Quadrature error and offset error suppression circuitry for silicon micro-gyroscope

The reasons for inducing quadrature error and offset error are analyzed and the expressions of quadrature error and offset error are induced. The open-loop system analysis indicates that, in order to avoid the appearance of harmonic peaks, the frequency difference δf between drive mode and sense mode must be less than 1/（2Qy）. In order to eliminate the effects of the quadrature error and the offset error, as well as the inherent non- linearity in the capacitance-type sensors, a closed-loop feedback control circuit with quadrature correction is designed. The experimental results indicate that the quadrature error and offset error are corrected. By comparing with open-loop detection, the closed-loop feedback control circuit with quadrature correction decreases the non-linearity of the scale factor from 16. 02% to 0. 35 %, widens the maximum rate capability from ± 270 （°）/s to ± 370 （°）/s and increases the stability of zero bias from 155. 2 （°）/h to 60. 6 （°）/h.

基于双重限制Q学习的机器人控制方法

离线强化学习凭借不需要智能体与环境交互即可训练出令人满意效果的优势,在近期得到了非常迅速的发展。为了缓解外推误差和离线强化学习算法过于保守的问题,文中提出了基于双重限制Q学习的离线强化学习算法DIQL,限制Q值网络对数据分布外(out-of-distribution,OOD)动作估计值不应与经数据增强后的状态V估计值差距过大,限制策略产生的OOD动作距离数据集分布的均方差不应过大,在双重限制的前提下鼓励算法探索,当数据集质量较差的情况下仍能取得较好的效果。为了验证算法的有效性,特在双足六自由度机器人步态控制环境中进行实验,结果表明DIQL算法可以有效的处理OOD动作,缓解了外推误差和算法过于保守的问题。

R-Factor Analysis of Data Based on Population Models Comprising R- and Q-Factors Leads to Biased Loading Estimates

Effects of performing an R-factor analysis of observed variables based on population models comprising R- and Q-factors were investigated. Although R-factor analysis of data based on a population model comprising R- and Q-factors is possible, this may lead to model error. Accordingly, loading estimates resulting from R-factor analysis of sample data drawn from a population based on a combination of R- and Q-factors will be biased. It was shown in a simulation study that a large amount of Q-factor variance induces an increase in the variation of R-factor loading estimates beyond the chance level. Tests of the multivariate kurtosis of observed variables are proposed as an indicator of possible Q-factor variance in observed variables as a prerequisite for R-factor analysis.

一种二阶TD Error快速Q(λ)算法

Q(λ)学习算法是一种结合值迭代与随机逼近的思想的基于模型无关的多步离策略强化学习算法.针对经典的Q(λ)学习算法执行效率低、收敛速度慢的问题,从TD Error的角度出发,给出n阶TD Error的概念,并将n阶TD Error用于经典的Q(λ)学习算法,提出一种二阶TD Error快速Q(λ)学习算法——SOE-FQ(λ)算法.该算法利用二阶TD Error修正Q值函数,并通过资格迹将TD Error传播至整个状态动作空间,加快算法的收敛速度.在此基础之上,分析算法的收敛性及收敛效率,在仅考虑一步更新的情况下,算法所要执行的迭代次数T主要指数依赖于1/1-γ、1/ε.将SOE-FQ(λ)算法用于Random Walk和Mountain Car问题,实验结果表明,算法具有较快的收敛速度和较好的收敛精度.

改进麻雀算法和Q-Learning优化集成学习轨道电路故障诊断

无绝缘轨道电路的故障具有复杂性与随机性,采用单一的模型进行故障诊断,其性能评价指标难以提高。而采用集成学习方式,则存在各基学习器结构、参数设计盲目,集成模型中各基学习器组合权重难以分配的问题。针对以上问题,提出一种改进麻雀算法和Q-Learning优化集成学习的轨道电路故障诊断新方法,该方法有机地将集成学习与计算智能和强化学习相结合,充分挖掘轨道电路故障特征,提高性能评价指标。首先,使用卷积神经网络、长短期记忆网络和多层感知器深度学习模型,以及支持向量机和随机森林传统机器学习模型,共同构成集成学习基学习器,解决单一学习模型的不足,不同基学习器的使用保证集成学习的多样性。从自动化机器学习角度出发,采用改进麻雀算法优化该集成学习模型的结构和参数,克服其结构和参数难以确定的问题。在此之上,引入强化学习Q-learning对集成模型中各基学习器组合权重进行优化,智能地确定集成学习各基学习器的组合权重。最后,将集成学习模型的预测结果与真实结果比较后得到误差,再采用BP神经网络对预测结果进行补偿修正,进一步提高轨道电路的故障诊断性能评价指标。仿真结果表明,利用所提方法进一步改善了轨道电路故障诊断的准确度、精确度、召回率和F1值等性能评价指标。

