Global stabilizing controller design for linear time-varying systems and its application on BTT missiles

A parametric method for the gain-scheduled controller design of a linear time-varying system is given. According to the proposed scheduling method, the performance between adjacent characteristic points is preserved by the invariant eigenvalues and the gradually varying eigenvectors. A sufficient stability criterion is given by constructing a series of Lyapunov functions based on the selected discrete characteristic points. An important contribution is that it provides a simple and feasible approach for the design of gain-scheduled controllers for linear time-varying systems, which can guarantee both the global stability and the desired closed-loop performance of the resulted system. The method is applied to the design of a BTT missile autopilot and the simulation results show that the method is superior to the traditional one in sense of either global stability or system performance.     

基于SimMechanics的两轮机器人建模与仿真

介绍了基于SimMechanics的两轮机器人机电控制系统建模与仿真研究的方法,建立了仿真模型并进行了运动控制仿真分析。利用MATLAB/Simulink强大的运算功能和SimMechanics提供的模块集,可以省略建立运动机构数学模型的推导过程,具有系统建模直观和仿真功能强大的特点,为机电控制系统的建模仿真提供一个方便的工具。

Abstract：

A method of modeling and simulation of Two Wheel Robot based on SimMechanics was discussed. The method takes advantage of the powerful computing function of MATLAB/Simulink and SimMechanics modeling block, It is a convenient and visual modeling tool in mechanical control system analysis and simulation.     

基于DEVS的BOM组件与仿真引擎研究

在组件化建模与仿真领域内,基于BOM规范的KD-XSRFrame组件建模与仿真框架得到了广泛的应用,但是以离散时间仿真为手段的设计模式使得由BOM组件构成的仿真系统性能不高。因此,如何提高运行效率成为基于BOM的组件式建模与仿真必须解决的问题。根据现有组件系统的不足,引入离散事件的概念重新设计了BOM组件模型和仿真引擎,提出了基于离散事件系统规范的BOM组件建模框架,实现了以事件为中心的仿真引擎。测试结果表明该系统能有效地减少模型调用和引擎工作的开销,显著地提升了整个仿真系统的运行性能。

Abstract：

In the field of MS of Component, the modeling and simulation framework based-on Basic Object Model （BOM） named KD-XSRFrame has been used widely, but its performance is inefficient for the design basis of discrete time. And the key issue in BOM component MS is how to improve the performance of simulation application. The deficiencies of legacy system was profoundly discussed, the BOM component and its engine were reengineered by using the concept of discrete event, a new modeling framework of BOM base-on Discrete Event System Specification was put forward, and a new engine was designed which focused on events. The experiment shows that the BOM component and engine of discrete event can sharply decrease the spending of model function calling and time advancing, and greatly improves the performance of simulation application system.     

Application of Petri Net to Fault Diagnosis in Satellite

1. INTaODUCTIONPetri net is always applied to discrete dynamic systems as a modeling toOl. It has adVantages against Othertools as direct modeling and strict analysis. Petri net can be considered as a graph which is converted intoother from known knowledge represelltation or from st~ure, funcfion or behavior of a system. The occurs when the variables of a system increase that calculation of system design becomes too complicsted to becompleted by hand. Instead, it comes into possible at t…     

Intrusion detection based on system calls and homogeneous Markov chains

A novel method for detecting anomalous program behavior is presented, which is applicable to hostbased intrusion detection systems that monitor system call activities. The method constructs a homogeneous Markov chain model to characterize the normal behavior of a privileged program, and associates the states of the Markov chain with the unique system calls in the training data. At the detection stage, the probabilities that the Markov chain model supports the system call sequences generated by the program are computed. A low probability indicates an anomalous sequence that may result from intrusive activities. Then a decision rule based on the number of anomalous sequences in a locality frame is adopted to classify the program＇s behavior. The method gives attention to both computational efficiency and detection accuracy, and is especially suitable for on-line detection. It has been applied to practical host-based intrusion detection systems.     

