱动器建立了与频率无关的迟滞模型，并提出了对实际系统的KP迟滞模型密度函数进行离散辨识的方法。为了降低迟滞特性对驱动器工作的影响，对KP迟滞模型构造了补偿算子。在此基础上提出了滑模变结构控制方案，由Lyapunov稳定性理论推导出此滑模变结构控制方案的自适应控制方法。通过仿真与实验验证了所提出的机电系统模型的准确性和控制规律的有效性。     

基于并行工程的产品开发过程进程控制

本文从并行工程（ＣｏｎｃｕｒｅｎｔＥｎｇｉｎｅｅｒｉｎｇ，ＣＥ）及其信息集成框架出发，提出了并行工程进程控制的重要性，通过分析产品及其相关过程开发中进程的特点，确定出螺旋模型的运行机理。建立了产品并行开发进程控制的实施方案，并对依此方案开发的系统作以简单介绍。     

基于强酸当量的pH值的多模型自适应控制

pH控制由于其严重的非线性一直是过程控制中的难题。基于强酸当量的控制方案在过程流流速远大于中和流流速的前提下将过程机理模型转化为近似线性模型,该方案具有对模型误差鲁棒的优点,已得到广泛的认可,但在中和曲线发生变化时其控制性能显著下降。为了克服这一问题,该文采用了基于混合型参数估计的多模型自适应控制方案。模型集的选取采用了固定模型与自适应模型相结合的方案。仿真结果表明,该设计方案能够有效的克服中和曲线变动带来的影响,具有良好的控制效果。     

实时预报控制在磨床微机控制系统中的应用

本文提出了一种实时在线预报控制补偿导轨磨削精度的新方案。并提出了一种新型自适应预报模型,给出了具有模型误差补偿的三段互偶算法以及预报控制策略。实权测试和仿真控制结果表明,该方案算法收敛快,适应性强,实用价值高。     

可控磁流变阻尼器滞环模型的比较

磁流变阻尼器(Magneto-rheological damper, MRD)在结构振动半主动控制领域具有广泛的应用前景,半主动控制器设计和控制分析需要建立精确、简洁、通用的滞环阻尼力-速度(F-v)模型.在多组不同激励幅度、频率和控制电流下对MRD进行性能测试,在激励性质和控制电流变化时,MRD的输出阻尼力具有强滞环非线性特性和电流控制与滞环算子相分离的特性.针对非线性滞环双粘滞模型、现象模型、S型滞环模型和基于Sigmoid函数的通用滞环模型的优点与不足,提出MRD电流控制与滞环特性相分离的一般化模型,易于求解逆模型且有利于基于模型的高级控制器设计.引用已提出的基于Sigmoid函数的电流控制函数对典型模型进行修正,使其能准确适应控制电流的变化,并根据测试数据用最小二乘法辨识各修正模型的参数,在不同控制电流和激励性质下,将各修正模型的计算结果与测试结果进行比较,结果表明,各类修正模型均具有较高的准确性.     

电动振动台在汽车零部件测试中的控制方法及传感器测点布置的研究

振动测试是整车及零部件质量改善和疲劳寿命分析的重要测试手段之一。选择合适的振动控制方式和传感器测点对电动振动台(以下简称振动台)模拟内部和外部众多激励源的振动尤其关键。根据振动试验方案,采用多种控制方法并设定相应测点布置方案进行对比测试,结合模态对相应结果进行验证分析。研究振动台闭环控制基本原理并设计相应的电振动控制方法;在非共振和共振区域采用不同控制方法和测点进行试验,提取相关结果分析主要控制方法的测试效果;并通过数据分析比较多种控制策略和测点的差异。此研究能够为通用性的整车及零部件振动试验提供参考。     

