基于遗传算法的液压伺服系统控制优化

针对系统的跟踪精度和PID控制器参数整定问题,创建了液压伺服系统的数学模型,通过遗传算法对PID参数进行整定,最后基于MATLAB/Simulink仿真软件,通过遗传算法和经验试凑法整定PID控制器参数,并对仿真结果进行对比分析。仿真结果显示,遗传算法整定PID控制参数具有明显的优越性,能有效地提高液压伺服系统的位置跟踪精度。     

油气悬架加载试验台正弦波复现控制方法

针对某油气混合型悬架试验系统,建立了油气悬架负载的电液伺服驱动力控制系统的数学模型.提出基于Widrow-Hoff学习算法的ADALINE神经网络控制定步长幅相控制正弦波复现方法.在对算法收敛速度影响因素分析的基础上,提出了应用相对量实现幅相控制的改进方法.以油气悬架加载试验台系统特性为仿真对象,对比了相对量控制方法与绝对量控制方法在收敛速度上的不同,给出了系统收敛时间与输入信号频率和幅值的关系,算法收敛终值与幅值及频率的关系.结果证明,将相对量作为幅相控制的输入,可以有效地提高系统的收敛速度,间接提高了正弦波复现的精度,使幅相控制方法具有更好的实用效果.     

玉米中耕变量施肥电控液压驱动系统设计与试验

针对玉米中耕追肥时肥料利用率低、液压驱动变量施肥转速控制效果差,以及电机驱动力不足等问题,设计了大垄双行玉米中耕变量施肥电控液压驱动系统。系统主要包括光谱传感器、车载计算机、控制系统及液压系统。电控液压系统主要由液压泵站、电磁比例阀、液压马达、编码器及移动控制器等组成。移动控制器以微控制单元为核心,通过PID控制算法输出PWM信号,驱动电磁比例阀,达到稳定控制液压马达转速目的。搭建室内台架试验台,采用MatLab对电控驱动系统PID控制进行仿真测试,以减少整定PID系数次数,提高整定效率,初步确定PID参数分别为K_P=4.59、K_I=0.469、K_D=0.117。室内台架试验结果表明:确定PID控制参数分别为0.73、0.47、0.40,设定转速指令为100r/min时,电控液压驱动系统的超调量为13%、响应时间为0.85s,系统等幅振荡稳定后平均转速为99.8r/min,转速偏差为0.2%,转速控制精度高。田间试验表明:电控液压驱动系统控制精度高,在不同转速下转速控制精度可达98%,均可达到稳定控制的效果,可满足玉米中耕变量施肥精准控制的要求。     

基于内模控制的主动悬挂电液伺服作动器位置控制研究

针对负载质量和负载力等参数不确定的主动悬挂电液伺服作动器位置控制系统,采用内模控制方法对其进行位置控制。根据系统特性建立了电液伺服作动器位置控制系统线性化数学模型,并基于此模型设计了内模控制器。为验证内模控制器的控制效果,进行了与PID控制的对比仿真分析和台架试验。以阶跃信号为输入信号进行了仿真分析,仿真结果表明,系统在内模控制下的单位阶跃响应快速、平稳、无超调,动态特性优于PID控制,且当系统受到外部干扰时,内模控制比PID控制能更快速、平稳地恢复至稳态值。台架试验包括改变正弦输入信号频率和改变负载质量两种试验方案。结果表明,当正弦输入信号频率由0.1Hz增加至2Hz时,基于PID控制的系统跟踪性能明显恶化,而基于内模控制的系统跟踪性能并无明显变化;当负载质量发生变化时,基于内模控制的系统跟踪误差变化幅度明显小于PID控制。基于内模控制的电液伺服作动器位置控制系统的跟踪响应性能优于PID控制,满足主动悬挂系统的使用要求。     

