Fault-Diagnosis Method Based on Support Vector Machine and Artificial Immune for Batch Process

A new fault-diagnosis method to be used in batch processes based on multi-phase regression is presented to overcome the difficulty arising in the processes due to non-uniform sample data in each phase. Support vector machine is first used for phase identification, and for each phase, improved artificial immune network is developed to analyze and recognize fault patterns. A new cell elimination role is proposed to enhance the incremental clustering capability of the immune network. The proposed method has been applied to glutamic acid fermentation, comparison results have indicated that the proposed approach can better classify fault samples and yield higher diagnosis precision.     

舵机直流电机性能测试系统的研制

设计了一种适用于舵机上的直流电机的计算机自动测试系统。介绍了其系统组成、工作原理、加载原理、软件设计和抗干扰措施。按照电机试验标准的规定,实现了各测试项目的自动测试过程。实际测试结果表明,系统设计合理,检测精度高,抗干扰能力强。     

两级神经网络的故障诊断方法及其在生化过程中的应用

针对具有不能在线检测变量的生化过程 ,提出了一种两级神经网络的故障诊断方法。一级神经网络利用可检测的过程数据建立不可检测量的软测量模型 ;二级神经网络利用软测量模型的估计量进行分析、故障的诊断和分类。最后 ,将这一方法应用到了谷氨酸发酵过程的故障诊断之中 ,并给出了实验研究结果     

一种基于滑模—神经网络观测器的故障检测和诊断方法

本文针对一类非线性系统，提出了一种用于故障检测和诊断的滑模观测器方法．其 中，观测器中的滑模项保证了该系统在无故障情况时的鲁棒性，并且系统运行的滑动区域提供了故障检测的条件．当检测出故障之后，观测器中的故障估计部分被启动，利用RBF神经网络估计故障，从而能在线辨识故障的形态．仿真结果验证了该方法的有效性．     

电磁铁静动态性能测试系统研究与应用

提出了比例电磁铁的静、动态性能测试项目，根据比例电磁铁的机械结构特点，设计出了比例电磁铁静、动态特性综合测试系统。该测试系统能通过计算机自动完成力及位移型比例电磁铁的静、动态性能测试，并求出相应的性能指标。大量测试试验证明该系统测试方法合理、功能齐全、自动化程度高、测试结果准确可靠。     

Multi-Channel Force Control System for Static Loading

An eight-channel force loading system is presented, which adopts position control system and forcecontrol system switching model, small flow servo valve controlled capacious cylinder system scheme, intelligentPID algorithm and distributed load approach. Through the analyses of the equivalent model of valve controlledcylinder force subsystem, a controller based on intelligent PID algorithm is designed, which is not sensitive to the     

Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

Most existing legged robots are developed under laboratory environments and,correspondingly,have good performance of locomotion.The robots‘ability of walking on rough terrain is of great importance but is seldom achieved.Being compliant to external unperceived impacts is crucial since it is unavoidable that the slip,modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts.The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances.In this paper,a novel impedance force/position control scheme is presented,which is based on Cartesian force measurement of leg's end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model,and the experimental results at the end demonstrate the feasibility of the proposed control scheme.     

Novel algorithm of gait planning of hydraulic quadruped robot to avoid foot sliding and reduce impingement

In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot, which include leg dragging, sliding, impingement against the ground, an improved gait planning algorithm for this robot is proposed in this paper. First, the foot trajectory is designated as the improved composite cycloid foot trajectory. Second, the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the robot. Then with the controllable landing angle of quadruped robot and a geometry method, the kinematic equation is derived in this paper. Finally, a gait planning method of quadruped robot is proposed, a dynamic co-simulation is done with ADAMS and MATLAB, and practical experiments are conducted. The validity of the proposed algorithm is confirmed through the co-simulation and experimentation. The results show that the robot can avoid sliding, reduce impingement, and trot stably in trot gait.     

基于AT91RM9200的ARM Linux的移植方法

在嵌入式系统中ARM处理器已经成为市场主流,移植操作系统是开发嵌入式系统的前提和基础,而嵌入式操作系统的移植比较复杂.本文详细论述了Linux在ATglRM9200平台上的移植过程.包括下载内核源码、建立交叉编译环境.移植U-boot,配置和编译内核,建立文件系统等.经试验.移植后的内核在自己开发的目标板上运行稳定可靠.这对其它嵌入式操作系统的开发同样具有参考意义.     

一种控制系统在线辨识方法的实现

讨论了以计算机虚拟仪器为硬件平台,使用Delphi语言编写辨识模块,实现对控制系统的在线辨识,提出一种改进的最小二乘递推算法提高辨识精度.实现了对控制系统的状态进行预测估计,实验结果验证了算法的正确性.