并联机器人机构学理论研究综述

从机构学理论研究角度,围绕结构理论、运动学分析、工作空间分析、奇异性分析、动力学分析和尺度综合等6个专题,对并联机器人机构研究进行了综述.阐述了各专题研究的意义及其内在关系,总结了并联机器人机构学理论研究的发展方向.     

Bias in the estimation of non‐linear transformations of the integrated variance of returns

Volatility models such as GARCH, although misspecified with respect to the data‐generating process, may well generate volatility forecasts that are unconditionally unbiased. In other words, they generate variance forecasts that, on average, are equal to the integrated variance. However, many applications in finance require a measure of return volatility that is a non‐linear function of the variance of returns, rather than of the variance itself. Even if a volatility model generates forecasts of the integrated variance that are unbiased, non‐linear transformations of these forecasts will be biased estimators of the same non‐linear transformations of the integrated variance because of Jensen's inequality. In this paper, we derive an analytical approximation for the unconditional bias of estimators of non‐linear transformations of the integrated variance. This bias is a function of the volatility of the forecast variance and the volatility of the integrated variance, and depends on the concavity of the non‐linear transformation. In order to estimate the volatility of the unobserved integrated variance, we employ recent results from the realized volatility literature. As an illustration, we estimate the unconditional bias for both in‐sample and out‐of‐sample forecasts of three non‐linear transformations of the integrated standard deviation of returns for three exchange rate return series, where a GARCH(1, 1) model is used to forecast the integrated variance. Our estimation results suggest that, in practice, the bias can be substantial. Copyright © 2006 John Wiley & Sons, Ltd.     

3种不同物质的动态界面剪切粘度研究

用日本协和界面剪切粘度计测定了壬基酚聚氧乙烯（4）醚、油酸钠及固体颗粒的动态界面剪切粘度。结果表明，非离子表面活性剂壬基酚聚氧乙烯（4）醚、阴离子表面活性剂油酸钠在适当浓度下，其界面剪切粘度随时间延长而逐渐降低，最后趋向稳定；固体颗粒蒙脱土界面剪切粘度随时间延长而逐渐上升，然后趋向平衡。这说明不同物质形成的油水界面剪切粘度的动态变化明显不同。     

The least-square method in complex number domain

The classical least-square method was extended from the real number into the complex number domain, which is called the complex least-square method. The mathematical derivation and its applications show that the complex least-square method is different from one that the real number and the imaginary number are separately calculated with the classical least-square, by which the actual least-square estimation cannot be obtained in practice. Applications of this new method to an arbitrarily given series and to the precipitation in rainy season at 160 meteorological stations in China mainland show advantages of this method over other conventional statistical models.     

动态电压恢复器的控制策略

通过把负载电压看作动态电压恢复器(DVR)的控制对象,开关器件的占空比看作控制量,电网电压和负载电流看作干扰量,可将DVR的数学模型简化为单输入单输出系统.结合控制量的计算方法,推导出了控制量到被控对象和干扰量到被控对象的传递函数.分析传递函数可知,负载电流特别是其中的高频分量会使DVR的补偿性能变坏.提出了误差校正控制方法,在传统电网电压前馈的基础上通过误差校正实现了负载电流前馈,基本消除了负载电流的影响.仿真结果验证了理论分析的正确性.     

EDT毛化轧辊表面凹坑形成过程

针对轧辊表面电火花毛化过程中放电中心温度的变化、凹坑形状与电参数的关系等问题进行了研究.通过分析放电通道形成过程和热流密度分布函数,采用解析法建立了单个脉冲放电通道的热传导模型,并运用积分变换法和有限差分相结合的方法进行了温度场求解.讨论了轧辊表面在不同峰值电流下放电区域中心位置的瞬态温度变化,确立了峰值电流和脉冲宽度与熔化凹坑形状的关系.结果表明,理论计算值与实验结果相吻合,所建模型与采用的方法正确,可用于轧辊表面形貌形成过程的仿真.     

基于电流信号的减速器状态监测技术研究

为了监控减速器的现场运行状况,使其工作在额定功率以内,对电机功率进行了理论研究,建立了电动机-减速器功率数学模型,并进行了模拟实验.运用Matlab对所采集的电动机功率监测信号进行希尔伯特变换,得到了所采集电机功率信号的包络线(调制信号).比较采集电机功率信号与其调制信号发现:通过监测希尔伯特变换解调的电机功率信号可以达到对整个减速器系统负载运行状态的监测,从而实现对减速器现场运行状况的监控.     

线性变换可逆的充要条件

线性变换是线性代数的一个主要研究对象,也是最基本的一种变换,其中可逆线性变换又是线性变换的重要组成部分,本文从多个角度讨论可逆线性变换,得到线性变换可逆的十三个等价命题,从而对可逆线性变换有比较全面的理解.     

电压不对称时永磁同步电动机的动态过程

文章探讨了永磁同步电动机输入电压不对称运行的动态过程.通过建立数学模型及实时仿真,获得定子电流、感应电动势、电磁转矩、角速度的实时变化曲线.结果表明,永磁同步电动机输入三相不对称电压时,其定子电流、感应电动势、电磁转矩、转速均发生振荡,这不仅使电机无法正常运行,而且可能导致电机的转子永磁体退磁.这一结果可以为改进永磁同步电动机的控制提供有力依据.     

高产高效综放工作面设备改造研究

论述了成庄矿综放工作面设备改造,包括伸缩机尾改造、顺槽设备的更新与改造和顺槽皮带机的更新。