Single MO-CCCCTA-Based Electronically Tunable Current/Trans-Impedance-Mode Biquad Universal Filter

This paper presents an electronically tunable current/trans-impedance-mode biquad universal filter employing only single multi-output current controlled current conveyor trans-conductance amplifier (MO-CCCCTA) and two grounded capacitors. The proposed filter realizes all the standard filter func-tions i.e. low pass (LP), band pass (BP) and high pass (HP), notch and all pass (AP) filters in the current form at high impedance output through appropriate selection of the input signals, without any matching conditions. Simultaneously, it can also realize all the standard filter functions in trans-impedance form from the same circuit topology. The circuit does not require inverting-type input current signal(s) and double input current signal(s) to realize all the responses in the design. The validity of proposed filter is verified through PSPICE simulations.

Analysis and Design of Planar Tunable Inner-Coupling Step Impedance Resonator

A full planar tunable band pass resonator is introduced, which is constructed by using novel symmetric step impedance resonator （SIR） and hyperabrupt varactors for wide bandwidth tuning and size reduction. The equivalent circuit model of the proposed resonator is set up. Theoretical analysis based on transmission line as well as odd and even-mode method is completed. The attractiveness of the approach presented lies in its simplicity. Based on the detailed analysis, a 6 GHz to 10 GHz varactor tuned resonator is designed, fabricated, and measured. It shows wideband tuning ability of 37%. The experimental results of the resonator have a good agreement with the analysis results.

Cartesian impedance control of dexterous robot hand

Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as mechanical impedance in constrained space. In the position based impedance control strategy, any switching mode in contact transition phase is not needed. The impedance parameters can be adjusted in a certain range according to various tasks. In this paper, the analysis of the finger’s kinematics and dynamics is given. Experimental results have shown the effectiveness of this control strategy.

Robust Impedance Control of Robots Using an Adaptive Interaction Force Observer

For robot interaction control,the interaction force between the robot and the manipulated object or environment should be monitored.Impedance control is a type of interaction control.Specifically,in impedance control,the dynamic relationship between the interaction force and the resulting motion is controlled.In order to control the impedance of a mechanical system,typically,the interaction force has to be sensed.Due to the inherent limitations of direct force sensing at the interaction site,in the present work,the interaction force is observed using robust observers.In particular,to enhance the accuracy of impedance control,a first order sliding mode impedance controller is designed and incorporated in the present paper.Its advantage over positionbased interaction control algorithms is demonstrated through experimentation.Experimental results are given to show the effectiveness of the proposed algorithms.

Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots

In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.

Loop Compensator Design for DCM Peak-Current-Mode Control DC-DC Buckboost Converter

An analytic closed-form based loop compensator for direct current-direct current （DC-DC） buckboost converter in discontinuous conduction with peak current-mode control is proposed to increase efficiency of the desired process through systemization. As a result, the process saves a lot of computation time that can be translated into design cost savings. Finally, the output voltage regulation in the presence of audio susceptibility and output impedance is shown for verifying.

Study of Mode Coupling on Coaxial Resonators

A study of mode coupling phenomenon of coaxial resonators has been conducted with theories. Through establishing the source-free transmission line equation, boundary conditions of the coaxial resonators with a corrugated inner conductor are analyzed. In the end, calculations are performed in a wide range of corrugation parameters for the resonator of the Karlsruhe Institute of Technology （KIT） relevant coaxial gyrotron.

A Very Compact Normal Mode Multiloop Helical Antenna with Enhanced Bandwidth

The physical size of an antenna becomes an important characteristic when receiving signals in bands with long wavelengths. Size determines two important aspects of antenna performance;impedance and efficiency. For example, the VHF antennas installed on radio sets that intended to receive FM or the latest technology Digital Audio Broadcasting (DAB) radio signals in Bands II, III respectively. Antennas that are installed on mobile platforms (i.e. portable receivers) require a receiver that utilizes a whip telescopic antenna with adjustable length which can operate as a λ/4 monopole antenna. Whereas, non-portable applications like a deck commercial receiver has no built in antenna due to the large size of the radiator needed and so must be connected with an external antenna. This paper presents a new design of a very small size Normal Mode Multiloop Helical Antenna (NMMHA) with superior performance developed for commercial receivers operate in band II, III. The major drawback which has been overcome with this design is the very narrow bandwidth of the Normal Mode Helical Antenna, which originally was optimized to provide the minimum Voltage Standing Wave Ratio VSWR response across Band II (87.5 - 108 MHz). The NMMHA’s size allows it to be a build in block of a deck commercial receiver.

Behaviour of the electrochemical intrgrator on the basis of solid electrolyte in galvanoharmonic charging mode

Behaviour of the Electrochemical integrator on the basis of Solid Electrolyte is studied in the galvanoharmonic charging mode. The possibility of application of simpler and more graphic calculation technigue and separation of impedance of electrochemical systems into active and reactive components is shown. The plotting of the dependences of the active and reactive impedance components on ac freguency was used to find the values of parameters of the studied equivalent electric cuircuits.

