Prescribed Performance Tracking Control of Time-Delay Nonlinear Systems With Output Constraints

The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper.Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.

Robustness Analysis of Discrete-time Indirect Model Reference Adaptive Control with Normalized Adaptive Laws

For a class of discrete-time systems with unmodeled dynamics and bounded disturbance, the design and analysis of robust indirect model reference adaptive control （MRAC） with normalized adaptive law are investigated. The main work includes three parts. Firstly, it is shown that the constructed parameter estimation algorithm not only possesses the same properties as those of traditional estimation algorithms, but also avoids the possibility of division by zero. Secondly, by establishing a relationship between the plant parameter estimate and the controller parameter estimate, some similar properties of the latter are also established. Thirdly, by using the relationship between the normalizing signal and all the signals of the closed-loop system, and some important mathematical tools on discrete-time systems, as in the continuous-time case, a systematic stability and robustness analysis approach to the discrete indirect robust MRAC scheme is developed rigorously.

Discrete-time Direct Model Reference Adaptive Control： A Systematic Approach

为直接模型引用的分离时间的系统，设计和分析的一个类，有规范的适应法律的适应控制(MRAC ) 被调查。我们责骂在输入和产量之间的 p 和 2 个关系性质上的分离时间的结论，和分离时间的交换词根 1 和 2。我们也建立分离时间的适应法律的性质，定义使正常化的信号，并且联系有在靠近环的系统的所有信号的信号。因此，分离时间的 MRAC 计划的稳定性和集中性质作为在连续时间的案例中以一种系统的方式严厉地被分析。

A Systematic Analysis Approach to Discrete-time Indirect Model Reference Adaptive Control

这份报纸论述间接模型引用的设计和分析有为分离时间的系统的一个类的规范的适应法律的适应控制(MRAC ) 。主要工作包括三部分。第一，构造工厂参数评价算法不仅拥有传统的评价算法的象那些的一样的性质而且在零避免分割的可能性。第二，由发现在工厂参数之间的关系，估计和控制器参数估计并且用工厂参数的性质估计，控制器参数估计的类似的性质也被建立。第三，基于关系，在使正常化之间的性质发信号并且在靠近环的系统并且在分离时间的系统上的一些重要数学工具上的所有信号作为在连续时间的盒子中，到分离间接 MRAC 计划的系统的稳定性和集中分析途径严厉地被开发。

Ehrenfest Approach to the Adiabatic Invariants and Calculation of the Intervals of Time Entering the Energy Emission Process in Simple Quantum Systems

In the first step, the Ehrenfest reasoning concerning the adiabatic invariance of the angular orbital momentum is applied to the electron motion in the hydrogen atom. It is demonstrated that the time of the energy emission from the quantum level n+1 to level n can be deduced from the orbital angular momentum examined in the hydrogen atom. This time is found precisely equal to the time interval dictated by the Joule-Lenz law governing the electron transition between the levels n+1 and n. In the next step, the mechanical parameters entering the quantum systems are applied in calculating the time intervals characteristic for the electron transitions. This concerns the neighbouring energy levels in the hydrogen atom as well as the Landau levels in the electron gas submitted to the action of a constant magnetic field.

Direct model reference adaptive control using K_p = LDU factorization for multivariable discrete-time plants

For a large class of discrete-time multivariable plants with arbitrary relative degrees, the design and analysis of the direct model reference adaptive control scheme are investigated under less restrictive assumptions. The algorithm is based on a new parametrization derived from the high frequency gain matrix factorization Kp=LDU under the condition that the signs of the leading principal minors of/fp are known. By reproving the discrete-time Lp and L2σ norm relationship between inputs and outputs, establishing the properties of discrete-time adaptive law, defining the normalizing signal, and relating the signal with all signals in the closed-loop system, the stability and convergence of the discrete-time multivariable model reference adaptive control scheme are analyzed rigorously in a systematic fashion as in the continuous-time case.

Relativistic algorithm for time transfer in Mars missions under IAU Resolutions: an analytic approach

With tremendous advances in modem techniques, Einstein＇s general rela- tivity has become an inevitable part of deep space missions. We investigate the rela- tivistic algorithm for time transfer between the proper time - of the onboard clock and the Geocentric Coordinate Time, which extends some previous works by including the effects of propagation of electromagnetic signals. In order to evaluate the implicit algebraic equations and integrals in the model, we take an analytic approach to work out their approximate values. This analytic model might be used in an onboard com- puter because of its limited capability to perform calculations. Taking an orbiter like Yinghuo-1 as an example, we find that the contributions of the Sun, the ground station and the spacecraft dominate the outcomes of the relativistic corrections to the model.

