一种无机械平衡调节器自行车机器人的惯性参数辨识

针对一种前轮驱动自行车机器人样机的惯性参数难以直接获得、控制器参数整定效率低和平衡控制效果差的问题,基于欠驱动力学特性对系统进行惯性参数辨识,并对辨识结果进行平衡控制试验验证.采用拉格朗日方法分析系统的力学机理,结果发现,其中包含有欠驱动子系统,若将该子系统进行变量分离,可以推导出系统的惯性参数辨识模型;根据惯性单元等传感器的实测信息,引入遗传算法对模型进行求解,辨识出了系统的惯性参数.样机试验结果表明,根据辨识出的惯性参数可以快速整定出控制器参数并实现样机在水平面上的稳定平衡行走,验证了辨识方法的有效性.     

烘干过程自适应控制系统设计

用自校正调节器(STR),可获得回旋窑烘干过程的最佳性能控制。无疑,在线辨识是自适应控制的核心。设计步骤为在线模型参数估计和参数自整定。本文采用IVLS辨识算法和Dahlin控制算法。IVLS法的闭环辨识收敛更快,但对激发函数的幅值和噪音更为敏感。试验表明,非自适应运行将为自适应系统的投运提供必要的准备。     

烘干过程自适应控制系统设计

用自校正调节器(STR),可获得回旋窑烘干过程的最佳性能控制。无疑,在线辨识是自适应控制的核心。设计步骤为在线模型参数估计和参数自整定。本文采用IVLs辨识算法和Dahlin控制算法。IVLS法的闭环辨识收敛更快,但对激发函数的幅值和噪音更为敏感。试验表明,非自适应运行将为自适应系统的投运提供必要的准备。     

基于工程最佳化指标的PID自校正控制

根据模拟调节器的典型系统工程最佳化指标，直接设置和整定了数字调节器的结构和参数。给出了其中二阶，三阶最佳化设计指标，当对象模型参数时变时，采用自适应控制技术，在线闭 环辨识对象模型。数字ＰＩＤ调节器参数被自动整定。     

时滞大惯性对象随动性能的改善

以时滞大惯性加热炉为被控对象,通过试验建模得到对象模型参数,应用Siemens S7-300自整定调节器和结构控制语言SCL构建Smith预估控制系统.研究常规单回路系统、常规Smith预估系统以及增益自适应Smith预估系统在时滞大惯性对象情况下的随动响应性能.实际运行表明,增益自适应Smith预估系统控制质量明显提高,尤其在对象参数与预估器参数失配后,能够有效地改善系统的随动响应和鲁棒性.     

大纯滞后过程的动态参数自适应补偿控制

基于Smithl预估器和动态参数自适应补偿控制系统的基本原理,提出了自适应补偿控制系统中第二个调节器的参数整定方法。仿真实验证明该整定方法的控制结果是令人满意的。     

基于继电器反馈的自整定PID调节器设计

PID控制是目前过程工业应用最普遍的控制方法之一。但是简单PID控制不能很好地适应对象系统特性变化时的最佳控制要求,而人工调整参数在控制精度和调整频度上均不可能满足时时变化的对象系统的控制要求。目前己有的多种具有PID参数自整定功能的智能调节器大多整定复杂并对实际控制过程有影响。鉴于PID控制方法目前仍有广泛应用,PID参数自整定调节器的设计将具有很好的应用价值和市场空间。针对应用现状,提出并实现了一种基于继电器反馈,具有自整定功能的PID调节器的设计。     

模糊控制在双闭环调速系统中的应用

应用模糊自适应对直流双闭环调速系统中的转速调节器的比例、积分参数进行整定。仿真结果表明,用这种控制方法得到的转速调节器参数比传统的工程整定方法得到的参数控制性能好,响应快,过渡过程时间短,基本无超调。     

基于模糊控制的双闭环调速系统

应用模糊自适应控制方法对直流双闭环调速系统中的转速调节器的比例、积分参数进行整定.结果表明,用该方法得到的转速调节器参数比传统的工程整定方法得到的参数控制性能好,响应快,过渡过程时间短,基本无超调.     

PID自整定调节器研究

在空调实验室集散微机测控系统温度等大惯性环节的控制方法研究中，提出了ＰＩＤ自整定调节器的控制方法。该文讨论了ＰＩＤ自整定调节器的特点，给出系统设计的控制算法，它是以二阶系统理想特性为基础进行有点配置的，使得卷土重来不系统具有二阶系统的最优极点，具有良好的跟踪性能与抗扰动性能，提高了工业控制系统的控制质量，可作为一种通用的控制算法。     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

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.     

An Analysis of Catherine＇s Character——Wuthering Heights

Wuthering Heights, Emily Bronte＇s only novel, was published in December of 1847 under the pseudonym Ellis Bell. The book did not gain immediate success, but it is now thought one of the finest novels in the English language. Catherine is the key character of this masterpiece, because everybody and everything center on her though she had a short life. We can understand this masterpiece better if we know Catherine well.     

Lower Paleozoic oil relationships within Williston Basin, Canada

The Williston Basin is a significant petroleum province, containing oil production zones that include the Middle Cambrian to Lower Ordovician, Upper Ordovician, Middle Devonian, Upper Devonian and Mississippian and within the Jurassic and Cretaceous. The oils of the Williston Basin exhibit a wide range of geochemical characteristics defined as "oil families", although the geochemical signature of the Cambrian Deadwood Formation and Lower Ordovician Winnipeg reservoired oils does not match any "oil family". Despite their close stratigraphic proximity, it is evident that the oils of the Lower Palaeozoic within the Williston Basin are distinct. This suggests the presence of a new "oil family" within the Williston Basin. Diagnostic geochemical signatures occur in the gasoline range chromatograms, within saturate fraction gas chromatograms and biomarker fingerprints. However, some of the established criteria and cross-plots that are currently used to segregate oils into distinct genetic families within the basin do not always meet with success, particularly when applied to the Lower Palaeozoic oils of the Deadwood and Winnipeg Formation.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.     

Achieving Unusual States of Matter Under High Pressure

正The periodicity of the elements and the non-reactivity of the inner-shell electrons are two related principles of chemistry,rooted in the atomic shell structure.Within compounds,Group I elements,for example,invariably assume the+1 oxidation state,and their chemical properties differ completely from those of the p-block elements.These general rules govern our understanding of chemical structures and reactions.Using first principles calcula-     

Exchange-Correlation and Electronic Excitation Energies from Pairing Matrix Fluctuations

We have developed an adiabatic connection to formulate the ground-state exchange-correlation energy in terms of pairing matrix linear fluctuations.This formulation of the exchange-correlation energy opens a new channel for density functional approximations based on the many-body perturbation theory.We illustrate the potential of such approaches with an approximation based on the particle-particle Random Phase Approximation(pp-RPA).This re-     

Density Functional Theory for the Response of Periodic Systems to Electric Fields Based on the Vector Potential Approach

正The electronic and nuclear(structural/vibrational)response of 1D-3D nanoscale systems to electric fields gives rise to a host of optical,mechanical,spectral,etc.properties that are of high theoretical and applied interest.Due to the computational difficulty of treating such large systems it is convenient to model them as infinite and periodic(at least,in first approximation).The fundamental theoretical/computational problem in doing so is that     

Call for Papers

<正>"The Journal of Shanghai Normal University:Mathematics"is published by Shanghai Normal University as regular issues of The Journal of Shanghai Normal University each year from 2014 in English.The editors-in-chief of the issues are professors Yuhao Cong and Maoan Han.The Journal of Shanghai Normal University was started in 1958 with