基于等效阻抗渐变变压器的宽带压控振荡器

设计了一种基于65 nm CMOS工艺的毫米波宽带压控振荡器(VCO)。分析了应用于宽带VCO的宽带化技术。针对高频相位噪声性能恶化这一问题,提出并设计了一种等效阻抗渐变变压器,以优化VCO高频段相位噪声。该压控振荡器输出信号频率为20.4~40.2 GHz,覆盖24~26 GHz、38~39 GHz两个5G毫米波通信频段。全频带内,相位噪声小于-102 dBc/Hz,品质因子大于180.9 dBc/Hz。

电阻抗断层成像技术的心肺信号降维集合经验模态分解方法研究

心脏射血与肺通气活动信息的实时获取具有重要临床意义。本研究提出了一种基于胸部电阻抗断层成像(EIT)的心肺信号降维集合经验模态分解方法,以同时分离胸部EIT数据中的心脏射血和肺通气活动信号。招募9名志愿者进行了EIT胸部数据采集。首先,根据屏息状态下胸部EIT数据中心脏活动信号的强弱对测量通道分类;随后,使用集合经验模态分解方法对自主呼吸状态下的EIT数据进行分解,并根据频谱特性对分解出的各分量归类,以得到肺通气EIT信号;然后,结合带通滤波方法,同时依据前述通道分类对心脏活动信号降维,得到心脏活动EIT信号;最后,重构得到通气相和心搏相EIT图像序列。结果表明,该方法可在通气相图像的肺区能够获得最高的肺通气功率谱峰(52.71±1.39)dB,在心搏相图像的心脏区域能够获得最高的心脏活动功率谱峰(43.05±3.26)dB,表明保留的通气信息和心脏活动信息非常丰富,同时在通气相图像心脏区域获得了最低心脏活动相关功率谱峰(10.02±2.65)dB,表明心脏活动的抑制效果更佳,相较于参考方法均有显著性差异(P<0.05)。研究表明,该方法可以有效分离肺通气与心脏活动相关信号,分别保留各自活动信息并抑制心脏对肺区成像的影响,同时实现对干扰信号的有效抑制,为临床上提供更加准确的治疗策略指导奠定基础。

城市多模式公共交通网络优化及仿真

城市公共交通网络优化对于提高城市出行效率,方便乘客出行具有重要意义。基于Space L建模方法构建城市多模式公共交通网络,定义了网络中节点和弧段阻抗计算方法。以多模式公共交通网络全局效率最大为目标,考虑常规公交线路设计规则为约束,构建了上述问题的数学规划模型。针对该问题的组合爆炸特点,采用了遗传退火算法进行求解。最后选取成都市锦江区所属的公共交通网络进行实例分析,结果表明,上述方法成功地降低公共交通网络节点间的出行阻抗、提升公共交通网络全局效率,而且可以在较短时间内求得满意解。

基于参数估计-滑模阻抗控制的SEA性能分析

重载四足机器人的足部与地面接触过程和步态转换过程中会受到不确定的冲击载荷作用,易导致足部机构载荷过大从而造成结构的冲击损坏。因此,针对使用液压串联弹性执行器(series elastic actuators,SEA)作为足部末端在非结构环境下动态性能差的问题,提出了基于环境参数估计的滑模阻抗控制方法(environmental parameter estimation sliding mode,EPESM)。以阀控液压缸的活塞位移传递函数为基础建立了基于位置内环的SEA阻抗控制模型,并以PID作为基础控制器;为改善SEA阻抗控制的动态性能,根据Lyapunov第二法构建稳定的自适应环境参数估计方法对SEA期望位置进行前馈补偿;为提升自适应环境参数估计方法在SEA工作过程中不同阶段的动态性能和环境变化适应性,使用模糊控制方法对自适应环境参数估计方法中的自适应参数进行寻优;以SEA状态方程为基础构建滑模控制器与PID控制器进行动态性能对比分析。仿真结果表明:在变SEA弹簧刚度工况和变环境刚度下,EPESM阻抗控制的响应速度明显更快,可将调节时间从平均5 s缩短到1 s内,能更快地达到预期位移和预期接触力,且能略微降低稳态误差,使接触力误差保持在±6 N内。在动态跟踪工况下,EPESM阻抗控制的动态性能更好,在快速进入跟踪状态后,可以长时间保持0.2 s以内的相位滞后和5.2%的幅值误差。

弱电网下基于超螺旋滑模的LCL并网逆变器控制研究

针对LCL型滤波器的固有谐振、滤波器参数及弱电网下电网阻抗的波动会严重破坏并网系统稳定性的问题,提出了弱电网下基于超螺旋滑模的LCL并网逆变器控制策略。根据并网系统模型构建超螺旋滑模观测器,对滤波电容电压及逆变器侧输出电流进行估计,消除额外传感器需要,降低成本。采用具有非奇异快速终端滑模面控制(NFTSMC)的超螺旋滑模控制器来快速地跟踪参考给定电流及降低并网系统动稳态误差,且提高并网系统对外界干扰和参数不确定性的全局鲁棒性。仿真结果表明,当滤波参数摄动和电网阻抗变化时,系统表现出较强的鲁棒性,且并网电流的THD值保持在0.5%左右。