UKF-based attitude determination method for gyroless satellite

UKF (unscented Kalman filtering) is a new filtering method suitable to nonlinear systems. The method need not linearize nonlinear systems at the prediction stage of filtering, which is indispensable in EKF ( extended Kalman filtering) . As a result, the linearization error is avoided, and the filtering accuracy is greatly improved. UKF is applied to the attitude determination for gyroless satellite. Simulations are made to compare the new filter with the traditional EKF. The results indicate that under same conditions, compared with EKF, UKF has faster convergence speed, higher filtering accuracy and more stable estimation performance.     

并行自动测试系统分层建模及性能评估方法研究

对于大型的并行自动测试系统,传统的系统组建方法单纯的依靠人工经验使得组建的系统容易发生死锁、资源冲突和饥饿等问题,逐渐不能满足需求。因此,提出了一种新的并行自动测试系统分层化建模方法,指导工程人员快速优化系统设计方案。应用该方法,工程人员只需要使用直观、浅显的UML语言设计测试系统功能结构模型,UML到Petri网模型的映射和Petri网模型对系统的评估等步骤都可以用相应的软件自动实现,简化了人工设计过程,提高了系统组建效率。最后,利用广义随机有色Petri网理论对并行测试系统进行了性能评估,与基于NI公司TestStand软件设计的并行系统进行了对比。

Abstract：

The process of the Parallel Automatic Test System’s construction and design is more complicated than the serial ATS,and it can not be completed depending on the traditional method only based on the people’s experiences because it will bring the deadlock,resources confliction,hunger and so on.A new hierarchical modeling method was proposed to instruct the engineer in the good design of system.In the method,engineer only used the simple UML to design the system’s functional structure model.The UML-Petri map process and the system performance evaluation was finished by software.It made the design process simple and improved the organic efficiency.At last,the generalized coloured stochastic Petri net （GCSPN） was used to evaluate the performance of system and is compared with the parallel system designed by TestStand software.The result embodies the advantages of the hierarchical modeling method.     

基于面向对象Petri网的电梯群控系统建模

电梯群控系统是一种典型的离散事件动态系统，这体现在乘客到达的起始层、目的层和到达时间的随机性，所以，很难用一个传统的数学模型表达式来表示。提出了一种应用面向对象Petri网对该系统进行建模的方法，该方法在对电梯运行情况充分研究的基础上，分别建立电梯运行和电梯控制器Petri网模型，从而构造电梯群控系统模型。该建模方法不仅适用于电梯群控系统，而且适用于其它离散事件动态系统。     

连续/离散混合型制造系统的生产过程虚拟仿真建模

离散事件仿真建模被广泛应用于制造系统的设计及运行控制,但是很多制造系统兼有离散系统和连续系统的特点。提出一种将离散事件与连续系统结合起来的仿真建模方法,以支持动态展现这类制造系统的生产过程。该方法的主要思想是,主机内部的机构运动主要采用连续系统进行仿真建模,而主机之间的加工顺序则利用离散系统来构建其仿真模型,然后由统一的仿真管理器管理。论文详细描述了虚拟仿真引擎中的仿真时钟推动机制,并用这一方法建立了面向啤酒灌装生产线生产过程的虚拟仿真模型,说明了这一方法的可行性。     

动态系统故障的混杂传播特征及建模方法

动态系统的故障传播过程是由离散事件、连续特性及其相互作用共同驱动的,具有显著的混杂特征,为故障规律认知与建模带来了较大的难度。现有研究将故障视为离散随机事件,分析由单元随机故障发生到系统失效的离散故障过程,却忽略了连续特性对故障传播的影响,本质上是对故障混杂传播的工程简化处理,不能真实地描述动态系统的故障规律。首先在分析动态系统故障规律的基础上,给出了离散与连续双维度下的动态系统故障混杂传播的定义,分析了其混杂影响要素以及混杂传播特征;其次,为了完整准确描述混杂特征,借鉴混杂理论在描述离散事件与连续参数相互作用方面的优势,提出了基于随机混杂自动机(stochastic hybrid automata,SHA)的故障混杂传播建模方法;最后通过对某温度控制系统的故障混杂传播过程进行建模和仿真,验证了动态系统故障传播过程中的混杂特征,以及建模方法的可行性。     

基于排队模型的联锁逻辑仿真模型研究

基于构件的仿真与建模方法来源于面向对象,该方法采用层次化、模块化、标准化的思想来分析系统.与面向对象的方法相比,基于构件的仿真与建模分析的粒度较大,可重用性更好.根据联锁系统的特点,针对联锁系统中联锁逻辑的实时仿真与建模问题,提出一种基于面向对象和构件的仿真与建模方法,并设计了基于离散时间队列的仿真算法,建立了一个联锁逻辑仿真的基本模型并给出了实现的方法.     

