四辊卷板机侧辊位移线性自抗扰控制

侧辊位移的精确控制对实现四辊卷板机高效加工至关重要,其核心问题是提高阀控非对称缸电液伺服系统的抗扰能力。由于电液伺服系统具有高度非线性和时变不确定性,传统非线性控制方法很难有效处理包含未知动态、外部扰动以及参数变化等的多源不确定扰动。提出一种四辊卷板机侧辊位移线性自抗扰控制方法。综合考虑各种不确定扰动因素的影响,设计了线性扩张状态观测器进行实时估计,采用状态误差反馈控制律给予主动补偿,并消除跟踪误差,证明了线性扩张状态观测器状态观测误差的收敛性和电液伺服系统的闭环稳定性。试验结果表明,所设计的线性自抗扰控制器能有效抑制电液伺服系统中多源不确定性扰动,实现侧辊位移的快速、精确轨迹跟踪。     

线性自抗扰气缸位置伺服控制研究

针对气动伺服系统复杂的非线性问题,提出了一种线性自抗扰控制策略对气动伺服系统进行位置控制。利用线性自抗扰控制器不依赖于被控对象精确数学模型的特点,解决被控气动系统内外各种不确定性,设计了线性扩张状态观测器来估计和补偿系统的全部干扰,同时给出了线性状态误差反馈控制器来保证系统的闭环响应性能。证明了线性扩张状态观测器的收敛性和闭环系统的镇定性。应用线性自抗扰控制策略与PID控制策略在气缸伺服系统中进行实验、比较,实验结果表明所设计的线性自抗扰控制器具有良好的控制效果。     

线性/非线性自抗扰切换控制在变载荷气动加载系统中的应用

针对气动加载系统压力跟踪控制中强非线性、强耦合性、模型不精确性等问题,提出一种线性/非线性自抗扰切换控制器,该控制器结合了线性自抗扰控制器参数整定简便、理论分析简单和非线性自抗扰控制器跟踪精度高、响应快的优点,设计线性/非线性切换扩张状态观测器对系统的耦合项以及不同幅值的扰动等不确定项进行估计,并采用切换状态误差反馈控制律给予实时主动补偿,进而实现系统加载压力的实时控制,并完成了线性/非线性切换扩张状态观测器的收敛性证明。最后,在气动变载荷摩擦磨损试验机试验平台上进行试验验证,与线性自抗扰和非线性自抗扰进行对比,试验结果表明,改进的控制器具有抗干扰性强、跟踪精度高、应用性强等特点。     

基于自抗扰控制的转台伺服系统摩擦非线性补偿仿真研究

为克服非线性摩擦在转台伺服系统低速运行时对控制性能的影响,设计一种线性自抗扰控制器.该控制器采用线性扩张状态观测器及线性反馈,将摩擦作为系统总扰动进行实时估计,并加以补偿.基于Lugre摩擦模型建立转台伺服系统的数学模型,对这种线性自抗扰控制器进行仿真实验.结果表明,和传统PID控制器相比,所设计的控制器对非线性摩擦有良好的抑制作用,同时具有响应速度快、稳态误差小,抗扰能力强的特点.     

非线性自抗扰控制对偶然测量误差的抑制作用

金刚石超精密切削是加工微结构表面的有效方法,其关键技术是快速刀具伺服系统(FTS),控制器性能是FTS的一个重要性能指标。针对电磁驱动原理的快速刀具伺服系统,建立执行机构简化的传递函数模型,引入自抗扰控制器作为快速刀具伺服系统的控制器并介绍自抗扰控制器参数的整定。最后采用非线性自抗扰控制技术,并利用MATLAB仿真非线性自抗扰控制(NLADRC)和线性自抗扰控制(LADRC)对偶然测量误差的抑制作用,得出结论为非线性自抗扰控制相比线性自抗扰控制可以更好的抑制偶然测量误差造成的不利影响。     

基于改进遗传算法的伺服系统自抗扰控制研究

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。     

永磁同步电机位置伺服系统改进变结构自抗扰控制

为进一步提高传统变结构自抗扰控制器的控制精度,增强永磁伺服驱动系统的抗干扰能力,提出一种改进变结构自抗 扰控制策略。 该方法在基于变结构原理设计的扩张状态观测器中引入位置、速度的观测误差以实现状态变量的无差估计,采用 基于指数趋近律设计的非线性状态误差反馈控制律实现线性控制与非线性控制的平滑过渡,并在此基础上引入位置跟踪误差, 提高伺服系统的跟踪性能。 通过实验分析比较了改进变结构自抗扰控制与传统变结构自抗扰控制两种控制策略,结果显示改 进控制策略较传统控制策略的位置跟踪误差减少了约 30% 。 当负载突变时,传统控制策略的跟踪误差约为负载突变前最大跟 踪误差的 3. 4 倍,而改进变结构自抗扰控制策略仍能准确跟踪给定信号。     

改进PSO算法优化的电液位置伺服系统自抗扰跟踪控制

针对电液位置伺服系统由于参数不确定性、非线性、复杂时变性而导致的响应速度慢、跟踪精度低、抗干扰能力差的问题,提出一种具有更高跟踪精度及抑制抖振能力的改进P SO算法优化的自抗扰控制(Improved?PSO auto disturbance rejection control,IPSO?ADRC)方法.首先,建立电液位置伺服系统的误差状态空间方程,采用3阶跟踪微分器、扩张状态观测器及状态误差反馈律构建自抗扰控制器模型;其次,分析惯性权重递减P SO算法存在的早熟、易陷入局部最小值等问题,综合考虑粒子迭代次数及当前粒子与全局最优粒子间距离两个因素对寻优结果的影响,提出一种改进P SO算法;最后,将改进后的P SO算法应用于所设计的自抗扰控制器中以提高控制性能.仿真及试验结果表明,相比于传统P ID控制和常规自抗扰控制,采用改进P SO算法优化的自抗扰控制具有位置跟踪精度高、抗干扰能力好的优点.     