基于电流源和电压源的储能系统双模式控制策略研究

本文针对储能系统在电网辅助服务(调频)、差价套利、新能源发电功率管理等不同应用场景下的适应性问题,提出了一种基于电流源和电压源的双模式切换策略。该策略采用基于PI的电压和相位预同步补偿及虚拟阻抗软限流策略解决并网时可能造成的系统过流冲击。此外,通过对电压控制积分器进行复位和数据切换,实现了模式间的无缝切换;通过在Simulink仿真软件中搭建储能微网模型,对其在并网运行、离网运行、离并网转换、多机并联等典型工况进行了仿真验证。验证表明,该控制策略能够满足并离网要求,而且在多机并联时具备黑启动能力,启动完成后将自动转入并网运行。

考虑频变特性的共模电感宽频段阻抗建模方法

共模电感由绕组和磁芯组成,锰锌铁氧体可以作为共模电感的磁芯,其高频参数的频变特性使共模电感的阻抗特性在150 kHz~30 MHz内呈非线性。针对传统共模电感集总电路模型与实测阻抗特性存在较大偏差,难以准确预测共模电感在高频段阻抗特性的问题,分析磁芯材料参数与绕组绕制方式对共模电感高频阻抗特性的影响;从共模电感分布电容特性的角度阐述磁性材料参数与绕组结构对分布电容大小的作用机理;提出考虑磁芯相关频变参数的共模电感宽频段阻抗仿真建模方法,结合阻抗测试验证所提方法的有效性。

铆接机器人位置和压铆力自适应模糊滑模阻抗控制

针对机器人铆接小尺寸、低刚度铆钉过程中对准精度要求高、作业行程小和冲击力大等问题,提出了一种结合自适应模糊滑模控制和模糊阻抗控制的机器人铆接控制方法。为此,将机器人铆接控制过程分为接近对准与压铆两个阶段。其中,为了实现快速接近铆钉顶部以及铆接头与铆钉轴线的精确对准,设计了以双曲正切函数为切换函数的模糊自适应滑模控制器,使得切换过程更加光滑、滑模增益自适应调节,从而降低了系统的抖振,实现了运动的快速性和准确性;针对压铆阶段作业行程小、冲击力大的特点,设计了以接触力误差和力增量为输入的阻尼调整模糊控制器,减少了阻尼参数在阻抗控制过程中产生的振荡,避免了过度力加载导致的铆钉损坏或铆接失败。仿真及试验结果表明,所给出的控制方法位置精度在0.3 mm以内,力接触具有更好的稳定性、实时性和快速性,能够满足铆接工艺规范要求,对于铆接机器人的高精度作业具有借鉴意义。

环状气囊水消声器声学性能的预测与分析

水消声器作为一种有效的噪声控制装置被广泛应用于水管路系统。分别使用模态匹配法和有限元法对环状气囊水消声器的声学性能进行仿真计算,分析气囊水消声器声学特性的原理,并研究气囊水消声器不同媒介间的特性声阻抗大小关系对消声性能的影响规律。计算结果表明:由于阻抗失配关系,在气囊水消声器中气体对声波的传递起主要反射作用。随着橡胶的特性阻抗增大,橡胶会对从水中传递过来的声波起到一定的阻碍作用。当气体体积被压缩时,气体对声波的反射衰减效果会逐渐减弱,从而使得气囊水消声器的传递损失曲线整体幅值下降,消声性能减弱。

用于土壤温湿度检测的声表面波标签设计

针对土壤温湿度的并行检测提出了基于声表面波标签的解决方案。采用耦合模理论对阻抗负载型声表面波标签进行建模与仿真,得到负载反射栅回波幅值和相位随电容值变化规律。在此基础上,根据声表面波标签对土壤温湿度不同的敏感机理,设计了一种双通道双边带标签结构,采用时分多址的方法解决了对不同深度层级土壤同时检测时存在的回波信号混叠问题。通过回波信号的相位和幅值比实现了土壤温湿度检测,结合矢量网络分析仪和阅读器对标签进行测试,测试结果表明了标签的有效性。

基于频域阻抗网络建模分析的交直流微电网振荡问题研究

交直流微电网在不同类型电力电子变流器的不同带宽控制环节作用下,容易引发系统发生宽频振荡问题。现有的微电网振荡分析主要基于阻抗分析法和特征分析法,然而这两种方法存在一定的局限性。为此,该文研究了基于频域阻抗网络模型的交直流微电网振荡问题建模与分析方法。首先,建立了交直流微电网在频域下的等效阻抗网络模型,并计算节点频域导纳矩阵及回路频域阻抗矩阵。其次,基于频域模式分析法,建立了交直流微电网的节点/回路振荡参与程度指标以及设备和控制参数的灵敏度指标,给出了振荡的交直流传播特性分析方法,便于明晰系统振荡机理与关键影响因素。最后,通过Matlab/Simulink时域仿真及算例分析验证了上述频域阻抗网络建模和振荡稳定性分析方法的有效性。