液电混合直线驱动系统位置控制特性研究

提出了一种采用电-机械直线执行器和液压缸的液电混合直线驱动系统。为消除电-机械直线执行器和液压缸之间的耦合影响,液压泵和比例阀协同控制液压缸输出力和运行方向,满足系统负载力需求,电-机械直线执行器用于运动控制,并补偿液压缸输出力波动和外部干扰力。为实现上述目标,设计了基于扩张状态观测器的电-机械直线执行器自适应滑模控制方法,以估计的负载力调节泵压力和比例阀开度,对液压缸输出力进行调控。比例阀在系统运行中主要用于控制液压缸运动方向,阀开度较大,可显著降低节流损失。通过仿真和试验分析了系统的运行特性和能效特性。结果表明,该系统具有良好的位置控制特性,能量效率高,较传统阀控系统能耗减少51%。     

基于逆系统方法的直驱式AMT换挡控制方法

为提高直驱式AMT换挡品质的稳定性,针对2自由度电磁执行器的特性引入逆系统控制方法。阐述了执行器的结构及工作原理,通过建模分析了执行器参数耦合现象,执行器静态特性测试表明其输出特性具有非线性的特点。引入逆系统方法并分析系统的可逆性,建立执行器的伪线性系统并根据线性系统理论设计状态反馈控制器。扩张状态观测器的引入提高了系统在摩擦阻力时变条件下的输出特性稳定性。仿真与试验结果表明,基于逆系统方法的换挡控制受参数变化影响小,位移控制精度较高,执行器输出特性较为稳定,基于逆系统方法的直驱式AMT换挡性能较为突出,有利于提升AMT竞争力。     

电液伺服遥操纵机器人主-从位置控制器

针对电液伺服遥操纵机器人主-从双向伺服位置控制中存在的非线性和不确定性,提出主-从侧分别使用带干扰观测器的最优控制和有鲁棒补偿的PD反馈控制算法,以克服主动侧各液压缸因动态特性差异造成的位置跟随误差和从动侧外界环境的随机干扰对系统稳定性的影响.分别设计了观测器跟踪扰动的二次型控制器和有动态鲁棒补偿的位置控制器,通过仿真和试验验证了所设计控制器的有效性.试验结果表明,所设计的位置控制器,既提高了主-从位置跟随精度,又具有较强的自适应性和鲁棒性;提高了力反馈电液伺服遥操纵机器人系统的操作性.     

Saturation and Parameter Variation Influence Precision of Observer

The authors analyze the influence in vector controlled induction machine caused by parameter variation and main flux saturation affects speed estimation of adaptive state observer. According to simulation of the modified scheme with saturated induction motor model, it is proved that when the vector control scheme operates in field weakening region, the main flux saturation will obviously influence precision of speed observer and bring great error of speed estimation. Thereby, the main flux saturation should be compensated to improve performance of the vector control system.     

EFFECT OF OBSERVER VARIABILITY ON GLOMERULAR FILTRATION RATE MEASUREMENT BY RENAL SCINTIGRAPHY IN DOGS

Observer variation in kidney depth measurement for correction of soft-tissue attenuation and kidney region of interest (ROI) drawing was evaluated using 60 clinical dogs with a wide range of glomerular filtration rate (GFR) for their effect on the calculated percentage uptake of 99mTc-diethylenetriamine pentaacetic acid (DTPA) and individual kidney GFR by scintigraphy. Kidney depth was measured separately on the lateral image using two color tables: a threshold and a continuous red-green-blue. Within-observer variability of the semi-automatic ROI drawing of the estimated total GFR was up to 10% for the right kidney (RK) and 9% for the left kidney (LK). The variability was lower between observers, 6% for RK and 8% for LK. Manual ROI drawing caused more within observer variation than semi-automatic: up to 14% for RK and 11% for LK. Continuous red-green-blue table caused more variation within and between observers than threshold table. Average within-observer variability from both observers of kidney depth measurement on different color tables could vary up to 5.5% and 6.5% variation of the GFR of RK and LK, respectively. Most variation affecting the DTPA percentage uptake came from the ROI drawing technique. Variations of the method because of the effects of both kidney depth and kidney ROI drawing were up to 8% and 10% for RK and LK, respectively. To minimize these variations a threshold scale should be used for the kidney depth measurement and an automatic or semi-automatic ROI should be used whenever possible. In sequential examinations the same person should make all the measurements.     

