Sampled-Data Asynchronous Fuzzy Output Feedback Control for Active Suspension Systems in Restricted Frequency Domain

This paper proposes a novel sampled-data asynchronous fuzzy output feedback control approach for active suspension systems in restricted frequency domain.In order to better investigate uncertain suspension dynamics,the sampleddata Takagi-Sugeno(T-S)fuzzy half-car active suspension(HCAS)system is considered,which is further modelled as a continuous system with an input delay.Firstly,considering that the fuzzy system and the fuzzy controller cannot share the identical premises due to the existence of input delay,a reconstructed method is employed to synchronize the time scales of membership functions between the fuzzy controller and the fuzzy system.Secondly,since external disturbances often belong to a restricted frequency range,a finite frequency control criterion is presented for control synthesis to reduce conservatism.Thirdly,given a full information of state variables is hardly available in practical suspension systems,a two-stage method is proposed to calculate the static output feedback control gains.Moreover,an iterative algorithm is proposed to compute the optimum solution.Finally,numerical simulations verify the effectiveness of the proposed controllers.

Multivariable Decoupling Predictive Control Based on QFT Theory and Application in CSTR Chemical Process

A novel method of incorporating generalized predictive control (GPC) algorithms based on quantitative feedback theory (QFT) principles is proposed for solving the feedback control problem of the highly uncertain and cross-coupling plants. The quantitative feedback theory decouples the multi-input and multi-output (MIMO) plant and is also used to reduce the uncertainties of the system, stabilize the system, and achieve tracking performance of the system to a certain extent. Single-input and single-output (SISO) generalized predictive control is used to achieve performance with higher performance. In GPC, the model is identified on-line, which is based on the QFT input and the plant output signals. The simulation results show that the performance of the system is superior to the performance when only QFT is used for highly uncertain MIMO plants.

A Priority-aware Frequency Domain Polling MAC Protocol for OFDMA-based Networks in Cyber-physical Systems

Wireless networking in cyber-physical systems (CPSs) is characteristically different from traditional wireless systems due to the harsh radio frequency environment and applications that impose high real-time and reliability constraints. One of the fundamental considerations for enabling CPS networks is the medium access control protocol. To this end, this paper proposes a novel priority-aware frequency domain polling medium access control (MAC) protocol, which takes advantage of an orthogonal frequency-division multiple access (OFDMA) physical layer to achieve instantaneous priority-aware polling. Based on the polling result, the proposed work then optimizes the resource allocation of the OFDMA network to further improve the data reliability. Due to the non-polynomial-complete nature of the OFDMA resource allocation, we propose two heuristic rules, based on which an efficient solution algorithm to the OFDMA resource allocation problem is designed. Simulation results show that the reliability performance of CPS networks is significantly improved because of this work. © 2014 Chinese Association of Automation.

ToMFIR-based fault detection approach in frequency domain

This paper is to explore further results for total measurable fault information-based residual（ToMFIR） approach to fault detection in dynamic systems.The ToMFIR contains the essential fault information and remains unaffected by control actions in a closed-loop system.It is composed of controller residual and output residual and some of further results are developed in frequency domain.Besides the ability of detecting actuator and sensor faults,it is able to detect faults/failures resulting from the computer used for control purpose that generates control signals.Currently,all of existing fault detection schemes cannot achieve the same task at all.A practical DC motor example,with a PID controller,is used to demonstrate the effectiveness of the ToMFIR-based fault detection.A comparison with the standard observer-based technique is also provided.

Multivariable Decoupling Predictive Control Based on QFT Theory and Application in CSTR Chemical Process

A novel method of incorporating generalized predictive control GPC algorithms based on quantitative feedback theory QFT principles is proposed for solving the feedback control problem of the highly uncertain and cross-coupling plants. The quantitative feedback theory decouples the multi-input and multi-output MIMO plant and is also used to reduce the uncertainties of the system, stabilize the system, and achieve tracking performance of the system to a certain extent. Single-input and single-output SISO generalized predictive control is used to achieve performance with higher performance. In GPC, the model is identified on-line, which is based on the QFT input and the plant output signals. The simulation results show that the performance of the system is superior to the performance when only QFT is used for highly uncertain MIMO plants.

A nonlinear model reference adaptive inverse control algorithm with pre-compensator

In this paper, the reduced-order modeling （ROM） technology and its corresponding linear theory are expanded from the linear dynamic system to the nonlinear one, and H∞ control theory is employed in the frequency domain to design some nonlinear system＇ s pre-compensator in some special way. The adaptive model inverse control （AMIC）theory coping with nonlinear system is improved as well. Such is the model reference adaptive inverse control with pre-compensator （PCMRAIC）. The aim of that algorithm is to construct a strategy of control as a whole. As a practical example of the application, the nunlerical simulation has been given on matlab software packages. The numerical result is given. The proposed strategy realizes the linearization control of nonlinear dynamic system. And it carries out a good performance to deal with the nonlinear system.

