现代机械工程中自动控制系统的研究与应用

回顾现代机械工程中自动控制系统的研究历史和研究内容,对进入二十一世纪后自控系统研究中的若干关键技术及其应用做了归纳性介绍,并在揭示科学原理的基础上作出了一些预见性的阐述。     

基于反演法的智能车辆弯路换道轨迹跟踪控制

基于车辆的运动学模型,研究了具有非完整约束特性的智能车辆弯路换道的轨迹跟踪控制问题。结合弯曲车道的曲率半径,针对换道过程中车辆横向运动和纵向运动对换道轨迹的耦合作用,提出了一种适用于弯道的换道轨迹规划方法。根据换道轨迹,利用积分反演法,引入中间虚拟控制量,设计了轨迹跟踪控制算法,并用Lyapunov稳定性理论证明了控制系统的稳定性。仿真结果表明:该控制器可以保证车辆在弯路换道的轨迹跟踪误差一致有界收敛,且具有快速、准确跟踪和全局稳定的特性。     

可控源音频大地电磁法在凡口铅锌矿中的应用

凡口矿接替资源勘查项目重点在于矿区深部和外围隐伏矿体的勘探,可控源音频大地电磁法（CSAMT）的应用是矿山多种地球物理方法研究中的一种。由于矿区存在严重的人文干扰因素,音频大地电磁法（AMT）对于较深部的地质特征不容易分辨出来,CSAMT较好地解决了这个问题。在无有效的地质剖面的前提下,通过使用GDP--32U在测区成矿靶区布置的4条CSAMT实验剖面,进行物探异常的定性分类解释和地质推断来设计钻孔。截止目前13个钻孔的勘探结果,90％的钻孔均有不同厚度（1～14）m的铅锌铜矿体,初见效果,拓展了矿区深部勘查手段的思路。     

连续复小波变换在智能变电站故障录波仿真系统中的应用

对智能变电站二次系统通信过程进行模拟,即IEC 61850采样值报文和GOOSE报文进行捕获和发送,实现智能变电站故障录波仿真;在此基础上,采用连续复小波变换的波形分析算法提取基波向量,克服了系统频率波动对故障特征量计算的影响,进而模拟保护动作行为和重合闸过程,为智能变电站二次系统的原理和操作的研究及培训提供技术手段.     

贵州水城大井铅锌矿废矿区矿井水重金属污染监测及模糊综合评价

采集贵州水城大井铅锌矿废矿区矿井水及其流经水渠水样,测定其中的Cd、Pb、As、Cr6+等含量.根据测试结果选取污染较严重的Pb、Cr6+、Cd、Zn作为主要评价因子,以《地表水环境质量标准》(GB 3838-2002)作为评价标准,采用模糊综合评价法与单项水质参数评价法评价水质重金属污染程度.模糊综合评价法评价结果表明:采样点W1、W2、W3对应于V类水的隶属度分别为0.107、0.511、0.502,根据隶属度最大的原则,各采样点水质类别均为V类水,属严重污染级别;单项水质参数评价法评价结果表明:水质监测点W1、W2 、W3均表现出Cd污染严重,分别超过V类水标准值的9.7、1.03、0.92倍.     

高原寒冷区地球电化学方法寻找隐伏金矿对比试验

为了解高原寒冷景观区隐伏金矿地电化学异常特征,选取辛曲矿区和扎家同哪矿区进行对比试验。结果表明,两个矿区的地电提取Au含量均较低,且多为难以连片的狭窄异常,但矿体的分布基本限定在地电化学综合异常范围内。两个矿区有不同的异常特征：产出较陡的辛曲金矿异常多呈狭窄的单峰,峰值与矿体头部相对应;而产出较缓的扎家同哪金矿,异常呈多峰异常形态,在矿头对应部位有异常峰,且异常沿矿体倾斜方向呈阶梯式变弱,表明在高原寒冷景观区地球电化学方法对隐伏金矿体赋存范围和产出形态均有指示作用。结合地电化学异常成因机制、成矿地质条件,初步构建了高原寒冷景观条件下破碎带型金矿地电化学找矿模型。     

发电机—变压器组保护装置在智能水电站中的设计及应用

随着智能电网和变电站技术的不断完善,水电站也正朝着智能化的方向发展,智能水电站对发电机—变压器组保护提出了新的要求。主要介绍了发电机—变压器组保护装置在新要求下的主要构成及其设计特点,并介绍了智能发电机—变压器组保护装置与过程层接口的相关设备,以及其在智能水电站的应用和设计方案。     

Supervisory control of multiple robots in dynamic tasking environments

A military targeting environment was simulated to examine the effects of an intelligent route-planning agent RoboLeader, which could support dynamic robot re-tasking based on battlefield developments, on the performance of robotics operators. We manipulated the level of assistance (LOAs) provided by RoboLeader as well as the presence of a visualisation tool that provided feedback to the participants on their primary task (target encapsulation) performance. Results showed that the participants' primary task benefited from RoboLeader on all LOAs conditions compared to manual performance; however, visualisation had little effect. Frequent video gamers demonstrated significantly better situation awareness of the mission environment than did infrequent gamers. Those participants with higher spatial ability performed better on a secondary target detection task than did those with lower spatial ability. Finally, participants' workload assessments were significantly lower when they were assisted by RoboLeader than when they performed the target entrapment task manually. Practitioner Summary: This study demonstrated the utility of an intelligent agent for enhancing robotics operators' supervisory control performance as well as reducing their workload during a complex urban scenario involving moving targets. The results furthered the understanding of the interplay among level-of-autonomy, multitasking performance and individual differences in military tasking environments.     

Robot stereo vision calibration method with genetic algorithm and particle swarm optimization

Accurate stereo vision calibration is a preliminary step towards highprecision visual positioning of robot. Combining with the characteristics of genetic algorithm (GA) and particle swarm optimization (PSO), a threestage calibration method based on hybrid intelligent optimization is proposed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the first stage. Then in the second stage, two cameras’ parameters are optimized separately. Finally, the integrated optimized calibration of two models is obtained in the third stage. Direct linear transformation (DLT), GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find nearoptimal solution and it can be used to initialize the next stage. Simulation analysis and actual experimental results indicate that this calibration method works more accurate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.     

华南煤田矿井突水脆弱性评价及应用——以广西百色煤田为例

中国华南地区矿井突水问题具有其特殊性。以广西百色煤田为例,应用层次分析法,建立针对华南煤田矿床水文地质特征的矿井突水主控因素层次结构模型,确定了百色煤田突水脆弱性指标（VI）阈值分别为：0.055、0.115、0.155,并划分出4个突水脆弱性分区：脆弱区（VI〉0.155）,较脆弱区（0.115