多模型控制方法研究及应用

探讨了多模型控制方法的发展现状，多模型控制是解决各种复杂的、参数不确定性的、非线性系统的一种行之有效的控制方法。同时对交互式多模型控制、多模型预测控制和多模型自适应控制等进行了研究，并分析了多模型控制应用的现状，展望了多模型控制的发展前景。     

Distributed control architecture for real-time model predictive control for system-level harmonic mitigation in power systems

It can be challenging to design and implement Model Predictive Control (MPC) schemes in systems with fast dynamics. As MPCs often introduce high computational loads, it can be hard to assure real-time properties required by the dynamic system. An understanding of the system’s behavior, to exploit system properties that can benefit real-time implementation is imperative. Moreover, MPC implementations on embedded local devices rarely allows flexibility to changes in model and control philosophy, due to increased complexity and computational loads. A change in control philosophy (run-time) can be quite relevant in power systems that can change from an integrated to a segregated state. This paper proposes a distributed control hierarchy with a real-time MPC implementation, designed as a higher-level control unit, to feed a lower-level control device with references. The higher-level control unit’s objective in this paper is to generate the control reference of an Active Power Filter for system-level harmonic mitigation. In particular, a novel system architecture, which incorporates the higher-level MPC control and handles distribution of control action to low-level controllers, as well as receiving measurements used by the MPC, is proposed to obtain the application’s real-time properties and control flexibility. The higher-level MPC control, which is designed as a distributed control node, can be swapped with another controller (or control philosophy) if the control objective or the dynamic system changes. A standard optimization framework and standard software and hardware technology is used, and the MPC is designed on the basis of repetitive and distributed control, which allows the use of relatively low control update rate. A simulator architecture is implemented with the aim of mimicking a Hardware-In-Loop (HIL) simulator test to evaluate the application’s real-time properties, as well as the application’s resource usage. The results demonstrates that the implementation of the harmonic mitigation application exhibits the real-time requirements of the application with acceptable resource usage.     

Improvement of vehicle directional stability in cornering based on yaw moment control

In this research any abnormal motion of a vehicle is detected by utilizing the difference between the reference and actual yaw velocities as sell as the information on vehicle slip angle and slip angular velocity. This information is then used as a criterion for execution of the yaw moment control. A yaw moment control algorithm based on the brake control is proposed for improving the directional stability of the vehicle. The controller executes brake controls to provide each wheel with adequate brake pressures, which generate the needed yaw moment. It is shown that the proposed yaw moment control logic can provide excellent cornering capabilities even on low friction roads. This active control scheme can prevent a vehicle from behaving abnormally, and can assist normal drivers in coping with dangerous situations as well as experienced drivers.     

一种二自由度内模控制方法

针对典型的工业过程控制对象，提出了一种二自由度内模控制方法，此方法可以使系统同时具有良好的目标值跟踪特性，干扰抑制特性和鲁棒性，改进了常规内模控制的不足，而且控制算法简单，参数调整方便，理论分析和仿真实验结果表明了它的有效性。     

优化的精度控制自适应调节方案

针对非线性不确定系统,研究并优化了基于输入信号参考自适应PID控制方法——在模型参考自适应PID控制的基础上以输入信号为参考代替模型参考对系统进行控制。控制方法是基于李雅普诺夫平衡点稳定定理控制方法的系统稳定性推演的,由于控制方法中引入稳定项后使控制过程带来微分项,控制方法中加入滤波器,通过系统的自适应调节最终使系统趋于稳定状态。同时,在控制中加入PID因子使系统的控制性能趋佳。该方法是基于输入信号为参考的自适应控制,减少了模型参考带来的误差。仿真推演结果显示,被控对象可以有较强的适应能力,趋于实现更优的过程控制效果。文中给出了运用于海洋钻井设备运动补偿装置实例的分析。     

