控制图在质量管理中的应用

质量管理(quality management)SIO8402曾提出明确定义,即:确定质量方针、目标和职责并在质量体系中通过诸如质量策划、质量控制、质量保证和质量改进使其实施的全部管理职能的所有活动。质量管理概念大体上经历了传统质量管理阶段。

A nonlinear bottom-following controller for underactuated autonomous underwater vehicles

The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stabilized by means of the stem plane, and the thruster is left to stabilize the longitudinal bottom-following error and forward speed. In order to better meet the need of engineering applications, working characteristics of the actuators were sufficiently considered to design the proposed controller. Different from the traditional method, the methodology used to solve the problem is generated by AUV model without a reference orientation, and it deals explicitly with vehicle dynamics and the geometric characteristics of the desired tracking bottom curve. The estimation of systemic uncertainties and disturbances and the pitch velocity PE （persistent excitation） conditions are not required. The stability analysis is given by Lyapunov theorem. Simulation results of a full nonlinear hydrodynamic AUV model are provided to validate the effectiveness and robustness of the proposed controller.

Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions

Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment.

基于过程控制的公共政策评估理论与方法探索

本文梳理了国内外公共政策评估的相关理论,在遵循评估基本准则的基础上,界定了公共政策过程控制的上控制线、下控制线及中心线等概念。在相关理论假设的基础上,引入了过程控制的思想,提出了在保证政策总目标实现的条件下允许公共政策实施过程在一定范围内的区间波动理论,以增强公共政策的协调性和适应性;提出了统筹公共政策事前、事中、事后等各阶段评估的理论,以增强公共政策评估过程的反馈机制和即时回应机制;提出了公共政策过程控制的思路和方法,以实现公共政策阶段目标调整和总目标协调一致;最后通过案例说明了我国公共政策过程评估的路径选择。笔者期待基于过程控制的公共政策评估的思路与方法,能够降低政策过程中的试错成本,为新时期我国出台公共政策提供理论参考。

SYNCHRONIZED PATH FOLLOWING CONTROL OF MULTIPLE HOMOGENOUS UNDERACTUATED AUVS

This paper addresses the problem of synchronized path following of multiple homogenous underaetuated autonomous underwater vehicles （AUVs）. The dedicated control laws are categorized into two envelopes： One is steering individual underwater vehicle to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means of decentralized speed adaption under the constraints of multi-vehicle communication topology. With these two tasks formulation, geometric path following is built on Lyapunov theory and baekstepping techniques, while injecting helmsman behavior into classic individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adaption with minimized communication variables, enables the multi-AUV systems to be synchronized and stabilized into an invariant manifold, and all speeds converge to desired assignments as a byproduct. Simulation results illustrate the performance of the synchronized path following control laws proposed.

Formation Control of Underwater Mobile Sensing Networks

Formation control is essential for an underwater mobile sensing network(UMSN) ,and an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications,to fulfill mobile sensing tasks.The problem of formation control for a UMSN with varying topology is studied in this paper.The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.