小型漂浮式天线姿态的自抗扰解耦控制

研究了小型漂浮式天线姿态跟踪的自抗扰解耦控制。分析了4级风以下的海洋环境对天线姿态的影响,设计了三轴伺服执行机构校正天线指向目标卫星的姿态偏差,研究证实三轴伺服系统是一种复杂的耦合性较强的非线性系统;设计了由横滚伺服自抗扰控制器、俯仰伺服自抗扰控制器和方位自抗扰控制器组成的天线姿态自抗扰解耦控制器用于天线姿态控制;通过MATLAB仿真研究验证了自抗扰解耦控制器的性能优于PID控制器,可以较好地估计和补偿天线的内部和外部扰动,实现天线姿态的解耦控制;通过半实物仿真研究证实了自抗扰解耦控制器可以实现天线与卫星间的高质量通信。     

阀控单出杆缸电液伺服系统二阶线性自抗扰控制

为提高阀控单出杆缸电液伺服系统性能,在构建阀控单出杆缸电液伺服系统动态机理模型基础上,提出了一种具有加速度前馈的二阶线性自抗扰控制(Linear Active Disturbance Rejection Control, LADRC)方法,采用奇异摄动理论分析了闭环系统稳定性,并针对系统响应性能和抗干扰性能与传统PID控制进行仿真和实验对比。结果表明:具有加速度前馈的LADRC对系统中存在的多源不确定扰动具有较强鲁棒性,能有效提高系统动、静态性能,并实现对给定信号的快速、精确轨迹跟踪。     

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。     

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.     

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.     

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%)。     

简介虚拟制造中的网络虚拟现实技术

介绍了网络虚拟现实建模语言（VRML），VRML具有动态对象描述和超链接、通用性、扩展性、易实现性等特点。VRML浏览器和生成VRML文件的工具广泛使用于多种平台的计算机，是虚拟制造VM与虚拟设计中的网络虚拟现实技术的基础。     

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。     

血清AFP、CA199、GGT、ALP联检肝癌早期诊断价值

目的:探讨甲胎蛋白(AFP)、糖类抗原199(CA199)、谷氨酰转肽酶(GGT)和碱性磷酸酶(ALP)单独或联合检测对原发性肝癌(PHC)的早期诊断价值。方法:本研究为回顾性研究,筛选2016年-2019年本院87例原发性肝癌(PHC)患者、105例慢性乙肝患者及104例健康志愿者,收集不同组首次入院和体检外周血检测数据和其他临床资料。比较各血清指标在组间差异性,分析了血清学指标与入组PHC临床分期和病理分型的相关性,进一步利用ROC曲线法分析血清指标单项与联合诊断的灵敏度、特异度。结果:AFP、CA199、GGT、ALP检测均值在PHC组均明显高于慢乙肝组和健康体检组。AFP阳性检测值与PHC临床分期(r=0.9536)和病理分型(r=0.525)呈正相关性。AFP诊断PHC灵敏度和特异性分别为60.87%和77.97%、精准度AUC为0.726。联合四项指标检测灵敏度、特异度和AUC分别为75.36%、65.64%、0.806。结论:AFP、CA199、GGT、ALP四项指标联合检测可提高原发性肝癌早期诊断的准确率,操作性强且易于推广。     

Effect on crystalline structure of AISI M2 steel using tungsten–thorium electrode through MRR,EWR, and surface finish

To investigate on the crystalline structure of AISI M2 steel by using tungsten–thorium electrode in electrical discharge machining (EDM) process was studied. Furthermore, the investigation were carried out for finding the value of material removal rate (MRR), electrode wear rate (EWR) and surface roughness (SR) of tool steel material depending upon three variable input process parameters. On the basis of weight loss, the value of MRR and EWR were calculated at optimized process parameter. Subsequently, surface topography of the processed material were examined through different characterization techniques like scanning electron microscopy (SEM), Optical surface profiler (OSP) and Atomic force microscopy (AFM), respectively. In XRD study, broadening of the peak was observed which confirmed the change in material properties due to the homogeneous dispersion of the particles inside the matrix. Lowest surface roughness and MRR of 0.001208 mg/min was obtained. Minimum surface roughness was obtained 1.12 μm and 2.18427 nm by OSP and AFM study, respectively. Also, minimum EWR was found as 0.013986 mg/min.     

A novel virtual instrument for power quality surveillance based in higher-order statistics and case-based reasoning

This paper presents the performance results of a Virtual Instrument (VI) based in Case-Based Reasoning (CBR), conceived to online monitor the power-quality. The PC-based instrument receives data through a DAQ board and a differential probe, while maintaining economy by eliminating the extra network construction and hardware. Being flexible, presents an user-friendly interface and a large data storage capacity, since it uses the hard disk. The computational guts of the instrument are based in third and fourth-order statistics (along with the variance), which enhance detection capability and reject noise influence. A time-domain sliding window sweeps the register under test and offers a time-variation pattern which reflects the deviation of the statistical estimator with respect to the steady state. This three-valued time-series comprises variance, skewness and kurtosis evolution, and constitutes a triple input to the innovative CBR module, which in turn is capable of distinguishing electrical anomalies among five categories (the sixth is reserved to the healthy signal): non-50 Hz, 50-Hz-asymmetrical, 50-symmetrical non-sinusoidal, swell and sag. Online surveillance tests developed over the local electrical network show acceptable accuracy (96%).