一类饱和非有理系统状态反馈设计

本文研究了一类饱和非有理系统状态反馈镇定问题.通过线性分式表示技术,这类非有理系统可以转化为带有两个非线性回路的线性时不变(linear time-invariant,LTI)系统.假设非有理函数项分别满足局部扇形区间不等式以及局部Lipschitz条件,提出了两种基于LMI条件的镇定方法.最后,举例证明了所提出方法的有效性.     

压电微固体模态陀螺的安装技术

压电微固体模态陀螺（ PMMG）利用压电PZT长方体的某高阶共振模态作为参考振动,是一种抗冲击、抗震动能力强的新型全固态陀螺。获得优化的参考振动振型对提高陀螺性能至关重要,但是大多数文献都没有涉及到封装对参考振动的影响。利用有限元方法（ FEM）分析了压电振子安装时支撑点位置与接触面积对参考振动的影响,分析结果表明：相对于接触面积的变化,支撑点位置的变化对陀螺参考模态的影响更大。该研究结果为压电微固体模态陀螺的安装方法提供了理论基础。     

表面部分电极含金属芯压电纤维气流传感特性研究

含金属芯压电纤维可以模仿昆虫的毛发感受器,感知周围环境的气流变化。在含金属芯压电纤维的部分纵向表面涂镀电极,制备了表面部分电极含金属芯压电纤维传感器PMPF（Partial electrode of Metal core Piezoelectric Fiber）。基于平均电荷法,建立了悬臂梁结构PMPF准静态气流传感模型,分析了PMPF产生的电荷值与表面电极分布角度、纤维长度、气流流速和气流方向的关系。搭建了实验系统,测试了PMPF对冲击气流的响应,验证了理论模型。结果表明,PMPF的传感信号和气流流速成指数关系,和气流方向成“8”字形关系。PMPF具有气流速度和方向的传感性能。     

Controller design and analysis for singularly perturbed switched systems with actuator saturation

This paper investigates the problems of controller design and stability analysis for singularly perturbed switched systems subject to actuator saturation. A set of well‐defined sufficient conditions for the existence of state feedback controllers is proposed, under which the closed‐loop system is locally asymptotically stable for arbitrary switching law as long as the singular perturbation parameter is sufficiently small. With the obtained controller, the estimation problem of stability bound and basin of attraction of the closed‐loop system is reduced to solving a convex optimization problem. A numerical example and a hydraulic servo position system are used to illustrate the obtained results. Copyright © 2016 John Wiley & Sons, Ltd.     

Adaptive Fuzzy PD+ Control for Attitude Maneuver of Rigid Spacecraft

In this paper, an adaptive fuzzy PD+ controller is proposed for the attitude maneuver of rigid spacecraft. The novel controller adjusts the gains of the PD+ attitude controller online according to attitude errors and angular velocity errors during the maneuver procedure. Therefore, quick response and avoidance of actuator saturation can be achieved simultaneously. Furthermore, the adaptation mechanism is designed, based on Lyapunov theory, to guarantee the stability of the closed‐loop system. To achieve good performance of the closed‐loop system under the constraint of actuator saturation, controller parameter optimization is developed on the basis of a genetic algorithm. Simulation results show that the transient performance and robustness against parametric uncertainty and environmental disturbance of the adaptive fuzzy PD+ controller are better than those of a constant PD+ controller.     

微型之字形压电式能量收集器输出电压的建模和仿真

为了有效解决无线传感器网络节点的供电难题,提出之字形结构的微型压电式能量收集器。相比于传统的直悬臂梁,此结构等效加大了压电梁的长度,降低了系统的固有振动频率。建立了之字形压电梁的本构方程和受迫振动方程,推导得到其输出电压的频域表达式。基于之字形压电梁的结构,利用ANSYS软件对其进行了谐响应分析。仿真结果表明,压电梁的输出电压在各阶固有振动频率处存在极值,符合理论分析的结果;输出电压大小随压电梁长度增加而降低,随压电梁宽度增加而升高,但均为非线性关系;压电梁末端质量块的长度和厚度、基体层厚度减小时,会导致输出电压的增大。在论文中所提出的结构尺寸下,10根直梁构成的之字形结构压电梁,在其一阶固有振动频率处,输出电压可达10 V以上,符合无线传感器网络节点的实际供电需求,证明了之字形压电梁结构的有效性。     

压电陶瓷换能器收发系统幅频特性建模与分析验证

压电陶瓷超声波系统是实现物体探测的重要方法。本文基于压电陶瓷换能器收发系统的等效电路模型,通过引入声波衰减系数建立了发射换能器激励电压与接收换能器输出电压间的关系,并求解出了该等效电路模型的传递函数。实测数据与传递函数仿真数据对比表明,收发系统幅频特性的仿真曲线与实测曲线基本一致,验证了所给等效电路模型与传递函数的正确性。     

基于光电编码的电动执行机构行程部件的开发

介绍光电编码器的工作原理,提出电动执行机构电子行程部件的设计方法,分析光电编码器在电动执行机构应用中遇到的问题,并提出了解决方案.     

Dynamic behavior of the discrete‐time double integrator with saturated locally stabilizing linear state feedback laws

The main contribution of this paper is to completely characterize the dynamic behavior of the discrete‐time double integrator with a saturated locally stabilizing linear state feedback law. In continuous‐time setting, any linear state feedback control law that locally stabilizes the double integrator also globally stabilizes the system in the presence of actuator saturation. In discrete‐time setting, the equivalent of the double integrator does not have the same property. In this paper, we completely characterize the global behavior of saturated locally stabilizing linear state feedback laws for the discrete‐time double integrator. Copyright © 2012 John Wiley & Sons, Ltd.     

Position control of electro-hydraulic actuator system using fuzzy logic controller optimized by particle swarm optimization

The position control system of an electro-hydraulic actuator system (EHAS) is investigated in this paper. The EHAS is developed by taking into consideration the nonlinearities of the system: the friction and the internal leakage. A variable load that simulates a realistic load in robotic excavator is taken as the trajectory reference. A method of control strategy that is implemented by employing a fuzzy logic controller (FLC) whose parameters are optimized using particle swarm optimization (PSO) is proposed. The scaling factors of the fuzzy inference system are tuned to obtain the optimal values which yield the best system performance. The simulation results show that the FLC is able to track the trajectory reference accurately for a range of values of orifice opening. Beyond that range, the orifice opening may introduce chattering, which the FLC alone is not sufficient to overcome. The PSO optimized FLC can reduce the chattering significantly. This result justifies the implementation of the proposed method in position control of EHAS.