基于模型的飞机系统架构多视图表达方法

飞机系统架构设计呈现典型的多层级、多系统集成、多接口形式、多专业合作等复杂特征, 传统的基于文档和离散二维制图的架构设计方法已经不能满足要求。对此, 提出一种基于系统建模语言(systems modeling language, SysML)模型的飞机复杂系统架构多视图设计表达方法, 对各项复杂特征进行了解耦, 将复杂的系统架构设计分解到多张有机关联的视图上; 在开展多视图相对独立的设计和建模工作中, 本质上就已经逐步完成了多层级的飞机系统架构集成设计; 以机轮刹车系统为例, 给出了基于模型的多视图架构设计方法的应用。实践结果表明, 基于模型的多视图架构设计方法可以有效应对各种复杂性, 并充分提升多系统集成架构设计的效率和质量。     

改进的可见光通信系统SLM峰均比抑制方法

针对光正交频分复用(optical orthogonal frequency division multiplexing,O-OFDM)技术系统中高峰均比和高计算复杂度的缺点,采用选择映射(selected mapping,SLM)方法,并结合离散余弦变换(discrete cosine transform,DCT)和快速傅里叶逆变换线性特性的优势,提出了一种改进的SLM峰均比抑制方案——DCT-ISLM方法。通过计算,结果表明该DCT ISLM方法相较于传统SLM方法的峰均比降低了约3.5 dB;且随着备选信号个数的增加,系统的复杂度也得到了有效的改善。将该方法应用于传统的O-OFDM可见光通信系统中,误码性能也优于传统的SLM方案,可进一步提升此方法的实用价值。     

复杂系统中定性定量集成建模技术研究

已有的建模技术较好地解决了连续系统、离散系统和连续离散混合系统等定量系统的建模问题,但是针对定性定量混合系统的建模问题尚缺乏很好的技术支持。首先介绍了复杂系统建模技术背景;对于复杂系统中的定量模型,基于已有的多学科虚拟样机系统高层建模语言进行建模,并在其基础上进行了改进以支持复杂系统中定性定量集成建模,提出了复杂系统定...     

混杂系统粒子滤波混合状态估计及故障诊断算法

混杂系统同时包含连续动态特性和离散动态特性,并且两种动态相互作用,使其故障诊断变得更加困难。针对此问题,提出了一种混合系统粒子滤波混合状态估计及故障诊断算法,提高了现有方法的适用范围和诊断效率。针对混杂系统受控迁移、自治迁移和随机迁移等特点,首先利用随机混杂自动机对系统离散状态(包括故障)和连续状态进行统一建模,重点对现有基于扩展卡尔曼粒子滤波的连续估计算法进行改进,支持利用在线监测数据来估计混杂系统各类迁移产生的各种离散和连续状态,最后根据离散状态估计结果快速实现故障诊断。通过对典型非线性混杂系统的故障诊断,证明了该方法的有效性。     

面向复杂系统运动仿真的信息物理融合建模

传统运动仿真的虚拟建模缺少针对复杂系统中信息子系统与物理子系统的动态性融合建模。融合传统运动学虚拟建模与信息计算的优势，针对运动仿真的精度和实时性难以满足实际工业制造需求的问题，提出面向复杂系统运动仿真的信息物理融合建模方法，并以机械臂的运动学控制为仿真案例进行验证，解决了实际环境中机械臂的驱动与仿真环境虚拟机械臂运动不一致的问题。搭建了复杂系统运动仿真虚实映射平台，集成了虚拟建模环境CoppeliaSim，融合实际机器人的运动反馈，和虚实映射计算模型，确定工业机器人运动方程的唯一位姿解。实验结果表明本文提出的方法实现了工业机器人的虚实映射实时运动仿真。