拖拉机犁耕阻力信号在室内仿真中的复现

犁耕阻力信号的无失真复现是拖拉机悬挂系统室内仿真中的重要环节。由于模拟加载器部分(由恒值力加载和交变力加载组成)的频宽较低,给信号的复现带来一定的困难。本文在获得田间犁耕阻力信号的前提下,运用系统辨识、参数优化及数字仿真技术,在现有的拖拉机液压悬挂系统仿真试验台上对加载器进行了研究,解决了田间信号的室内复现问题。     

鲜食葡萄冷链物流气体传感器响应特征试验研究

随着冷链耦合保鲜/气调技术的发展,气体成分参数已经成为鲜食葡萄冷链物流监测与追溯的重要指标之一。针对现有气体传感器不能满足冷链物流监测与追溯的高精度和微量化需求,选取CO2、O2和SO2为基本参数,利用基于时域特征参数提取方法,研究气体传感器静态、动态响应的特征参数,用线性回归法进行优化,筛选最佳特征参数。研究结果表明,鲜食葡萄冷链物流O2和SO2传感器最佳特征参数分别为空气中的响应基值Xa、稳态响应幅值Xg、响应速度Dres、响应恢复速度Drec、响应时间tres、响应恢复时间trec和响应幅值的累积Int Pres,其中,CO2传感器响应幅值的累积特征低于O2和SO2传感器。最佳特征参数能够对冷链物流中具有累积效应的气体传感信号进行有效地特征分析,进一步提高冷链物流气体传感器应用及监控的精度、灵敏度和稳定性。     

花生联合收获机秧蔓夹持输送系统载荷谱编制

花生联合收获机夹持输送系统存在经常堵塞问题,对其液压系统的工作载荷进行研究极为关键。为得到反映花生秧蔓夹持输送系统的典型作业载荷谱,根据多次田间试验结果,选取花生秧蔓夹持输送系统液压马达输出轴转速为310、360、410r/min时的工况,进行系统液压马达田间作业载荷测试试验。针对大量的测试数据,采用转折点提取方式将载荷数据压缩至原来的1/50左右;随后利用雨流计数将时域内的载荷转换为雨流域内的均值、幅值载荷;再根据极大似然参数估计法分别对均值、幅值载荷数据进行统计分析。基于拟合检验结果分析得到,当花生秧蔓夹持输送系统液压马达输出轴转速为410r/min时,系统压力载荷均值和幅值分别满足分布均值为7.28、标准差为0.81的正态分布以及阈值为0.32、尺度参数为0.30、形状参数为0.90的三参数威布尔分布要求,可作为系统载荷谱编制的典型田间作业工况。由于室内台架试验以及花生秧蔓夹持输送系统机械零部件测试及产品结构优化设计的需要,将系统液压马达的压力信号转换为扭矩信号。根据均值、幅值的独立性,建立典型作业工况载荷的联合概率密度函数,采用载荷外推法得到液压马达输出轴扭矩的二维载荷谱,同时,结合实际试验加载的需求,进行二维载荷谱的降维操作,根据变均值法得到一维扭矩程序谱。     

电液手控器型遥操作机器人力反馈控制策略

针对现有电动力反馈操纵装置存在刚度小、力效果不明显的问题,设计了电液伺服力反馈手控器。该手控器在水平方向上具有X、Y两个旋转自由度,每个自由度采用单独的伺服阀控液压马达驱动,空间运动互不干涉。综合传统的力反射伺服型和并列型双向伺服控制算法的优点,提出力/位置偏差复合型主从双向控制策略。以液压手控器为主手,四自由度工程机器人为从手,进行主从遥操作力反馈双向伺服试验研究。验证了力/位置偏差复合型控制算法能有效提高系统响应的快速性和稳定性。     

基于粒子群算法的混联机构神经网络自适应反演控制

针对含有不匹配干扰的混联机构轨迹跟踪控制问题,提出了一种极限学习机与自适应反演控制相结合的控制策略。在对干扰进行分析的基础上,分别采用两个极限学习机网络对系统中的匹配和不匹配干扰进行逼近和补偿。基于Lyapunov函数稳定性设计了混联机构的控制律与自适应律,实现混联机构的轨迹跟踪控制。由于控制器可调参数较多,采用粒子群算法进行控制器参数的寻优整定。仿真结果表明,所提出的控制方法具有良好的轨迹跟踪精度和鲁棒性。     