基于TD-error自适应校正的深度Q学习主动采样方法

强化学习中智能体与环境交互的成本较高.针对深度Q学习中经验池样本利用效率的问题,提出基于TD-error自适应校正的主动采样方法.深度Q学习训练中样本存储优先级的更新滞后于Q网络参数的更新,存储优先级不能准确反映经验池中样本TD-error的真实分布.提出的TD-error自适应校正主动采样方法利用样本回放周期和Q网络状态建立优先级偏差模型,估计经验池中样本的真实优先级.在Q网络迭代中使用校正后的优先级选择样本,偏差模型在学习过程中分段更新.分析了Q网络学习性能与偏差模型阶数和模型更新周期之间的依赖关系,并对算法复杂度进行了分析.方法在Atari 2600平台进行了实验,结果表明,使用TD-error自适应校正的主动采样方法选择样本提高了智能体的学习速度,减少了智能体与环境的交互次数,同时改善了智能体的学习效果,提升了最优策略的质量.

Joint frequency offset tracking and PAPR reduction algorithm in OFDM systems

This paper presents an algorithm that aims to reduce the peak-to-average power ratio（PAPR） of orthogonal frequency division multiplexing（OFDM） communication systems while maintaining frequency tracking.The algorithm achieves PAPR reduction by applying the complex conjugates of the data symbol obtained from the frequency domain to cancel the phase of the data symbol.A likelihood estimator is used to obtain the sub-carrier phase error due to the residual carrier frequency offset（RCFO） using the same complex conjugates as a pilot signal.Furthermore,a joint time and frequency domain multicarrier phase locked loop（MPLL） is developed to compensate additional frequency offset.Simulation results show that this algorithm is capable of reducing PAPR without impacting the frequency tracking performance.

Errors of Estimating Near-Surface Q-A statistical Approach

Although various estimating methods have been developed for measuring Q from near-surface seismic data, less thought has been given to the accuracy of Q obtained. The errors of Q depend on the ways of measuring Q and the computation techniques used in estimating. The main purpose of this paper is to give a compre- hensive evaluation for the accuracy of measuring near-surface Q. We discuss the possible origins from which errors may develop, and provide a statistical guide to the accuracy that can be expected. A set of real data based on the improved spectral ratio method for near-surface Q was used as an example of validation and sensitivity analysis. The Bonferroni procedure was adopted for deriving the joint confidence intervals for k and n of the power law model. The same approach with modest modification may be applied to analyze the accuracy of Q estimated by other methods.

CARRIER FREQUENCY OFFSET ESTIMATION FOR INTERLEAVED OFDMA UPLINK BASED ON SUBSPACE PROCESSING

This paper investigates Carrier Frequency Offset (CFO) estimation in the uplink of the Orthogonal Frequency-Division Multiple Access (OFDMA) systems with the interleaved subcarrier assignment. CFOs between the transmitters and the uplink receiver will destroy orthogonality among different subcarriers, hence resulting in inter-carrier interference and multiuser interference. A two-stage frequency offset estimation algorithm based on subspace processing is proposed. The main advantage of the proposed method is that it can obtain the CFOs of all users simultaneously using only one OFDMA block. Compared with the previously known methods, it not only has a relatively low implementation complexity but is also suitable for random subchannel assignment.

