农田平地机导航侧滑估计与自适应控制方法

针对农田平地机在无人驾驶作业时因受地面侧滑影响而导致路径追踪控制精度降低的问题,提出一种基于牵引式农田平地机的导航侧滑估计与自适应控制方法。根据路径追踪时平地铲与拖拉机的位置关系,建立了牵引式农田平地机的运动学模型;基于运动学模型,提出了一种侧滑估计器,用来预测导航控制中车轮因侧滑产生的侧滑角,并计算出拖拉机的前轮转角控制率;采用改进的非线性函数构造方法对PID控制器的参数KP、KI、KD进行实时整定,实现了农田平地机自适应导航控制。田间试验表明,该方法使平地铲路径追踪的平均绝对偏差减小了6.78 cm,标准偏差减小了10.1 cm。与无侧滑估计和参数自适应的导航控制相比,本文方法提高了农田平地机的路径追踪精度,增强了导航控制系统对平地机的适应性和鲁棒性。     

基于近红外光谱的沼液挥发性脂肪酸含量快速检测

挥发性脂肪酸（Volatile Fatty Acids，VFA）作为厌氧发酵过程的重要中间产物，其在厌氧反应器中的累积能够反映出产甲烷菌的不活跃状态或厌氧发酵条件的恶化。为了实现对农牧废弃物厌氧发酵进行过程分析和状态监控，将近红外光谱（Near Infrared Spectroscopy，NIRS）与偏最小二乘（Partial Least Squares，PLS）相结合构建玉米秸秆和畜禽粪便厌氧发酵液乙酸、丙酸和总酸含量快速检测模型。将竞争自适应重加权采样法（Competitive Adaptive Reweighted Sampling，CARS）与遗传模拟退火算法（Genetic Simulated Annealing algorithm，GSA）相结合构建CARS-GSA算法对沼液中的乙酸、丙酸和总酸进行特征波长优选，原始光谱数据1 557个波长点经预处理和波长优选后，得到乙酸、丙酸和总酸特征波长变量分别为135、101和245个，建立的回归模型验证决定系数分别为0.988、0.923和0.886，预测均方根误差（Root Mean Squared Error of Prediction，RMSEP）分别为0.111、0.120和0.727，相对分析误差分别为9.685、3.685和3.484，与全谱建模相比RMSEP分别减少了17.78%、15.49%和1.22%，能够满足农牧废弃物厌氧发酵过程发酵液中乙酸和丙酸含量的快速检测需求，基本满足总酸的检测需求。结果表明，通过构建CARS-GSA算法优选乙酸、丙酸和总酸的敏感波长变量，参与建模的波长点数量显著减少，有效降低了变量维度和模型复杂度，提升了回归模型检测精度和预测能力，为快速准确检测沼液VFA提供了新途径。     

大型喷杆喷雾机钟摆式主被动悬架自适应鲁棒控制研究

针对大型喷雾机喷杆钟摆式主被动悬架系统存在的参数不确定性和随机干扰导致控制精度低、稳定性差的问题，对基于模型补偿的自适应鲁棒控制算法进行研究。建立了钟摆式主被动悬架的非线性动力学模型和调节机构几何方程，基于模型设计了自适应鲁棒控制器，综合悬架系统和电液位置伺服系统模型中存在的参数不确定性，同时兼顾系统未补偿的摩擦力和外部扰动等不确定非线性因素，通过理论分析和试验证明，在同时存在模型参数不确定和不确定非线性的情况下，设计的控制器可以保证系统输出跟踪控制的暂态性能和稳态精度。以单出杆液压作动器驱动的28m大型喷杆主被动悬架为例，借助建立的大型喷杆悬架半实物仿真平台进行了控制算法的试验验证，并使用Stewart六自由度运动平台模拟底盘的运动干扰，与反馈线性化控制器、鲁棒反馈控制器、PID控制器进行了试验对比，结果表明，设计的基于模型补偿的自适应鲁棒控制器最大跟踪误差0.148°，而反馈线性化控制器最大跟踪误差0.201°，鲁棒反馈控制器最大跟踪误差0.51°，PID控制器最大跟踪误差0.48°。设计的控制器在同时存在参数不确定性和扰动的情况下，使用较小的反馈增益能够保证渐进跟踪性能和稳态跟踪精度。     

Influence of salinity and moisture on the threshold shear velocity of saline sand in the Qarhan Desert,Qaidam Basin of China: A wind tunnel experiment

Determination of the threshold shear velocity is essential for predicting sand transport, dust release and desertification. In this study, a wind tunnel experiment was conducted to evaluate the influence of salinity and moisture on the threshold shear velocity of saline sand. Saline sand samples (mean particle size of 164.50-186.08 μm and the total silt, clay and salt content of 0.80%-8.25%) were collected from three saline sand dunes (one barchan dune and two linear dunes) in the Qarhan Desert, Qaidam Basin of China. Original saline sand samples were placed in two experimental trays for wet and dry processing to simulate deliquescence and desiccation, respectively. Surface moisture content ranging from 0.30% to 1.90% was generated by the steam method so that the saline sand can absorb water in a saturated water vapor environment. The motion of sand particles was determined by the observers with a solid laser. The laser sheet (0.80 cm thick), which was emitted by the solid laser, horizontally covered the sand surface and was bound to the sand. Results show that the cohesion of saline sand results from a combination of salt and water. The threshold shear velocity increases exponentially with the increase in crust thickness for the linear sand dunes. There is a positive linear correlation between the original moisture content and relative threshold shear velocity. The threshold shear velocity of dewatered sand is greater than that of wet sand with the same original moisture content. Our results will provide valuable information about the sand transport of highly saline soil in the desert.     