Reliability of pelvimetry is affected by observer experience but not by breed and sex: A cross-sectional study in beef cattle

Pelvis size plays an important role to prevent dystocia in cattle caused by the foeto-maternal disproportion in commonly primiparous females. The reproducibility and repeatability are two important aspects for the reliability of the measurements to use in the selection of cattle for culling. Pelvic measures were taken with a Rice pelvimeter from 224 young cattle (180 females and 44 males) of four beef breeds in South Africa. One experienced and two inexperienced observers each measured pelvic height and width twice. The proportion measurements with a maximum difference of 0.5 cm within animal compared with the first measurement by the experienced observer are around 80% and by the inexperienced observers around 50% for pelvic height and around 60% for pelvic width. Breed and sex do not affect the reliability of pelvimetry by an experienced observer. Under- and overestimation of pelvis size were observed in inexperienced observers, which seems to be unrelated to breed and sex.     

基于干扰观测器的直播机路径跟踪快速终端滑模控制

针对农田中存在不确定性干扰时,会导致建立的无人水稻直播机运动学模型精确度不高,从而使路径跟踪收敛时间长,跟踪效果较差等问题,提出由直播机运动学模型建立相应的非线性干扰观测器从而实现对不确定性复合干扰的精确观测。将观测到的干扰值补偿到运动学模型中以提高模型的精度,降低滑模控制的抖振。为了控制直播机沿指定路径作业并提高路径跟踪收敛时间,设计了一种快速终端滑模控制算法。基于李雅普诺夫判据检验了算法闭环系统的稳定性。使用Matlab/Simulink建立了农机运动学仿真模型,仿真结果表明,非线性干扰观测器能精确观测出系统的不确定性干扰。与不带干扰观测器的滑模控制算法相比,本文控制算法可有效减少收敛时间,抑制干扰带来的抖振。无人直播机水田作业实验表明,采用本文所提出的算法以1.2m/s的速度高效作业时,横向平均绝对偏差为0.0247m,均方差为0.0311m。并且转弯收敛速度快,无超调,路径跟踪精度满足实际作业要求。     

Filtering method for obtaining stock indices by shark species from species-combined logbook data in tuna longline fisheries

ABSTRACT:   A method of filtering logbook data to obtain estimates of catch per unit effort (CPUE) for sharks has been proposed which simultaneously addresses the issues of under-reporting and the lack of species-specific catch records in historical data. Logbook catch data from vessels with high shark reporting rates are used to represent catch rates for the abundant blue shark Prionace glauca and low reporting vessels' data are used for the main commercially valuable species, the shortfin mako Isurus oxyrinchus . Logbook reporting rate filter (RRF) levels are evaluated through analytical and model-based comparisons to species-specific logbook records available since 1994 and shipboard observer data. At the high reporting rates, the ≥ 80% filter avoids large numbers of false zeros and provides the best fit to observer data for blue shark. At the low reporting rates, the ≤ 40% filter best matches the observer data for makos, but this filter level includes large numbers of false zeros and sharks of other species. The ≤ 20% filter produces a dataset that is better targeted to mako catches but considerably under-estimates CPUE relative to observer records. For these reasons, other means of estimating mako catch rates are suggested for further research.     

阀控非对称缸电液伺服系统的线性鲁棒观测器设计

为了更为有效地诊断电液伺服控制系统的故障,设计良好的状态观测器是至关重要的前提。针对阀控非对称缸电液伺服系统,提出一种线性鲁棒观测器的设计方法。在考虑建模误差、参数变化、外力干扰、过程噪声以及测量噪声等影响因素的前提下,将系统非线性模型进行线性化,并据此设计系统的线性鲁棒观测器。仿真结果表明：小负荷情况下,该文设计的线性观测器具有一定的鲁棒性。     

基于终端滑模和扰动观测的Buck型变换器复合控制技术

目前功率变换器的控制方法以纯状态反馈为主,当干扰较大时一般需要通过较大的增益来抑制干扰的影响,而高增益控制器通常会影响闭环系统的动态或稳态性能。为进一步提高Buck型变换器控制系统的动态和稳态性能,提出了一种基于非奇异终端滑模控制方法和扰动观测技术的复合控制方案。首先,考虑外界干扰、系统不确定以及参数变化的影响,建立Buck型功率变换器的平均状态模型;其次,基于非奇异终端滑模控制方法,设计滑模控制器,实现Buck型变换器的基本电压调节功能;最后,利用扰动观测技术,构造非线性扰动观测器实现对扰动的观测,并将扰动观测值作为前馈与状态反馈结合形成复合控制,进一步改善了系统的性能。仿真和实验验证了所提方法的有效性。