基于无刷直流电机控制的船载动中通伺服系统

实践中发现现有的电机PID控制算法存在许多不足,如输出控制量变化过大导致电机噪声大,动态启动慢导致跟踪信号质量稳定性差等,因此对其算法进行了相应的改进,在不完全微分技术的基础上提出了不完全积分技术。论述了无刷直流电机在船载"动中通"伺服系统中的应用,以及相应的电机控制算法——PID算法,并提出了其伺服稳定系统的几个难点及其解决方案。动中通系统稳定跟踪须克服的难点主要有:陀螺零点漂移、水平仪滞后、跟踪扫描速度、电机正反转时的码盘计数。改进的伺服系统经过摇摆台(模拟船运动的装置)测试表明,整个伺服系统达到了很好的预期效果,跟踪信号质量稳定在100%(各项指标测试时间为半个小时)。     

PID算法在车载动中通卫星通信系统上的应用

PID控制策略算法简单、鲁棒性好、可靠性高,此外,PID控制方案并不需要建立精确的受控对象的数学模型,非常适合作为车辆高速运转时实现动中通方位角稳定的控制策略.介绍了PID控制策略的基本原理,并成功的把它应用于动中通伺服系统,保证了动中通的方位角可以在复杂的运动条件下保持稳定,结合俯仰和横滚控制策略实现了该系统在运动中通信的设计初衷.     

车载动中通稳定技术的研究

介绍几种常用的动中通的稳定方案,并对其进行了比较,对捷联式三轴稳定系统做了详细的分析,包括系统实现的基本原理、姿态更新算法、初试对准以及跟踪校正。为"动中通"伺服系统中稳定系统的设计提供了参考。     

PID算法在车载动中通卫星通信系统上的应用

PID控制策略算法简单、鲁棒性好、可靠性高,此外,PID控制方案并不需要建立精确的受控对象的教学模型,非常适合作为车辆高速运转时实现动中通方位角稳定的控制策略。介绍了PID控制策略的基本原理,并成功的把它应用于动中通伺服系统,保证了动中通的方位角可以在复杂的运动条件下保持稳定,结合俯仰和横滚控制策略实现了该系统在运动中通信的设计初衷。     

提高齿隙非线性系统精度的应用研究

针对一类含输出齿隙非线性的伺服控制系统,提出了2种克服齿隙影响系统跟踪精度的方法。对大型雷达天线伺服系统,采用了电消齿隙、差速负反馈的多电机联动新方法,并已应用于某天线伺服系统,获得了很高的跟踪精度。针对单电机驱动的含齿隙伺服系统,提出了一种智能比例、积分和微分（PID）控制器及基于规则的补偿控制策略。实际系统调试结果表明,该方法有效地提高了系统的定位和跟踪精度。     

大口径天线伺服系统的建模及控制算法设计

在大口径天线伺服系统存在高频未建模动态不确定性和低频风扰动的情况下,传统的PID控制算法无法满足天线伺服系统的高指向和跟踪精度要求.针对该问题,文中设计了一种基于灵敏度函数和补灵敏度函数的、兼顾系统性能和稳定性的混合灵敏度H_infinity控制算法,并将其应用于天线伺服系统.仿真结果表明,该算法不仅能显著提高天线伺服系统的动态性能,而且具有较强的扰动抑制能力和鲁棒性.     

基于改进TLD的自动目标跟踪方法

视觉跟踪一直是机器视觉研究热点,TLD（tracking-learning-detection）算法是近年来出现的一种高效的视觉跟踪算法,针对TLD算法中Lucas-Kanade（LK）光流法无法有效跟踪物体快速移动和尺度变化的问题,采用金字塔光流法对TLD算法进行改进。并将所跟踪物体形心作为图像定位参考点,提取物体定位信息,通过定位信息运用比例-积分-微分（proportion-integral-derivative,PID）控制算法控制摄像头舵机云台转向,使摄像头快速、灵活、精确地自动跟踪指定物体。通过系统测试,与传统TLD算法对比,采用金字塔光流法改进的TLD目标跟踪算法在跟踪目标发生光照变化、尺度变化等情况时,具有更加优良的跟踪性能,准确将跟踪目标形心位置提供给控制部分,控制算法高效灵活,在获取信息后精确、快速地控制摄像头方位,使其正对跟踪目标。该系统对目标跟踪技术、安防技术、自动瞄准系统具有重大意义。     

多电机同步控制建模与仿真

采用偏差耦合控制结构控制4台永磁同步电机同步运动时,由于控制器结构复杂,计算量大,而且传统的PID控制算法不能在线实时调整参数,动态响应慢。因此,对4电机同步运动控制结构和控制算法进行改进,采用环形耦合控制结构和免疫单神经元PID控制器控制整个同步运动系统。仿真结果表明:该控制结构复杂度低,跟踪性能和稳态性能良好,抗干扰性强。     

