鲁棒μ理论的导弹控制系统应用研究

本文利用鲁棒μ综合控制理论设计了高性能的BTT导弹自动驾驶仪。本文以某型BTT导弹为研究对象,进行导弹自驾仪的应用研究:首先,设计内回路使含有外干扰和自身不确定性的导弹模型能量有界;然后,应用μ综合理论设计外回路实现对能量有界的不确定模型的稳定控制。最后仿真结果表明:控制系统的输出过载在选定的飞行包线内可以有效地跟踪过载指令,并满足相应的动态和稳态性能指标。     

基于自抗扰的倒立摆控制简易算法实现

自抗扰控制技术通过对模型不确定因素和外扰进行补偿,使得控制系统对外扰和不确定因素均有很好的适应能力,能够有效控制多种工业上较为难控的对象,表现了极强的鲁棒性和抗干扰性。倒立摆系统是一个典型的非线性、多变量、绝对不稳定的控制对象,其控制问题具有相当难度。本文应用自抗扰控制技术设计简易的实现算法,并用倒立摆系统来进行验证。仿真结果表明了算法的有效性。     

优化控制给煤机给煤量的改造措施

内蒙古京隆发电公司对#1机组给煤机称重控制系统进行优化改造,取得理想效果。给煤机称重控制系统改造了包括控制柜内集成控制回路、称重测量系统及测速系统3个部分。改造采用西门子PLC控制技术,选用西门子S7-200PLC控制器和西门子MM440变频器,测速部分选用高精度重型光学编码器,称重系统采用皮带静压式内部称重模式,取得了动态精确控制给煤机煤量的效果,且给煤机运行安全稳定,无故障率。     

直升机三轴姿态稳定回路建模与仿真

本文介绍了直升机飞控系统三轴姿态稳定回路的数学模型,基于Simulink动态系统仿真工具开发了某型直升机飞控系统三轴姿态稳定回路仿真软件包。详细介绍了三轴姿态稳定回路仿真软件包中包含的直升机状态方程、串联舵机、并联舵机、三通道控制律结构等子系统模型。运用该仿真软件包,选择三种典型的直升机状态对某型直升机飞控系统三轴姿态稳定回路进行了动态仿真,仿真结果为飞控系统内回路的控制律设计及验证发挥了较好作用,减少了飞控系统硬件在回路半物理仿真试验的次数和周期。     

红外成像导引头捷联稳定平台关键技术浅析

本文以红外成像型近距格斗空空导弹为应用背景,对小型红外成像两轴捷联稳定导引头光机系统以及平台控制技术等问题进行初步探讨,主要介绍有关滚-仰式捷联稳定平台结构设计、控制系统设计及过顶控制问题等关键技术的研究思路。     

继电器电路图改成PLC梯形图的方法

对于继电器控制线路大多数的电器工程技术人员都很熟悉,但对于PLC的梯形图大家到不一定了解的很多。由于PLC控制技术是从继电器控制技术发展来的,所以它沿袭了继电器控制技术中的一些特点使得了解继电器控制技术的工程人员更容易接受。并且如果用PLC改造继电器控制系统,根据继电器电路图来设计梯形图是一条捷径。这种设计方法一般不需要改动控制面板,保持了系统原有的外部特性,操作人员不用改变长期形成的操作习惯。     

浅析工业蒸汽锅炉的自动化控制

叙述了工业锅炉控制系统的工作原理,具体阐述了锅炉控制中的几个重要的控制回路的控制算法,以及变频器在锅炉改造中的应用,提出了锅炉控制系统的基本设计思路和各个环节控制实现方法。     

喷杆式喷雾机流量控制系统的设计

喷雾机流量控制技术在现代精准农业中有重要的作用和地位,本文对国内外流量控制技术进行了详尽的分析,利用压力传感器、测速传感器、流量传感器技术和电磁阀控制技术相结合,研究设计了农药喷雾器的流量控制系统,经试验证明,该流量控制系统提高了精准喷洒的精度,充分满足精准农业所需的控制要求。     

多通道控制加权智能调整航行器控制系统设计

提出一种基于自适应控制理论的机电控制系统算法设计,以某型智能水下航行器控制系统为例,设计出并联参考模型自适应控制系统。设计出基于自适应控制理论的机电设备控制系统,设计了控制系统的硬件电路图,对某型智能水下航行器控制系统的俯仰、偏航和横滚三个通道单独进行设计,分别设计出控制算法,得到俯仰、偏航和横滚控制三个通道的控制系统输出信号仿真结果和软件系统。控制系统的设计和仿真结果显示控制性能实时稳定,软件系统具有较高的人机交互性和友好性,能有效应用与某型水下智能航行器的控制系统中。     

基于MCGS的污水处理过程控制系统论证设计

在本次污水处理过程控制系统论证设计中,MCGS组态软件扮演了非常重要的角色,如:构建组态界面动画便于检测等。同时,根据此次设计的控制要求及认真分析后可知,污水处理过程控制最好是建立在串级回路控制系统的方案基础上进行,这就需要我们根据相关要求对串级回路控制系统有进一步了解,并进行基本论证设计。     

Exo-atmospheric guidance of an accelerating interceptor missile

An exo-atmospheric interception scenario between an accelerating missile and its target is investigated. It is assumed that the maneuvering acceleration is obtained by instantaneous rotation of the missile's body to the required attitude. Two different guidance laws are derived for such an interceptor using the sliding mode control methodology. The difference is in the definition of the sliding surface enforcing different trajectories for the interceptor. It is shown that if this surface is chosen as the zero-effort-miss of the well-known proportional navigation guidance law, then the missile is commanded to point its acceleration vector along the line-of-sight and consequently fly along a curved trajectory. For the second guidance law, a unique sliding surface is chosen enforcing the missile to fly on a straight line towards collision, after the initial heading error is nulled. The performance of the guidance laws is analyzed and compared using a nonlinear two dimensional simulation. It is shown that on top of enforcing a different flight geometry for the interceptor, the use of the new guidance to collision sliding mode guidance law can enhance the capture zone of the interceptor.     