定西于家山黄土洞穴的分布特征与侵蚀临界研究

黄土洞穴与滑坡、沟蚀等侵蚀过程联系紧密并加剧了黄土高原的水土流失程度,但目前黄土洞穴发育的分布特征与侵蚀临界暂未明晰。利用无人机获得了研究区高分辨率影像与数字表面模型,基于影像标识了黄土洞穴并统计了其土地利用类型与洞穴直径,利用标识点在数字表面模型上提取了黄土洞穴的坡度、坡向、曲率和汇水面积等地形数据并分析了黄土洞穴的分布特征。结果表明,黄土洞穴直径大多4 m。黄土洞穴在耕地上发育较少,多发育于牧草地区域流水汇聚的凹形坡,且在阴坡更为发育。同时,黄土洞穴坡度正切值范围集中于0.4～1.0,汇水面积一般不超过3 000 m~2。依托统计的坡度正切值与汇水面积数据绘制了黄土洞穴的侵蚀临界图并对比了黄土洞穴与浅沟、切沟的侵蚀临界。黄土洞穴的侵蚀临界边界分别为SA~(0.150)=0.368与SA~(0.135)=7.580,分布较广且覆盖了浅沟与切沟的侵蚀临界。浅沟、切沟的演化与黄土洞穴的发育有关,黄土洞穴通过连通与坍塌促进了浅沟、切沟的发育、转换与扩展,并因此加剧了黄土高原的水土流失。研究量化了黄土洞穴发育的分布特征,建立了黄土洞穴与浅沟、切沟的联系并深化了对黄土洞穴侵蚀过程的认识。     

防风草在梅州地区的适应性栽培试验初报

防风草具有很好的医药治疗效果,全草含生物碱、黄酮甙、酚类等物质,具祛风除湿解毒之功效,主治感冒发热,腹痛呕吐,筋骨疼痛等。作为制药原材料发展种植前景广阔,而在梅州地区尚无防风草的栽培、开发与利用的相关报道。本试验以多种栽培模式进行适应性栽培,旨在研究梅州地区防风草的适应性情况,为梅州发展多种经济、充分利用丰富的山地资源、增加农民收入提供技术参考。     

基于自适应趋近律的采摘机器人关节滑模控制研究

利用离散趋近律设计的滑模控制可有效抑制滑模控制中的抖动现象,但其抑制抖动的效果与离散趋近律的设计参数及系统的采样时间有着密切的关系。为此,在分析指数趋近律抖动的基础上,提出了一种自适应滑模控制器,Mat LAB能够进一步的提高基于趋近律的滑模控制器的抖动抑制能力。为了验证本文所提出方法的有效性,在Mat LAB中实现了该算法,并利用其来控制采摘机器人关节的伺服电机。仿真结果表明:本文所提的算法具有较好的位置跟踪能力,进一步地抑制了指数趋近律滑模控制中存在的抖动现象,提高了系统的性能。     

基于模糊神经网络的智能温室环境控制方案

针对农业温室环境的精确建模和控制问题,提出了一种基于模糊神经网络的智能控制方案。首先,在考虑室内外环境因素下,构建一个有效的温室环境数学模型,获得通风量、喷雾量和加热量的微分表达式;然后,利用一种自适应模糊神经推理系统(ANFIS),以温度和湿度差作为输入,通过神经网络自学习和模糊推理获得控制输出;最后,通过遗传算法优化控制器的输出比例因子,提高控制响应速度和稳定性。实验结果表明:该方案能够快速且稳定地追踪环境设置值,具有很好的控制效果。     

The thermal antinociceptive effects of a high-concentration formulation of buprenorphine alone or followed by hydromorphone in conscious cats

ObjectiveTo evaluate the thermal antinociceptive effects of a high-concentration formulation of buprenorphine alone or followed by hydromorphone in conscious cats.Study designRandomized, blinded, placebo-controlled crossover study design.AnimalsA total of six purpose-bred, adult female ovariohysterectomized Domestic Short Hair cats.MethodsCats were allocated into three treatments each consisting of two injections, subcutaneous then intravenous (IV) administration, 2 hours apart: treatment SS, two injections of 0.9% saline; treatment BS, buprenorphine (0.24 mg kg^–1, 1.8 mg mL^–1) and saline; and treatment BH, buprenorphine (0.24 mg kg^–1) and hydromorphone (0.1 mg kg^–1). Skin temperature (ST) and thermal threshold (TT) were recorded before (baseline) and for 24 hours following first injection. TT data were analyzed using mixed linear models and a Benjamini–Hochberg sequential adjustment procedure (p < 0.05).ResultsThere were no significant differences among treatments for baseline ST and TT values, treatment SS over time and between treatments BS and BH. Compared with baseline, TT was significantly increased at all time points in treatments BH and BS except at 2 hours in treatment BS. TT was significantly higher than SS at 3–18 hours and 4–12 hours for treatments BS and BH, respectively. Maximal increases in TT were 47.5 °C at 2 hours, 53.9 °C at 3 hours and 52.4 °C at 6 hours in treatments SS, BS and BH, respectively.Conclusions and clinical relevanceAdministration of IV hydromorphone following high-concentration buprenorphine provided no additional antinociception and decreased the duration of effect when compared with high-concentration buprenorphine alone. Alternative analgesics should be considered if additional analgesia is required after administration of high-concentration buprenorphine.