Relativistic time transfer for a Mars lander： from Areocentric CoordinateTime to Barycentric Coordinate Time

As the second step of relativistic time transfer for a Mars lander,we investigate the transformation between Areocentric Coordinate Time（TCA）and Barycentric Coordinate Time（TCB）in the framework of IAU Resolutions.TCA is a local time scale for Mars,which is analogous to the Geocentric Coordinate Time（TCG）for Earth.This transformation has two parts:contributions associated with gravitational bodies and those depending on the position of the lander.After setting the instability of an onboard clock to 10;and considering that the uncertainty in time is about 3.2 microseconds after one Earth year,we find that the contributions of the Sun,Mars,Jupiter and Saturn in the leading term associated with these bodies can reach a level exceeding the threshold and must be taken into account.Other terms can be safely ignored in this transformation for a Mars lander.

Relativistic time transfer for a Mars lander:from proper time to Areocentric Coordinate Time

As the first step in relativistic time transfer for a Mars lander from its proper time to the time scale at the ground station, we investigate the transformation between proper time and Areocentric Coordinate Time （TCA） in the framework of IAU Resolutions. TCA is a local time scale for Mars, which is analogous to the Geocentric Coordinate Time （TCG） for Earth. This transformation contains two contributions： inter- hal and external. The internal contribution comes from the gravitational potential and the rotation of Mars. The external contribution is due to the gravitational fields of other bodies （except Mars） in the Solar System. When the （in）stability of an onboard clock is assumed to be at the level of 10-13, we find that the internal contribution is dominated by the gravitational potential of spherical Mars with necessary corrections asso- ciated with the height of the lander on the areoid, the dynamic form factor of Mars, the flattening of the areoid and the spin rate of Mars. For the external contribution, we find the gravitational effects from other bodies in the Solar System can be safely neglected in this case after calculating their maximum values.

Electrodynamics in Noninertial Reference Frames

The electrodynamics both in RF with prescribed law of motion and in FR with prescribed structure is considered. Parallel comparison for solutions in “uniformly accelerated” NRF M?ller system and in uniformly accelerated rigid NFR in the space of the constant curvature is carried out. The stationary criterion is formulated. On the basis of this criterion, one of the “eternal physical problems” concerning the field at uniformly accelerated charge motion is considered. The problems of electromagnetic wave spreading, Doppler’s effect and field transformations are discussed.

小行星探测器轨道计算的动力学研究

针对中国即将开展的小行星探测活动中面临的轨道计算动力学问题进行研究。分析了小行星探测器轨道计算的需求,并对小行星轨道计算中涉及的时空参考系进行了描述,然后对轨道计算所需考虑的动力学模型进行了讨论,并给出了各类摄动加速度的计算公式。最大的是太阳引力加速度,约为10^(-6)km/s^(2);最小的是小行星本体摄动加速度,约为10^(-12)~10^(-13)km/s^(2)。利用欧空局Rosetta探测器的实测数据对动力学模型精度进行了验证,结果表明4天弧段位置互差约15 m,速度互差约0.44 mm/s,动力学模型精度可靠。本研究可以为中国小行星探测活动轨道计算提供参考。

基于模型参考自适应的水肥一体化控制系统设计

针对水肥混合过程中水肥EC值精准控制的问题,设计一个基于模型参考自适应的水肥一体化决策和控制系统。建立母液动态调控模型,并通过该模型设计模型参考自适应控制器。仿真试验结果显示,模型参考自适应控制相较于模糊PID控制,在跟踪试验中超调量降低1.2%,调整时间减少12.6 s,阶跃试验中超调量降低14.4%,调整时间减少超过2 s,抗干扰能力优于模糊PID控制。通过3种方式进行田间试验,对比模糊PID控制和人工灌溉方式,采用模型参考自适应控制能够使番茄株高分别提高15.7%和35.6%,茎粗分别增长11.1%和18.6%,产量分别提升23.3%和48.1%,结果表明,模型参考自适应控制优于模糊PID控制和人工灌溉方式,从而验证模型参考自适应控制的有效性,为精准施肥灌溉提供技术支持。

无主钟的自适应时频实时综合系统研究

海上卫星导航系统对于保障海上安全、提高航行效率、促进海洋经济发展以及提升国家海洋战略地位具有重要意义。海上卫星导航对高精度时间频率信号的需求非常高。基于氢钟和铯钟,研制了1套用于独立守时的时频综合系统。通过搭建实验系统,对原子时算法进行了检验。系统由本地综合装置与相位微跃计组成,改变了传统硬件结构,使用微跃计内高稳晶振作为参考源,可靠性得到了提高;系统实时观测并动态赋权重,无需人为干预信号频率,实现了自动化独立守时。采用自适应加权平均算法,使综合原子时兼顾钟组信号的频率稳定度和频率准确度,从而获得稳定可靠的高精度时间基准。实验结果表明:系统输出信号的秒稳定度达到4.41×10^(-13),天稳定度为4.33×10^(-16),自适应时频综合系统的可行性和可靠性得到了有效验证。