Dynamic Positioning Control of Surge−Pitch Coupled Motion for Small-Waterplane-Area Marine Structures

For general dynamic positioning systems,controllers are mainly based on the feedback of motions only in the horizontal plane.However,for marine structures with a small water plane area and low metacentric height,undesirable surge and pitch oscillations may be induced by the thruster actions.In this paper,three control laws are investigated to suppress the induced pitch motion by adding pitch rate,pitch angle or pitch acceleration into the feedback control loop.Extensive numerical simulations are conducted with a semi-submersible platform for each control law.The influences of additional terms on surge−pitch coupled motions are analyzed in both frequency and time domain.The mechanical constraints of the thrust allocation and the frequency characters of external forces are simultaneously considered.It is concluded that adding pitch angle or pitch acceleration into the feedback loop changes the natural frequency in pitch,and its performance is highly dependent on the frequency distribution of external forces,while adding pitch rate into the feedback loop is always effective in mitigating surge−pitch coupled motions.

An Algebraic Detection Approach for Control Systems under Multiple Stochastic Cyber-attacks

In order to compromise a target control system successfully, hackers possibly attempt to launch multiple cyberattacks aiming at multiple communication channels of the control system. However, the problem of detecting multiple cyber-attacks has been hardly investigated so far. Therefore, this paper deals with the detection of multiple stochastic cyber-attacks aiming at multiple communication channels of a control system. Our goal is to design a detector for the control system under multiple cyberattacks. Based on frequency-domain transformation technique and auxiliary detection tools, an algebraic detection approach is proposed. By applying the presented approach, residual information caused by different attacks is obtained respectively and anomalies in the control system are detected. Sufficient and necessary conditions guaranteeing the detectability of the multiple stochastic cyber-attacks are obtained. The presented detection approach is simple and straightforward. Finally, two simulation examples are provided, and the simulation results show that the detection approach is effective and feasible. © 2014 Chinese Association of Automation.

Optimal Feedback Control of Two-Photon Fluorescence Based on Genetic Algorithm

An optimal feedback control of two-photon fluorescence in the ethanol solution of 4-dicyanomethylene-2-methyl- 6-p-dimethyl-aminostryryl-4H-pyran （DCM） using pulse-shaping technique based on genetic algorithm is demon- strated experimentally. The two-photon fluorescence of the DCM ethanol solution is enhanced in intensity of about 23%. The second harmonic generation frequency-resolved optical gating （SHG-FROG） trace indicates that the effective population transfer arises from the positively chirped pulse. The experimental results appear the potential applications of coherent control to the complicated molecular system.

模型信息联合校正型自抗扰控制策略

为解决微电网受到不确定扰动时,会对直-直变换器输出的电能质量产生严重影响的问题,该文提出一种模型信息联合校正型自抗扰控制技术(ADRC-MIR)。在该控制策略中,首先借助串联超前校正的思想,以比例微分校正环节对线性扩张状态观测器的扰动观测传递函数进行修正,使其可实现对总和扰动更精确的跟踪;然后,根据状态空间平均法从被控系统中提取部分模型信息,将其写入修正后的线性扩张状态观测器的系数矩阵并最终构建出ADRC-MIR;随后基于理论推导,给出改进控制器的参数整定公式及其物理意义,并从噪声抑制、扰动抑制及其频域特性等方面指出改进后的控制器可提升控制品质的原因。最后通过对比不同工况下的数值仿真验证所提控制策略的可行性与正确性。

基于地形特征时频变换的无人特种车辆速度自适应控制方法

为提高复杂环境下无人特种车辆安全性、自主性及作业能力,面向在崎岖地形下无人特种车辆应用需求,提出一种基于地形特征时频变换的速度自适应控制方法。通过度量地形特征崎岖度、建立崎岖度和车速数学模型,实现无人特种车辆在崎岖地形的自主、自适应车速规划。针对崎岖地形和坡度引起的点云数据失真问题,融合惯性测量单元传感器数据对点云进行补偿,获得了车辆前方地形的精准点云数据;针对可视距离与跟踪精度冲突问题,不同于传统横向曲率计算方式,采用以线到面的方式,将激光雷达纵向剖面点云数据进行时频变换后,在频域内选取次频区域的积分面积作为崎岖度量化值,实现对不同地形下的崎岖度量化;此外,基于上述获得的崎岖度,采用迭代搜索的方式建立速度与崎岖度数学模型,并采用滑动窗口的方式更新崎岖度,实现车速到崎岖度之间的连续映射。以可控震源野外勘探特种车为研究对象,采用上述方法在实际野外地形环境中进行多次实验。实验结果表明,所提出的方法在崎岖地形具有良好的安全性、自主性,可以识别地形和自适应控制车速。

