A fuzzy cerebellar model articulation controller based visual servo system for robot

This paper presents a novel online learning visual servo controller integrating the FCMAC with proportion controller for the control of position of manipulator end-effector. Since the FCMAC has good learning capability and fast learning speed, and can save much computer memory space by fuzzy processing of input space division and memory unit activation, it is used to develop an adaptive control law by learning the relationship between the image feature errors and manipulator input, and the aim of online learning of the FCMAC is to minimize the output of proportion controller. Furthermore, the FCMAC has no need for models of robot manipulator and image feature extraction, so that the capability of proposed controller for tasks under uncertain environment can be improved. Finally, the proposed controller is proved to be effective by the experiment, and compared with BP neural network.     

基于提高弱电网新能源并网水平的逆变器功率-电压控制策略

传统功率-电流控制的并网逆变器存在谐波振荡等交互稳定性问题,限制了新能源的并网水平,尤其在弱交流电网中更为突出.为克服上述缺点,提出了一种新型功率-电压控制策略.首先在旋转dq坐标系下建立了逆变器输出阻抗的动态模型,包括主电路参数,锁相环(PLL)动态参数和调节器参数;然后基于波特图分析传统功率-电流控制策略下和本文所提功率-电压控制策略下逆变器输出阻抗的频率特性,证明了本文所提功率-电压控制策略稳定性,可以减小PLL带宽和输出功率的影响,从而提高弱电网中逆变器的额定功率注入功率,最后仿真和实验结果验证了所提出控制策略的有效性.     

Facile synthesis of nitrogen and oxygen co-doped hierarchical porous carbon materials for high performance super capacitors

Journal of Porous Materials - Nitrogen and oxygen co-doped hierarchical porous carbons (NOPCs) is prepared by the pyrolysis of polyethylene glycol-200 (PEG) and triazine carbon forming agent (CFA)...     

人工肺-嗅觉系统集成与混合气体识别方法

针对仿人机器人的嗅觉及多种混合气体识别问题,提出一种人工肺-嗅觉系统(HALOS-I)及基于主动呼吸的气体识别方法.该系统硬件主要集成了微型真空泵、酒精/硫化氢/氨气/烟雾/甲烷5种气体传感器、单片机以及信号采集与处理电路;分别用K-均值聚类分析法、遗传算法结合神经网络(GA+BP)、三级级联神经网络(GA+3BP)进行了5种单一气体及4种混合气体的识别实验,结果表明:GA+BP算法仅对5种单一气体识别率达到90%以上,加入混合气体后识别率较低;GA+3BP算法除对硫化氢和烟雾的混合气体识别率为70%以外,对其余8种气体识别率均在90%以上,表明GA与多级级联BP神经网络相结合方法对多种单一及混合气体具有较高的识别率.     

水下悬浮隧道锚索涡激动力响应分析

为研究涡激振动和参数振动共同作用下水下悬浮隧道锚索的振动响应,考虑锚索的几何非线性,将管体对锚索的作用简化为轴向激励,建立了悬浮隧道锚索非线性涡激振动方程,并用伽辽金法和龙格-库塔法对悬浮隧道锚索进行数值求解,分析了锚索产生涡激谐振、参数共振时跨中位移响应和轴向力的改变幅度,以及锚索倾斜角度对其振动特性的影响。研究结果表明,锚索产生涡激谐振和参数共振时跨中位移和轴向力大幅增大;垂度效应使得锚索的跨中位移关于平衡位置呈现出不对称性;随着锚索倾角的增大,锚索跨中位移偏移值、一阶固有频率、一阶频率锁定流速都逐渐减小。     

ZIF‐8/ZIF‐67‐Derived Co‐Nx‐Embedded 1D Porous Carbon Nanofibers with Graphitic Carbon‐Encased Co Nanoparticles as an Efficient Bifunctional Electrocatalyst