TESTING OF CORRELATION AND HETEROSCEDASTICITY IN NONLINEAR REGRESSION MODELS WITH DBL(p,q,1) RANDOM ERRORS

Chaos theory has taught us that a system which has both nonlinearity and random input will most likely produce irregular data. If random errors are irregular data, then random error process will raise nonlinearity （Kantz and Schreiber （1997））. Tsai （1986） introduced a composite test for autocorrelation and heteroscedasticity in linear models with AR（1） errors. Liu （2003） introduced a composite test for correlation and heteroscedasticity in nonlinear models with DBL（p, 0, 1） errors. Therefore, the important problems in regression model axe detections of bilinearity, correlation and heteroscedasticity. In this article, the authors discuss more general case of nonlinear models with DBL（p, q, 1） random errors by score test. Several statistics for the test of bilinearity, correlation, and heteroscedasticity are obtained, and expressed in simple matrix formulas. The results of regression models with linear errors are extended to those with bilinear errors. The simulation study is carried out to investigate the powers of the test statistics. All results of this article extend and develop results of Tsai （1986）, Wei, et al （1995）, and Liu, et al （2003）.

基于q轴电流误差的VSI非线性因素在线补偿方法

为克服逆变器非线性因素造成的不利影响,本文分析了电压源型逆变器的非线性因素以及其对输出相电压的影响,并结合矢量控制算法,采用了一种基于q轴电流误差的在线补偿方法,该补偿方法不需要外加硬件电路且无需已知逆变器和电机的参数。实验结果表明,该补偿方法有效地降低了相电流谐波,改善了相电流正弦度。

主轴热偏移特性检测与影响分析

主轴的热偏移误差直接影响数控机床的定位精度及加工质量。针对数控机床主轴温升及热偏移误差的测试问题,利用磁吸式温度传感器、激光测试仪对主轴温度变化与各方向热偏移误差进行测量,了解机床主轴实际工况,收集主轴温升数据及热平衡时间、主轴热偏移空间状态,分析主轴温升与热偏移误差随测试组数的变化关系。实验结果表明:主轴温升与测试组数的增加呈正比例关系,高转速最大温升12.65℃,明显高于低转速温升8.55℃;主轴各方向热偏移误差随温升而变大,其中高转速下误差变化更剧烈,高、低转速下的最大热偏移分别为35.37μm和15.26μm。本研究成果为以后探寻误差成因及优化补偿设计提供了数据支撑。

基于圆弧刀补偿加工的平面调制切削技术研究

针对尖刀加工的平面调制微结构表面质量差以及尖刀顶部尖角易磨损的现象,本文系统分析了尖刀在加工平面调制结构时轮廓误差的形成机理,发现了尖刀加工调制表面的轮廓误差大且存在难以补偿的特性,调制结构的轮廓误差与刀尖宽度成正比,与调制的周幅比值(λ/a)成反比.为此,本文提出了采用圆弧刀具结合刀具半径补偿方法以降低平面调制样品轮廓误差的技术方案.实验结果表明,采用圆弧刀结合刀具补偿方法对平面调制结构的轮廓精度提升具有显著作用,相比于尖刀切削,圆弧刀补偿加工的一维调制样品获得了更高的表面质量和轮廓精度.针对幅值a=4μm,周期λ=60μm的平面调制样品,采用圆弧刀补偿加工方案,调制样品的表面粗糙度Ra值由59.66 nm降至21 nm,轮廓误差精度提高了约20%.

基于q-Bessel多项式求柯西奇异积分方程数值解

提出了基于q-Bessel多项式的离散配置法,并求解柯西奇异积分方程.首先基于q-Bessel多项式对柯西奇异积分方程中未知函数进行逼近,利用平滑变换消除积分项的奇异性.然后将积分方程转换成带有Gaussian-Legendre配置点的代数方程组,并转化成矩阵形式对其进行求解.同时给出了该方法的误差界.最后通过与文献中的其他方法进行比较,验证了该方法的可行性和有效性.

面向无线传感网络的同步时钟技术研究

考虑到传统的时钟同步技术在信息交互过程中产生的延迟具有不确定性,为了消除其对时钟同步的影响,提出了面向无线传感网络的同步时钟技术研究。通过对任意一个网络节点在真实物理时间的本地时间进行变换处理,构建无线传感网络的线性时钟模型,根据高斯分布所具有的加减特性,计算两个连续同步轮次的动态响应时间差值,在离散形式下,构建无线传感网络观测模型。通过计算无线传感网络时钟差值的均值,得到无线传感网络节点的时间戳,将无线传感网络节点数据交互误差补偿的目标函数转换成向量的形式,补偿无线传感网络节点数据交互误差,实现无线传感网络的时钟同步处理。实验结果表明,在微秒级延迟下,该技术的同步精度仍较高,可以有效消除网络信息延迟的不确定性对同步时钟的影响。

