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基于粒子群优化算法的动力定位非线性观测器设计 被引量:2
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作者 郭亮琨 杨宣访 +1 位作者 王家林 刘蕾 《计算技术与自动化》 2020年第4期1-6,共6页
针对船舶动力定位控制系统中的状态估计问题,提出了一种非线性状态观测器设计方法。采用类Lyapunov方法设计无源观测器,以估计误差的低通滤波信号作为增广状态变量,通过在观测器方程中引入增广状态变量以减少高频运动分量对低频运动参... 针对船舶动力定位控制系统中的状态估计问题,提出了一种非线性状态观测器设计方法。采用类Lyapunov方法设计无源观测器,以估计误差的低通滤波信号作为增广状态变量,通过在观测器方程中引入增广状态变量以减少高频运动分量对低频运动参数估计的影响,采用粒子群优化算法对观测器增益矩阵中的9个关键参数进行组合寻优进一步提高观测器动态性能。还以一艘供给船为例进行仿真分析,验证了所设计非线性观测器的有效性。 展开更多
关键词 动力定位 观测器 粒子群优化
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基于FAL函数滤波的动力定位自抗扰控制器设计 被引量:1
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作者 郭亮琨 杨宣访 王家林 《计算技术与自动化》 2021年第4期8-13,20,共7页
针对动力定位系统数学模型不够精确,而且具有很强的非线性特性问题,采用自抗扰控制算法设计其控制器。该控制算法无需精确的数学模型,主要利用扩张状态观测器估计船舶运动位置、速度和总扰动,最后通过反馈控制对其进行补偿,从而实现船... 针对动力定位系统数学模型不够精确,而且具有很强的非线性特性问题,采用自抗扰控制算法设计其控制器。该控制算法无需精确的数学模型,主要利用扩张状态观测器估计船舶运动位置、速度和总扰动,最后通过反馈控制对其进行补偿,从而实现船舶动力定位的精确控制。但实际工程中,船舶的测量系统的测量噪声是难以避免的,为了避免测量噪声的影响,针对所设计的扩张状态观测器采用FAL函数滤波器,在测量信号进入扩张状态观测器之前进行滤波,以减小测量噪声的影响。从而使得其反馈控制更加精确。最后以一艘供给船为例进行仿真分析,验证了所设计非线性控制器的有效性和鲁棒性。 展开更多
关键词 船舶动力定位 自抗扰控制器 FAL函数滤波
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Anti-post-traumatic stress disorder effect of dopamine D3 receptor antagonist
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作者 SONG Da-ke guo liang-kun +2 位作者 LU Guan-yi SONG Rui LI Jin 《中国药理学与毒理学杂志》 CAS CSCD 北大核心 2018年第9期718-719,共2页
OBJECTIVE To explore the antipost-traumatic-stress-disorder(PTSD) effects and its probable mechanism of YQA14,a dopamine D3 receptor antagonist.METHODS Two PTSD animal models,the rat single prolonged stress(SPS) model... OBJECTIVE To explore the antipost-traumatic-stress-disorder(PTSD) effects and its probable mechanism of YQA14,a dopamine D3 receptor antagonist.METHODS Two PTSD animal models,the rat single prolonged stress(SPS) model and the mouse pre-shock model,were used in this experiment.In the SPS model,adult male Sprague-Dawley(SD) rats were randomly divided into control group,model group,positive group and YQA14 groups with different dosages.In the mouse pre-chock model,dopamine D3 receptor knockout(KO) and wild type(WT) mice were randomly divided into control group,model group,positive group and YQA14 group.After the establishment of animal models,the saline,sertraline(ig) and YQA14(ip)were administered to the animals in the control,model,positive control and test groups respectively.The open field test(OFT) was used to evaluate the locomotor activity while the contextual freezing(CF) measurement and elevated plus maze(EPM) test were used to evaluate the PTSD-like behaviors.RESULTS In the rat SPS model,neither SPS nor drug treatment affected the locomotor activity in rats.However,SPS rats showed significant PTSD-like behaviors with enhanced freezing time in CF(P<0.01) and decreased percentage of entries into open arms and time spent in open arms in EPM(P<0.05,P<0.01).Moreover,compared with the model group,the repeated administration of YQA14(3.125,6.25 and 12.5 mg·kg-1)significantly reduced the freezing time(P<0.01)and increased the percentages of entries into open arms and time spent in open arms(P<0.05).In the mouse pre-shock model,when both model groups showed significant higher freezing time compared with the respective control groups(P<0.05,P<0.01),YQA14 selectively alleviated the freezing time on WT mice(P<0.05) while had no effect on KO mice.In the EPM tests,the WT mice model group showed a significant reduction in the percentage of entries into open arms and time spent in open arms(P<0.05) while D3 R KO mice model group didn′ t show any reduction,compared with respective control groups.Furthermore,daily administration of YQA14 at 12.5 mg·kg-1 both significantly reduced the percentages of entries into and time spent in open arms(P<0.05) but not D3 R KO mice.None of the locomotor activity were significantly affected.CONCLUSION YQA14 could significantly alleviate the PTSD-like behaviors in rodents and the effects were mediated by the blockade of brain D3 receptors. 展开更多
关键词 POST-TRAUMATIC stress DISORDER DOPAMINE D3 RECEPTOR ANTAGONIST YQA14
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