基于模糊自适应PID的智能车控制与仿真

由于智能车的行驶是时变非线性系统,传统的PID算法无法很好地满足需求,改进的模糊自适应的PID算法采用高效的PID算法和模糊自整定控制相结合进行自动调节,可以让智能车系统克服传统PID算法无法实时调节参数的缺点,提高智能车在速度控制上的效率和鲁棒性。利用MATLAB中的Simulink仿真模块,设计搭建模糊控制器,并应用模糊规则进行仿真,分别给与负载电机转速扰动和电磁转矩的阶跃扰动,利用传统PID和改进后的模糊自适应PID控制对比测试电机控制系统的阶跃响应性能。实验表明,该系统不仅实现了智能车速度的实时调控和优化,而且与传统的PID控制算法相比较,具有更稳定的动态响应、鲁棒性与精确度。     

基于积分分离式PID的智能车控制算法设计

本文首先简要地介绍了智能车系统的基本构成,然后对PID控制算法进行改进,提出了积分分离式PID算法。最后,在智能车的自动控制模型基础上,分别对智能车的舵机和电机进行PD和PID控制,给出了具体的控制框图,实现了智能车的自动控制。     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

Jane Eyre——A Feminist In The 19th Century

In the 19th century the society was controlled by men, and women were just appendants of them, they had not any rights and freedom. But Jane was an exception, she showed some characteristics of early feminist. Jane showed her characteristics of feminism in three aspects: rebellion, equality, and independence. These characteristics were helpful to her success, and feminism is the only way out for women of that time.     

Editorial note for the special topic on ＂Nanopore Analysis＂

The concept of nanopore analysis, using the pore-forming protein a-hemolysin to detect individual nucleic acids at a single-molecule level, was first proposed in 1996. Over the past two decades, tremendous progress has been made in the nanopore field, and nanopore analysis has become a label-free and high-throughput method for probing bio- molecules and other analytes with single-molecule sensi- tivity, especially holds the promising for ＂third generation＂ DNA sequencing. However, challenges still remain in the experimental strategies and the design of whole nanopore-based instruments. Here, we proudly present a special topic dedicated to the topic of ＂Nanopore Analysis＂, with 8 reviews/articles providing up to date coverage of the experimental strategies, theoretical calcu- lations and simulations, and instrument design. Reviews and articles on the experimental strategies cover control of DNA partitioning into a nanopore, detection of target DNA, and the advantages of nanopore-based DNA sequencing. The theoretical calculations and simulations discuss the translocation behavior of DNA, and an inte- grated measurement system and data analysis software are presented for instrument design.     

Effects of climate change on biodiversity

1 Rise of studies on climate change＇s effects on biodiversity
Until the 1980s, climate change and biodiversity were studied as two independent disciplines for more than a century. In 1992, the Ecological Society of America＇s annual report named climate change, biodiversity, and the sustainable ecological system as the three major global environmental issues of the twenty-first century [1].     

Discussing the Expansive Learning in Modern Organizations

<正>1 Introduction Endeavours on learning methods have long occupied the mind spaces of scholars and there have been theories abound on how people learn and in what way organisations can use some of the knowledge gained in the art of learning to maximise human productivity.While the theories by themselves are not solutions to problems,they are steps of inquiry that provide us with interesting perspectives that we can use to extend our knowledge of the dimensions of learning.This paper is an exploratory work on the theories postulated by three notable scholars including Zimmerman     

Progress in Linear Scaling Non-Orthogonal Localized Molecular Orbitals Method

The non-orthogonal localized molecular orbital(NOLMO)is the most localized representation of electronic degrees of freedom.As such,NOLMOs are thus potentially the most efficient for linear scaling calculations of electronic structures for large systems.However,direct ab initio calculations with NOLMO have not been fully implemented and widely used,partly because of the slow convergence issue in the optimization of NOLMO.We devel-     

An Accurate and Universal HEOM Approach to Strongly Correlated Quantum Impurity Systems

A hierarchical equations of motion(HEOM)approach is developed for general open quantum systems coupled to fermionic environment.The HEOM method is in principle formally exact,as it resolves nonperturbatively the combined effects of many-body interaction,system-bath dissipation,and non-Markovian memory.In practice,the HEOM approach is highly accurate and efficient for the characterization of strongly correlated quantum impurity sys-     

关于有理混合吸引子的Ciric型非唯一不动点定理

本文我们应用有理混合吸引子条件去证明具非唯一不动点的映射Ciric型的若干不动点定理.结果推广并改进已知的一些结果.     

次线性算子交换子在变指数Herz-Morrey空间上的有界性

本文主要利用给出的次线性算子分别与BMO函数及Lipschitz函数生成的交换子在变指数L~(p(·))(R~n)空间上的有界性,证明了其在变指数Herz-Morrey空间MK_(q,p(·))~α~((·)),λ(R~n)上的有界性.     

利用GPS双频观测值实现PPP电离层延迟高阶项改正

给出了利用双频观测值计算L3组合电离层延迟高阶项改正的方法,并与全球电离层延迟文件的改正效果进行对比.利用赤道附近的15个国际全球卫星导航定位系统服务组织(IGS)站的数据进行比较,结果表明:2种方法计算的电离层二阶项延迟互差最大不超过1 cm,三阶项延迟互差最大不超过5 mm;电离层高阶项改正后的观测值精密单点定位(PPP)解算结果N、E、U方向互差平均值分别为0.4、0.5、1.0mm,因此2种改正方法效果在同一水平.