一种新的二自由度PID调节器设计方法

本文针对典型工业过程控制对象,扩展了基于干扰检测的控制思想,与二自由度PID控制相结合,提出了一种新的二自由度PID调节器的设计方法.所设计的调节器结构简单,参数整定方便,可使时滞和非时滞系统都具有良好的目标值跟踪特性和干扰抑制特性,仿真研究结果表明了它的有效性.     

Numerical tests of efficiency of the retrospective time integration scheme in the self-memory model

A set of numerical tests was carried out to compare the retrospective time integral scheme in a self-memory model,whose dynamic kernel is the barotropical quasi-geostrophic model, with the ordinary centered difference scheme in the barotropical quasigeostrophic model. The Rossby-Haurwitz wave function was taken as the initial fields for both schemes. The results show that in comparison with the ordinary centered difference scheme, the retrospective time integral scheme reduces by 2 orders of magnitude the forecast error, and the forecast error increases very little with lengthening of the time-step. Therefore, the retrospective time integral scheme has advantages of improving the forecast accuracy, extending the predictable duration and reducing the computation amount.     

Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control

To eliminate the load weight limit of carrier rockets and reduce the burden on support struc-tures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules, which requires smooth operation of assembly robots, and flexible force con-trol technology is necessary.A ground demonstration system is presented for in-orbit assembly focu-sing on flexible force control.A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity.For translation and rotation, an algorithm for flexible control is proposed.A ground transportation demonstration verifies accuracy and smoothness of flexible force control, and the transportation and assembly task is completed automatically.The proposed system is suitable for the development of in-orbit assembly robots.     

Bαlog空间到QK(p,q)空间的复合算子

运用复分析和泛函分析的理论与方法,讨论了B_(log)~α空间到Q_K(p,q)空间的复合算子C_ф:C_ф(f)=foф的有界性,得到了该算子有界的充分必要条件。     

粗糙集计算方法及应用研究

研究总结了粗糙集计算方法新进展,同时对它们的计算复杂性进行了分析,并给出了这些计算方法之间的逻辑关系结构图,然后讨论了粗糙集在模型方面的扩展,最后对粗糙集计算方法的应用进行了论述.     

区域城乡协调发展的综合评价——以宁波为例

城乡之间的协调表现在很多方面.要全面、客观地评价一个地区的城乡协调发展情况,必须建立科学合理的评价指标体系,选择恰当的评价方法.本文结合宁波市的实际情况,讨论了城乡协调发展的内涵和目标,提出了城乡协调发展评价指标体系和方法,揭示了宁波市近年城乡协调发展方面存在的问题和未来可能的变化态势.     

正规族与分担值

通过研究正规族与分担值之间的关系,得到如下两个结果:设F是区域D内的亚纯函数族,a1,a2,a3,a4∈C,a1≠a3,a2≠a4,a2≠0,若(A)f∈F,f(z)=a1(→)f'(z)=a2,f(z)=a3(→)f'(z)=a4,则F在D内正规;设F是区域D内的全纯函数族,k∈Z ,a,b∈C,a≠0,b＞0,若(A)f∈F,f-a的零点重级均≥k,f=a(→)f(k)=a,f(k)=a(→)0＜|f(k 1)|≤b,则F在D内正规.     

基于人的信息处理模型分析操作人员视觉信息处理过程

报告了由知觉、思维、运动３个处理器和短期记忆、工作记忆和长期记忆构成的研究用计算机实现 人的信息处理模型;把人的信息处理模型安装在一台PC机上,模拟生产操作人员监视锅炉厂模拟机计算机屏幕 的过程表明,视觉信息处理过程取决于画面因素、人的身心状态和知觉处理器参数等与实际生产操作人员的行 为特征相符。此模型可以用来分析工业生产中人为操作失误的发生机制,以预防和减少事故发生。