液压并联机器人力/位混合控制策略研究

针对液压驱动的六自由度并联机构,提出了基于机器视觉的力/位混合控制策略,以实现并联机构的跟随对接等需要与环境密切接触的任务。平台的视觉系统由一架CCD摄像机和一个激光测距器构成,用来测量平台与目标之间的相对距离,同时通过一个平板式六自由度力传感器对接触过程的作用力进行测量。其控制器由内外两个闭环构成,并通过补偿环节对外力扰动进行修正。最后通过若干试验验证整个控制方式的有效性。试验结果表明,整个系统在相对位置跟踪和接触力控制方面具有优异的性能。在整个对接试验过程中,接触力被控制在300 N之内。     

Overland water and salt flows in a set of rice paddies

Cultivation of paddy rice in semiarid areas of the world faces problems related to water scarcity. This paper aims at characterizing water use in a set of paddies located in the central Ebro basin of Spain using experimentation and computer simulation. A commercial field with six interconnected paddies, with a total area of 5.31 ha, was instrumented to measure discharge and water quality at the inflow and at the runoff outlet. The soil was classified as a Typic Calcixerept, and was characterized by a mild salinity (2.5 dS m⁻¹) and an infiltration rate of 5.8 mm day⁻¹. The evolution of flow depth at all paddies was recorded. Data from the 2002 rice-growing season was elaborated using a mass balance approach to estimate the infiltration rate and the evolution of discharge between paddies. Seasonal crop evapotranspiration, estimated with the surface renewal method, was 731 mm (5.1 mm day⁻¹), very similar to that of other summer cereals grown in the area, like corn. The irrigation input was 1874 mm, deep percolation was 830 mm and surface runoff was 372 mm. Irrigation efficiency was estimated as 41%. The quality of surface runoff water was slightly degraded due to evapoconcentration and to the contact with the soil. During the period 2001–2003, the electrical conductivity of surface runoff water was 54% higher than that of irrigation water. However, the runoff water was suitable for irrigation. A mechanistic mass balance model of inter-paddy water flow permitted to conclude that improvements in irrigation efficiency cannot be easily obtained in the experimental conditions. Since deep percolation losses more than double surface runoff losses, a reduction in irrigation discharge would not have much room for efficiency improvement. Simulations also showed that rice irrigation performance was not negatively affected by the fluctuating inflow hydrograph. These hydrographs are typical of turnouts located at the tail end of tertiary irrigation ditches. In fact, these are the sites where rice has been historically cultivated in the study area, since local soils are often saline-sodic and can only grow paddy rice taking advantage of the low salinity of the irrigation water. The low infiltration rate characteristic of these saline-sodic soils (an experimental value of 3.2 mm day⁻¹ was obtained) combined with a reduced irrigation discharge resulted in a simulated irrigation efficiency of 60%. Paddy rice irrigation efficiency can attain reasonable values in the local saline-sodic soils, where the infiltration rate is clearly smaller than the average daily rice evapotranspiration.     

瓦房店市水果生产标准化发展研究

瓦房店市是我国重要的水果生产基地,在国内水果生产领域占有重要地位。随着水果市场化的不断深入,如何满足和适应国内外市场需求成为瓦房店市水果生产的关键问题。从瓦房店市水果生产实际出发,阐述了实施水果生产标准化的必要性,提出了发展水果生产标准化的具体措施。     

金谷子耐旱TG118引种试种及推广应用

对引进的谷子新品种金谷子耐旱TG118进行品种比较试验和多点试种。结果表明：该品种抗旱、耐瘠、适应性强,稳产、高产、抗病抗风抗倒伏强,品质优良,粮草兼用,种植简单,省工易管;一般产量在6000kg/hm2以上,比当地主栽品种增产20%以上。最高产量达9450kg/hm2,适于在辽西北地区推广应用。     