Design of Pinion Machine Tool-settings for Spiral Bevel Gears by Controlling Contact Path and Transmission Errors

This paper proposes a new approach to design pinion machine tool-settings for spiral bevel gears by controlling contact path and transmission errors. It is based on the satisfaction of contact condition of three given control points on the tooth surface. The three meshing points are controlled to be on a predesigned straight contact path that meets the pre-designed parabolic function of transmission errors. Designed separately, the magnitude of transmission errors and the orientation of the contact path are subjected to precise control. In addition, in order to meet the manufacturing requirements, we suggest to modify the values of blank offset, one of the pinion machine tool-settings, and redesign pinion ma- chine tool-settings to ensure that the magnitude and the geometry of transmission errors should not be influenced apart from minor effects on the predesigned straight contact path. The proposed approach together with its ideas has been proven by a numerical example and the manufacturing practice of a pair of spiral bevel gears.

零偏VSP反演Q值CFS方法及影响因素研究

当地震波在地层中传播时,能量的衰减是传播介质非弹性性质的反映.这种介质所固有的衰减特性通常用品质因子(Quality Factor,Q)来描述.本文基于地震波在传播过程中主频降低的衰减特性,利用质心频率偏移法(Centrold Frequency Shift,简称CFS)对零偏VSP正演模型进行Q值计算,分析薄层、上下行波场、频带宽度、反演波速、震源位置等因素的影响.模型结果显示:CFS法比频谱比法、振幅衰减法能更加准确识别薄层界面,可准确反演出厚度10m的地层;上行波场的加入降低反演结果准确度,尤其对高Q值层;当有效波频带增宽时,高频部分衰减明显,Q值反演结果接近理论值;反演波速误差对反演准确性影响很大.最后,利用CFS对实际井旁地面地震资料进行Q值反演,反Q滤波后其主频由25Hz提高到35Hz,分辨率得到改善,证明了CFS方法的实用性.

一种新型宽带接收机I/Q通道失配的数字校正方法

由于各种因素的影响,I/Q通道之间通常会发生失配现象,这会降低接收机的动态范围,进而影响接收机的性能。本文提出了一种宽带接收机中L/Q幅相误差校正的数字方法：首先通过一种时域方法以获得误差信息,籍此计算校正所需参数,再由Newton插值多项式构造滤波器组对I/Q信号进行滤波校正。仿真表明,这种数字校正方法能有效地提高宽带接收机I/Q通道的正交一致性。

基于d-q变换的三相不对称系统任意次谐波电流的检测方法

基于传统d q理论的谐波检测方法只能检测出三相对称系统中的谐波分量,但在电力系统故障检测和保护中,往往需要检测出对应于故障的特征次谐波电流。提出了一种改进的d q检测法,它能检测出三相不对称系统的任意次谐波电流。针对实际检测环节中,高次谐波通过加设在检测环节前端的低通滤波器时产生较大的相角误差,给出了一种切实可行的相位误差校正方法。理论分析和仿真结果证明了所提方法的正确性。

基于叠前道集小波域Q值求取方法研究

地层Q值是用于油气检测的重要参数,针对应用叠后地震资料求取Q值存在多解性的问题,探索了基于叠前道集求取Q值的QVO(地震品质因子Q随偏移距变化)方法,进行了数值模型试算和实际地震资料的应用,结果证明了QVO方法的正确性和有效性。该方法首先利用小波变换将经过动校正处理的CMP道集进行时频域转换,通过选择不同的时窗和与之相对应的尺度因子,利用小波域谱比法计算非零偏移距频谱比斜率值;然后根据频谱比斜率值随偏移距的变化关系,求得零偏移距处的Q值。模型试算提取的频谱比斜率与偏移距平方近似呈线性关系,与理论吻合,证实了理论的正确性。将QVO方法应用于实际工区地震资料提取地层Q值,结果表明,含气区与非含气区的Q值差异明显,含气区的Q值较低,表现为强吸收。与叠后地震资料提取的Q值相比,QVO方法提取的Q值精度高,更能真实地反映地层吸收特征,提高了储层含气性检测的精度。