惠州市国产北斗化平台实时定位精度测试分析

惠州市连续运行卫星定位服务系统(HZCORS)在2022年完成了国产北斗化升级改造工作,实现了基准站接收机全面支持北斗三号卫星导航系统即北斗三号(BDS-3)数据,且新的国产北斗化平台(简称“新平台”)具备支持北斗三号数据兼容其他卫星系统数据的处理能力,并支持实时播发1985国家高程(简称“85高”)。作为惠州市现代测绘基准体系的重要支撑,新平台投入使用前的测试显得尤为重要。测试结果表明:①新平台平面和高程的实时定位精度较以往有所提高。②新平台分别使用惠州市似大地水准面模型和广东省似大地水准面模型采集得到的高程成果,契合度均较好。③新平台的平均时间可用性为96.48%,优于规范指标的95%。

时延非线性系统无模型预设性能控制

研究含有状态时延的严反馈非线性系统的跟踪控制问题,充分考虑时延的时变性和任意性以及系统的未知动力学特性.为解决该问题,取代参数辨识、函数逼近、增益调节、指令滤波等常规技术,提出基于导向函数的预设性能控制方法,移除了控制器设计对于系统非线性、控制方向和虚拟控制信号导数等信息的依赖.并且,摆脱基于李雅普诺夫−克拉索夫斯基泛函或拉祖米欣函数的稳定性分析框架,采用基于反证法的受限分析理论,移除性能分析对于已知的时延上界、部分已知的时延非线性函数和时延导数小于1等常见约束.因此,形成无模型、低复杂度、高性能控制方法,将跟踪误差限制于设计者预先选取的性能包络线内,确保系统输出以预先设定的速度和精度跟踪上时变的设定值.最后,以具有延迟回收流的两级化学反应器为对象开展对比仿真,实验结果验证了所提方法的有效性和优越性.

南朝位阶制度考释

出于加强皇权的需要,南朝初期复置了很多东晋时期省并的官职,并新设了大量王府僚佐官。在这种情况下,以官品九品为核心的魏晋旧制丧失了实际功能,而新生效的官员位阶制度即为十八班。此制的主体结构在魏晋时期并不存在,其与魏晋官品的差异,实为南朝与魏晋官制体系的不同。不过,官品在南朝并未被淘汰,而是在吸收班制的基础上形成了“陈官品”。南朝官制中共存的班和品,并非散阶与职位的关系。南朝单个官职的位阶高低,以班次而非官品为准。南朝带帖制度与班制关系密切。官员兼领多官时,往往以东、西省官或散号将军作为带帖官,带帖官和主职的班次共同决定了官员位次。

云南省卫星定位基准站网速度场分析

利用云南省卫星导航定位基准站网系统(YNCORS)2016至2020年近5年99个基准站观测数据,采用GAMIT/GLOBK软件处理,解算得到了基准站的坐标时间序列和不同框架下的速度场。结果表明,云南省基准站ITRF2014框架下东方向平均运动速度31.84 mm/a,南方向平均运动速度为13.09 mm/a,整体运动方向为东偏南方向。以欧亚板块为运动背景场框架下的东方向平均运动速度6.83 mm/a,南方向平均运动速率3.91 mm/a;滇西南运动速率较小并且有着左旋的趋势,滇西区域运动速率较大并且明显存在着右旋的趋势。

国内外虚拟参考咨询服务现状分析与启示

分析了国内外虚拟参考咨询系统及分布式实时合作咨询系统的服务模式 。

GPS、GLONASS、GALILEO三大系统间时间系统以及坐标系统的转换

在当今的三大定位导航系统中,它们各自用着自己的时间标准和坐标框架,这使得我们在进行多样数据处理与数据融合时很不方便。这就需要我们对此三个系统的时间系统以及坐标系统进行有效的转换,本文就是基于这样的需求,详细介绍并分析了此三大系统中各自的时间系统与坐标系统,通过对多方资料的综合、推证与计算,综合得出GPS、GLONASS以及GALILEO三大系统间的时间转换方法及坐标转换模型与公式。而且,这些转换公式与方法所得出的结果是完全能满足绝大多数用户的精度需求的。

时频原子方法在间谐波分析中的应用

提出一种基于时频原子方法的间谐波分析方法。将信号分解成一系列时频原子,其中每个原子都来自于冗余的时频原子库,选择的原子可以最好地匹配信号结构。将分解后原子的Wigner-Ville分布相加得到时频能量分布图,相对于Wigner-Ville分布及Cohen类分布,该时频能量分布图不含有交叉项,其时频图更清晰。分别在有噪声干扰和无噪声干扰的情况下对时变的间谐波信号进行分析,均可有效提取出各次谐波和间谐波的时频信息,为间谐波分析提供了新的途径。