四驱式直流无刷电机小车的设计

本文是针对于运输速度而设计可全地形快速运动的小车,以麦克纳姆轮式四驱小车的直流无刷电机为控制对象,采用CAN总线的通讯协议控制控制编码电机进行控制小车,以STM32F407单片机作为数据处理中心,通过PID调节电机的转速和工作状态,设计出可以灵活运动的四驱式直流无刷电机小车。安装小车成功后,小车运动速度比传统运输小车快而且可以全方位移动。     

基于PLC的变频恒压供水模糊控制系统设计

设计的变频恒压供水控制系统,应用了模糊控制技术,较好的克服了传统PID控制中稳定性差、参数调整困难的问题,并提供了一种用PLC实现模糊控制的新方法。该系统取代了高塔或水泵直接加压供水方式,提高了供水质量,节能效果明显,极具推广、应用价值。     

计算机控制与自动化仪表综合实验平台的研究

计算机控制与自动化仪表综合实验平台是由实验控制对象、实验控制台（智能仪表、传感器）及上位监控PC机三部分组成。该装置可根据用户的需要设计成计算机控制、自动化仪表控制等控制系统,它既可作为本科、专科、高职过程控制课程的实验装置,也可为教师、研究生及科研人员对复杂控制系统、先进控制系统的研究提供一个物理模拟对象和实验平台。     

Rule-based fault diagnosis of hall sensors and fault-tolerant control of PMSM

Hall sensor is widely used for estimating rotor phase of permanent magnet synchronous motor(PMSM). And rotor position is an essential parameter of PMSM control algorithm, hence it is very dangerous if Hall senor faults occur. But there is scarcely any research focusing on fault diagnosis and fault-tolerant control of Hall sensor used in PMSM. From this standpoint, the Hall sensor faults which may occur during the PMSM operating are theoretically analyzed. According to the analysis results, the fault diagnosis algorithm of Hall sensor, which is based on three rules, is proposed to classify the fault phenomena accurately. The rotor phase estimation algorithms, based on one or two Hall sensor(s), are initialized to engender the fault-tolerant control algorithm. The fault diagnosis algorithm can detect 60 Hall fault phenomena in total as well as all detections can be fulfilled in 1/138 rotor rotation period. The fault-tolerant control algorithm can achieve a smooth torque production which means the same control effect as normal control mode (with three Hall sensors). Finally, the PMSM bench test verifies the accuracy and rapidity of fault diagnosis and fault-tolerant control strategies. The fault diagnosis algorithm can detect all Hall sensor faults promptly and fault-tolerant control algorithm allows the PMSM to face failure conditions of one or two Hall sensor(s). In addition, the transitions between health-control and fault-tolerant control conditions are smooth without any additional noise and harshness. Proposed algorithms can deal with the Hall sensor faults of PMSM in real applications, and can be provided to realize the fault diagnosis and fault-tolerant control of PMSM.     

基于AVR平台的六自由度仿人机械手臂控制算法研究

传统机械手臂各关节常用电机来驱动,其驱动系统较为复杂,设计难度较大。提出以AVR为控制平台,以舵机作为机械臂各关节驱动,并着重介绍了基于舵机特有的工作方式而提出的一种可以对该机械臂各关节运动速度、方向和运动量进行控制的算法。该算法同时还具备可扩展性等优点,即可以对由舵机驱动的更多自由度的机械手臂进行实时控制。     

Monitor design with multiple self-loops for maximally permissive supervisors

In this paper, we improve the previous work by considering that a control place can have multiple self-loops. Then, two integer linear programming problems (ILPPs) are formulated. Based on the first ILPP, an iterative deadlock control policy is developed, where a control place is computed at each iteration to implement as many marking/transition separation instances (MTSIs) as possible. The second ILPP can find a set of control places to implement all MTSIs and the objective function is used to minimize the number of control places. It is a non-iterative deadlock control strategy since we need to solve the ILPP only once. Both ILPPs can make all legal markings reachable in the controlled system, i.e., the obtained supervisor is behaviorally optimal. Finally, we provide examples to illustrate the proposed approaches.