自动控制系统稳定性教学中的思政元素设计

针对传统自动控制原理课程教学的不足,将某型号转子绕线机控制系统引入系统稳定性案例教学课堂。通过对案例的数学建模,分别应用时域分析法中的劳斯判据、赫尔维茨稳定判据,系统输出曲线和频域分析法中的奈奎斯特稳定判据及对数稳定判据分析控制系统的稳定性。课程将思政元素与系统稳定性知识有机融合,引申出“条条大路通罗马”的问题解决思想和引导学生认识社会系统稳定的重要意义及自身责任。

高机动越野平台非线性悬挂特性控制方法

为了提升装备机动能力,基于摆动缸式油气悬挂装置,建立高压气动原理和背压可控的阻尼阀结构,实现刚度和阻尼特性的实时调节。基于单轮悬挂模型开展不同刚度控制方法的振动响应对比分析以及阻尼特性频域不动点推导,提出一种刚度有级调节控制策略和一种频域混合阻尼控制方法,通过单轮悬挂动力学模型验证所提控制方法的有效性,并构建高机动履带车辆动力学模型进行整车仿真分析。在康庄、羊八井、坨里实测路面环境下,采用刚度阻尼联合控制方法的悬挂装置相较于传统被动悬挂的越野速度提升了25%以上,验证了新提出特性控制方法对振动响应抑制的优越性,能够为悬挂装置实现弹性与阻尼双特性自适应调节提供支撑。

交、直流机车混跑线路车网谐振机理分析及宽频域谐波综合治理研究

在交-直-交电力机车和交-直电力机车混跑线路的牵引供电系统中,存在丰富的宽频域谐波电流,且易产生车网谐振问题。文章首先采用谐波阻抗分析法建立了牵引网谐波阻抗电路模型,推导了牵引网谐振阻抗与谐波频率及供电臂长度的函数关系,分析车网谐振产生机理和谐振特性,给出了车网谐振治理方式及装置安装位置的选择;然后,针对目前牵引网的宽频域谐波,提出一种地面加装有源电力滤波器(active power filter,APF)和无源高通滤波器(high pass filter,HPF)的综合治理方法,并给出“APF+HPF”装置的工程设计方法;最后,结合国内某铁路牵引网案例进行仿真验证。仿真结果显示,采用该方法后谐波电流总畸变率由75.29%下降到1.58%(“APF+二阶HPF”滤波器)和2.55%(“APF+阻波HPF”滤波器),证明该方法对宽频域谐波具有良好的治理效果,能有效抑制车网谐振现象并消除其危害,保障了牵引供电系统的安全运行。

电磁悬浮系统的改进线性自抗扰控制方法

单点电磁悬浮系统是常导电磁磁浮列车悬浮系统的关键控制单元。针对单点电磁悬浮系统因强干扰影响导致控制性能下降的问题,提出了一种改进型线性自抗扰控制(LADRC)方法。首先,基于电磁悬浮结构及原理建立了单点悬浮系统线性化模型,并对系统稳定性进行了分析。其次,基于自抗扰控制方法设计位置外环控制器以及基于PI调节器的电流内环控制器,对线性扩张状态观测器进行改进,设计两级级联的线性扩张状态观测器提高扰动估计精确度及速度,进而提高LADRC中扩张状态观测器对系统扰动的估计能力,并在频域上分析了改进型LADRC扰动估计性能和抑制能力的优越性。最后,搭建实验环境,对改进线性自抗扰控制方法的有效性进行验证。实验结果表明,所提的改进型LADRC不仅具有良好的位置跟踪性能,同时相比传统LADRC具有更强的抗扰动能力。

基于防空导弹滚动通道控制时/频域指标映射关系研究

在防空导弹控制系统设计时,如何快速高效设计出满足给定指标的控制系统一直是热点问题。以滚动通道控制设计为例,从数学角度出发设计控制结构,采用解析法、根轨迹法和幅相特性Bode图法建立了时/频域指标与控制参数之间的映射关系,以及时/频域指标之间的映射关系。该映射关系可兼顾时域指标和频域指标来更快速高效设计控制参数,而且还可以得到控制参数变化时指标变化的规律。这有助于根据系统需要实现的性能指标进行控制系统的设计。最后用解析法建立系统时间常数、上升时间、截止频率和闭环带宽之间的关联关系。通过该关联关系对系统可建立更加清晰的物理认识,有利于指导在工程设计中当系统出现振荡或者发散现象时如何采取解决措施。

