一类模糊系统的有记忆保成本控制

在控制过程中,采用有记忆的状态反馈控制器,能够使系统具有更好的性能和较小的保守性。采用带有状态不确定项的T-S模糊系统描述非线性控制系统,通过设计有记忆模糊反馈控制器,应用李雅普诺夫稳定性理论和线性矩阵不等式,实现闭环系统的稳定性,同时找到保成本函数的一个上界。     

视线追踪系统中注视点估计算法研究

针对非接触式视线跟踪系统中注视点估计算法鲁棒性差的问题,提出一种基于角度映射的注视点估计算法。首先,根据人眼特性及视觉成像原理,瞳孔中心相对于角膜反射光斑的位置与注视点相对于红外光源的位置之间具有一定的角度映射关系,据此估计出注视点近似位置。然后,在眼球模型结构的基础上分析了眼球角膜曲面对注视点造成的偏差,通过弧长对误差进行补偿。最后,利用非线性多项式模型对眼球视轴和光轴之间的偏差进行拟合,得到最终的视线落点。实验证明,该系统具有较高的精度和自由度,在水平和垂直方向上最大误差均小于1 cm。     

磁控溅射镀铜芳纶织物的制备及其性能研究

芳纶纤维具有优异的力学性能和加工性能,还具有极好的耐热和耐化学药品性能、尺寸稳定性、耐疲劳性及耐腐蚀性等。磁控溅射镀膜法是一种高效的薄膜沉积工艺,具有装置性能稳定、操作控制方便、无环境污染等优势。采用磁控溅射法在芳纶织物表面镀覆纳米铜薄膜,使纺织品表面金属化。镀铜芳纶织物采用XRD与扫描电镜进行表征,且评价镀铜织物的抗静电性、导电性及拒水性。结果表明,溅射镀膜50 min的镀铜纤维表面致密地沉积纳米铜;XRD图显示铜的结晶存在。溅射镀膜50 min的镀铜芳纶织物接触角高达132.5°,表面电阻为129Ω/sq,抗静电半衰期为0.4 s。表明其具有良好的拒水、导电及抗静电性。     

坦克测压取样管路系统动态特性分析及信号的修正

针对坦克动力舱排风口气压测量问题,研究了测压取样管道内的空气柱谐振效应对测量的影响,及在脉动气压测量中的校准技术。利用声学换能器为标准气压激励源,构建了测压管道动态特性测试系统。通过扫频方式研究了四种倒L结构取样管道在多种气压幅度激励条件下的传输特性;并且设计了频域滤波器对风压畸变信号进行修。实验结果表明:取样管道系统属于线性系统。实测风压的强脉动特征主要受管道频响特性的影响。经过频域滤波之后风压畸变信号的脉动特性明显减弱。     

基于自适应未知输入观测器的多故障快速重构

针对一类非线性函数中耦合执行器故障的非线性动态系统, 提出一种基于自适应未知输入观测器的多故障快速重构方法, 通过引入比例项提高故障重构的快速性。首先, 将执行器故障进行解耦处理并构建包含传感器故障的增广系统。然后, 综合H_∞性能指标给出状态估计误差的稳定性证明。接着, 将观测器增益矩阵的求解转化为受线线矩阵不等式约束的非线性优化问题, 并实现执行器故障和传感器故障的多故障重构。最后, 结合单关节柔性机器人算例仿真验证了所提方法的有效性。     

H_∞-based fault detection for nonlinear networked systems with random packet dropout and probabilistic interval delay

The fault detection problem for the nonlinear networked control system(NCS) with packet dropout and delay is investigated.A nonlinear stochastic system model is proposed to account for the NCS with random packet dropout and networkinduced non-uniformly distributed time-varying delay in both from sensor to controller(S/C) and from controller to actuator(C/A).Based on the obtained NCS model,employing an observer-based fault detection filter as the residual generator,the addressed fault detection problem is converted into an auxiliary nonlinear H∞ control problem.Then,with the help of Lyapunov functional approach,a sufficient condition for the desired fault detection filter is constructed in terms of certain linear matrix inequalities,which depend on not only the delay interval but also the delay interval occurrence rate and successful packet communication rate.Especially,a trade-off phenomenon between the maximum allowable delay bound and successful data packet transmission rate is found,which is typically resulted from the limited bandwidth of communication networks.The effectiveness of the proposed method is demonstrated by a simulation example.     

Ho∞-based fault detection for nonlinear networked systems with random packet dropout and probabilistic interval delay

The fault detection problem for the nonlinear networked control system (NCS) with packet dropout and delay is investigated.A nonlinear stochastic system model is proposed to account for the NCS with random packet dropout and networkinduced non-uniformly distributed time-varying delay in both from sensor to controller (S/C) and from controller to actuator (C/A).Based on the obtained NCS model,employing an observer-based fault detection filter as the residual generator,the addressed fault detection problem is converted into an auxiliary nonlinear H∞ control problem.Then,with the help of Lyapunov functional approach,a sufficient condition for the desired fault detection filter is constructed in terms of certain linear matrix inequalities,which depend on not only the delay interval but also the delay interval occurrence rate and successful packet communication rate.Especially,a trade-off phenomenon between the maximum allowable delay bound and successful data packet transmission rate is found,which is typically resulted from the limited bandwidth of communication networks.The effectiveness of the proposed method is demonstrated by a simulation example.     

A Parallel Algorithm for Solving Block-diagonal Structured Large Linear System

1　 PrologueWith the speedy development of global science technology,modern society has becomemore systematical and informative in many fields such as engineering technology,socialeconomy,organism and zoology. Many complicated large systems have appeared,as ITtechnology develops like wildfire,it is strongly required to improve scientific and correctdecisions,which makes originally complicated large system become more complex.Practical applications of linear program are getting far-ranging and…     

随机线加速度运动环境生成原理及实现

在大气层中飞行的飞行器,往往易受大气扰动的影响,大气紊流现象可用随机过程的理论和方法来描述,其对飞行器的影响反映为飞行器含随机加速度分量。本文利用关联驱动六自由度平台来模拟随机线加速度运动环境,可实现空间六自由度模拟。试验结果表明,该平台有能力实现随机线加速度运动环境。文章也提出了用平台模拟该环境需解决的一些问题。     

A New Approach to Optimal Filtering for Singular Discrete-Time Stochastic Linear System

1IntroductionBecausetherealisticproblemwhichsingularsystemdescribesiswiderthanthenormalsystemsdo,theresearchofsingularsystemshasreceivedagreatdealofattention.Andmanyachievementshavebeenobtainedinthefieldsofstructuralcharacteranalysisanddesignmethodsofsingularsystems.Butforthestateestimationonlypreliminaryprobehasbeenmade.References[2]--[51proposedrespectivesolutionsbasedonleastsquaremethod.References[6]--[71transformsingularsystemsintonormalsystemsthroughmatrixresolutionandthenmakeuseofKalman…