对《种子法》存在问题的探讨

《种子法》是我国种植业第一部法律。自实施以来,为依法加强种子管理提供了有力的法律支撑,促进我国种子产业发生翻天覆地的变化。但随着依法管理工作的深入和种子产业的快速发展,《种子法》及配套规章的一些问题逐步显现出来。对《种子法》及配套规章存在的问题进行深入分析,对需要进一步补充的章节以及需要调整的内容进行深入探讨,以求更加完善和明确。     

Review of the Egyptian experience in implementing land drainage projects

About 30 years have passed since the Government of Egypt embarked on implementing a series of large scale drainage projects. At present, about 3.8 million acres have been provided with drainage systems on the basis of systematic pre-drainage investigations and designs. The target is to provide drains in approximately 6.4 million acres in the Nile Valley and Delta.The implementation of the subsurface drainage system is carried out by the public sector and private contractors under direct supervision of governmental regional departments. The implementation process depends on many factors related to the drainage material, machinery, manpower, site requirements, farmers and organizations involved. Problems and constraints are sometimes challenging, however, the annual rate of implementation has gradually increased to 170,000 acre/year.This paper discusses the different aspects involved in the implementation process of drainage systems. The development in materials, machinery and construction technologies will be reviewed. Institutional and management factors are going to be also considered.     

和谐社会理论建设的几点哲学思考

在新世纪,面对机遇和挑战,党的十六大把“社会更加和谐”作为全面建设更高水平的小康社会的一个重要目标。中国人素有社会和谐的理想;西方人自古也向往社会和谐;借鉴东西方两种和谐社会思想的经验、教训,构建社会主义和谐社会理论。     

A European irrigation map for spatially distributed agricultural modelling

We present a pan-European irrigation map based on regional European statistics, a European land use map and a global irrigation map. The map provides spatial information on the distribution of irrigated areas per crop type which allows determining irrigated areas at the level of spatial modelling units. The map is a requirement for a European scale assessment of the impacts of irrigated agriculture on water resources based on spatially distributed modelling of crop growth and water balance. The irrigation map was compiled in a two step procedure. First, irrigated areas were distributed to potentially irrigated crops at a regional level (European statistical regions NUTS3), combining Farm Structure Survey (FSS) data on irrigated area, crop-specific irrigated area for crops whenever available, and total crop area. Second, crop-specific irrigated area was distributed within each statistical region based on the crop distribution given in our land use map. A global map of irrigated areas with a 5′ resolution was used to further constrain the distribution within each NUTS3 based on the density of irrigated areas. The constrained distribution of irrigated areas as taken from statistics to a high resolution dataset enables us to estimate irrigated areas for various spatial entities, including administrative, natural and artificial units, providing a reasonable input scenario for large-scale distributed modelling applications. The dataset bridges a gap between global datasets and detailed regional data on the distribution of irrigated areas and provides information for various assessments and modelling applications.     

粉质仪和拉伸仪在面粉生产中的应用

在介绍粉质仪和拉伸仪结构和原理的基础上,探讨了粉质曲线中吸水率、形成时间、稳定时间、弱化度和评价值等指标与面粉品质的关系,以及如何根据拉伸曲线中面团最大拉伸阻力、延伸度和拉伸曲线面积等指标来评价面团品质,并结合生产实际,概述了粉质仪和拉伸仪在面粉生产中的作用。     

农村信息化服务的现状及建设措施

分析当前我国农村信息化服务的现状,提出加强农村信息化服务的新举措。     

车辆ABS控制算法的研究及探讨

对现代汽车的ABS控制算法作了一些简单的介绍,同时指出了它们的一些缺陷,相应地提出了几种对ABS的其它控制方法并加以探讨,其中着重论述了ABS门限值控制算法中参考车速的确定方法和基于附着系数的控制算法。