基于位移逆有理Krylov子空间算法的频率域可控源电磁快速正演

本文开发了一种双重复极点位移逆(SAI)有理Krylov子空间算法,实现了频率域可控源电磁法(CSEM)多频电磁场值的快速计算.在有理Krylov子空间算法中,极点选择是保障CSEM正演精度的关键,单重复极点有理Krylov子空间算法在频率域可控源电磁法应用最为广泛,但其缺点在于正演计算频段范围有限,增加极点个数能够获取更宽频段响应.为此,立足于有理Krylov子空间基本理论,推导了多重复极点位移逆算法Rayleigh商一阶秩修改公式,并利用该模型降阶算法开展了可控源电磁法正演模拟.另外,本文利用粒子群算法求解多极点收敛率函数,可以快速获取最优多极点,从而确保正演模拟精度.相比于单重复极点,多重复极点位移逆算法会增加极点计算时间,但能在更宽的频率范围内准确计算电磁场值.根据频率范围选定合适的极点后,该方法仅需要求解与极点数相同的多个线性方程组,通过场源项和系数矩阵求得有理Krylov子空间,再将正演算子投影到有理Krylov子空间中,显著降低正演算子的自由度,提高多频正演的计算效率.设计了均匀半空间和块状异常模型,并开展了算法测试,计算结果表明:在保证精度的情况下,相比于常规矢量有限元算法,单重复极点、双重复极点位移逆模型降阶算法的加速比超过10倍以上;双重复极点位移逆模型降阶算法总体计算精度要优于相应的单重复极点算法,且具有更宽的计算频带.

先进作战管理系统发展研究

本文介绍了先进作战管理系统的发展背景,梳理了系统构成的演变发展;从发展路径、组织管理、采办方式、作战实验4个方面,深入分析了先进作战管理系统的发展特点,提出了有关作战概念创新、作战实验开展、商用技术运用的几点认识。

2.5维频率域可控源电磁法水力压裂监测正演模拟

水力压裂技术在非常规油气资源开采过程中发挥着重要作用,水力压裂监测对指导生产具有重要意义。目前广泛应用的微地震监测不能准确获得水力压裂的有效压裂体积参数,而电磁法对低阻体反应灵敏,可以用来监测裂缝的空间特征和扩展范围。采用频率域可控源电磁法(CSAMT)对水力压裂模型进行了正演数值模拟,详细推导了2.5维CSAMT有限元计算方程并实现了正演数值算法。通过数值解与解析解的对比,验证了算法的可靠性。分别对发射源靠近井口和发射源远离井口两个水力压裂模型进行了数值模拟。为了考察压裂前、后的相对变化,分别求取了各压裂段与仅含套管时的视电阻率相对差异和相邻两个压裂段的视电阻率相对差异。研究结果表明,随着压裂进程的持续,视电阻率的相对差异曲线的极值会朝着裂缝新生成的方向发生偏移,其移动的范围与裂缝的位置具有良好的对应关系,故可以根据视电阻率的相对差异曲线极值的位置对裂缝进行大致定位。根据对视电阻率残差拟断面图的分析可知,在裂缝所对应的位置处,视电阻率产生了足够大的残差数值,虽然由于场源的影响,异常区域的中心与裂缝的中心位置并不一一对应,而是稍微偏向裂缝远离场源一侧的方向,但是可以根据相邻两个压裂段的视电阻率残差结果对裂缝的位置进行初步定位。研究结果表明,频率域可控源电磁法对于水力压裂的裂缝定位是可行的,可以为水力压裂电磁法动态监测提供理论方法和技术支持。

空间引力波探测无拖曳卫星有限频域抗扰控制器设计

在空间引力波探测任务中,有限测量频域约束以及高精度控制指标使双参考质量无拖曳卫星控制器设计面临诸多技术难题.基于此,本文提出了一种基于广义Kalman-Yakubovich-Popov(GKYP)引理的有限频域抗扰控制器设计方法.针对探测任务中指定频段内的性能约束,结合灵敏度和补灵敏度控制指标,在指定频段下构建了具有频率响应函数形式的有限频域控制性能指标.提出了具有固定阶数特性的输出反馈控制结构,并基于GKYP引理建立了控制器参数选取方法,构建了有限频域抗扰控制器设计方法.不同于现有的无拖曳控制器设计方法,该设计方法可以有效降低控制指标的保守性,同时在指定频段下实现了控制器的精确设计,从而降低控制器阶数.数值仿真表明,本文所提方法在复杂扰动和噪声影响下可以满足无拖曳系统各回路控制性能指标.