Herein, an approach is reported for fabrication of Co‐N_x‐embedded 1D porous carbon nanofibers (CNFs) with graphitic carbon‐encased Co nanoparticles originated from metal–organic frameworks (MOFs), which is further explored as a bifunctional electrocatalyst for both oxygen reduction reaction (ORR) and oxygen evolution reaction (OER). Electrochemical results reveal that the electrocatalyst prepared by pyrolysis at 1000 °C (CoNC‐CNF‐1000) exhibits excellent catalytic activity toward ORR that favors the four‐electron ORR process and outstanding long‐term stability with 86% current retention after 40 000 s. Meanwhile, it also shows superior electrocatalytic activity toward OER, reaching a lower potential of 1.68 V at 10 mA cm^?2 and a potential gap of 0.88 V between the OER potential (at 10 mA cm^?2) and the ORR half‐wave potential. The ORR and OER performance of CoNC‐CNF‐1000 have outperformed commercial Pt/C and most nonprecious‐metal catalysts reported to date. The remarkable ORR and OER catalytic performance can be mainly attributable to the unique 1D structure, such as higher graphitization degree beneficial for electronic mobility, hierarchical porosity facilitating the mass transport, and highly dispersed CoN_xC active sites functionalized carbon framework. This strategy will shed light on the development of other MOF‐based carbon nanofibers for energy storage and electrochemical devices.     

紧急停车系统(ESD)的实现

依据安全仪表设计的相关标准与规范,分析了ESD系统设计的原则.依据安全完整性等级的要求,确定系统的性能指标,包括可靠性、独立性、故障安全性和简单性.并阐述了联锁逻辑控制器结构和逻辑功能的要求.最后给出了故障输入信号处理的方法,联锁输出控制调节阀和电气设备的原理图,以及故障报警系统的设计方法,对ESD系统的工程设计具有一定的指导意义.     

磁场对电晕放电极间区域的影响

通过用两种磁场形式影响负电晕放电,研究了磁场对负电晕放电不同区域的影响。研究表明:磁场的应用可改变电晕区的放电强度,增加放电电流;磁场对荷电区的影响并不能改变放电电流的大小,揭示了放电电流增加的原因;磁场的应用加强电晕区内的电场强度,所以磁场的应用可使负电晕放电的起晕电压降低。     

CCM开关变换器离散滞环电容电流脉冲序列控制方法

针对传统脉冲序列PT(pulse train)控制连续导电模式CCM(continuous conduction mode)开关变换器存在的低频振荡问题,提出了一种离散滞环电容电流脉冲序列DHCC-PT(discrete hysteretic capacitor current-pulse train)控制方法 。DHCC-PT控制方法通过限制每一个开关周期起始时刻电容电流i_C(nT)的运动区域,将其控制在不易发生低频振荡所对应的电容电流边界区间内,即可实现低频振荡的有效抑制。以CCM Buck变换器为例,详细阐述了DHCC-PT的基本原理、控制流程以及低频振荡抑制机理,设计了简单可靠的DHCC-PT控制器实现电路,并通过仿真和试验对其控制规律和输出特性进行了研究,验证了控制方法的可行性和理论分析的正确性。研究表明：DHCC-PT控制方法简单有效,DHCC-PT控制CCM开关变换器具有良好的输出电压特性。     

DFIG风电机组协同SVG抑制电网低频振荡方法

随着风电渗透率的日益增加,电力系统阻尼不足时易发生低频振荡,双馈风电机组（DFIG）可解耦控制有无功和无功输出,有利于增强系统阻尼。提出一种DFIG协同静止无功发生器（SVG）并网的方法,采用附加阻尼的控制策略,接入控制系统的功率控制节点,改变参考装置的有功和无功参考电流,实现装置动态输出功率,抵消功率增量,对系统中产生的功率振荡进行抑制。搭建DFIG协同SVG并网的4机2区域系统的控制系统模型,添加附加阻尼控制信号,控制DFIG输出的有功功率和SVG输出的无功功率,改变系统的特征根,并基于Prony方法分析振荡信号各模态。结果表明：该方法能够有效提供正阻尼,抑制系统低频振荡,加速振荡波形平息,提高电力系统的小干扰稳定性。