Improved closed loop identification of transfer function model for unstable systems

The method of identifying first order plus time delay transfer function model proposed for unstable systems by Ananth and Chidambaram [Closed loop identification to transfer function model for unstable systems, J. Franklin Inst. 336 (1999) 1055-1061] is modified to avoid the stability problems [Cheres, Parameter estimation of an unstable system with a PID controller in a closed loop configuration, J. Franklin Inst., 2005, accepted for publication] of the method. Two modifications are proposed. In the first modification of the method, the under-determined algebraic equations problem is converted into an optimization problem for calculation of the three parameters of the first order plus time delay (FOPTD) model. A simple method is given for the initial guess values of the model parameters. In the second approach, from the definition of Laplace transform of the output response, a third equation is formulated. The resulted three equations, in terms of the three parameters of the transfer function model, are then numerically solved. Simulation results are given for the second order plus time delay transfer function considered by Cheres 2005 [Parameter estimation of an unstable system with a PID controller in a closed loop configuration, J. Franklin Inst., 2005, accepted for publication]. The responses of the identified models with the same PID controllers are compared with that of the actual system. PID controllers are designed based on the identified models. The closed loop responses of the controllers on the original system are evaluated and compared. The present methods give better control performances.     

分程控制方式的改进探讨及应用

分程控制的难点是分程点的整定,当工艺工况发生变化时,特别是在生产工艺极不稳定的条件下,需要在停车条件下才能对分程点进行重新整定。昆钢高炉煤气梯级自动放散系统中使用双控制器进行分程控制满足了生产工艺的特殊控制要求。     

基于PID神经网络的多变量解耦技术在变风量空调中的应用

本文分析了空调控制系统、变风量空调系统特点及目前存在的控制问题,提出了空调控制系统引入智能控制方案的可行性与必要性,针对变风量空调系统的特点和要求,提出变风量空调系统的控制方案。控制回路由冷水流量—送风温度控制、风机转速—静压点静压控制、送风量—室内温度控制、新风量—二氧化碳浓度控制四个控制回路组成,建立了一种新的多层神经网络,实现了神经网络和PID控制规律的本质结合,在变风量空调控制系统中表现出很强的学习和自适应解耦能力,MATLAB仿真试验说明了系统设计的有效性。     

Distributed cooperative guidance law for multiple missiles with input delay and topology switching

This paper considers the simultaneous attack of a stationary target by multiple missiles. A novel fixed-time distributed guidance law based on the proportional navigation (PN) guidance law is designed by integrating a consistent control technique into the guidance strategy. This guarantees that the time-to-go of the missile becomes consistent. The guidance law adopts a discrete design, and a compensation item driven by normal acceleration is added to tangential acceleration. This eliminates the potential singularity problem when the heading angle is zero before the consistency is obtained, and thus the multiple missile system still converges in fixed time. In addition, the proposed guidance law can be applied to both undirected and directed graphs. Furthermore, two improved guidance laws are proposed to improve the robustness of the system against adverse effects caused by input delays and topology switching failures and to provide a theoretical proof. Finally, a simulation is used to verify the performance of the distributed guidance law and its robustness against the above failures.     

基于PLC的涂附磨具揉曲机张力模糊控制系统

为了满足涂附磨具揉曲机的工艺要求,本文设计的涂附磨具揉曲机的自动控制系统以可编程控制器为核心,采用模糊控制技术协调卷取的张力,数字变频器和交流异步电动机控制电动机的速度,力矩控制器和力矩电动机控制收卷速度,张力检测装置检测卷取的张力并构成闭环控制系统。该系统具有速度稳定、张力恒定、可靠性高、操作简便的特点。     

Design of an adaptive missile autopilot considering the boost phase using the SDRE method and neural networks

An adaptive autopilot to control a skid-to-turn missile during its boost phase is designed using the state-dependent Riccati equation (SDRE) method and neural networks (NN). To address the rapid changes in parameters during the boost phase, the translational and rotational motions of the missile are modeled with time-varying velocity and inertial parameters. The autopilot with a two-loop structure is designed to perform integrated roll-pitch-yaw control of the missile with cross-coupled dynamics; each loop has a baseline controller and an adaptive controller. The baseline controller is designed using the SDRE method for reference command tracking in a nominal environment, and the adaptive controller is designed based on NN to manage uncertainty during the boost phase. Stability analysis of the closed-loop system is performed, and the performance of the proposed autopilot is demonstrated by numerical simulation.     

Nonlinear modified bias proportional navigation guidance law against maneuvering targets

To realize the terminal acceleration constraint for a bias proportional navigation guidance law without usage of switching logics, this paper proposes a modified bias term and presents a terminal acceleration constrained bias proportional navigation guidance law against maneuvering targets. First, a so-called virtual planar coordinates whose origin is attached to the point mass of the target is built, so that the original maneuvering target is transformed to a virtual stationary target. On this basis, the common structure of bias proportional navigation guidance law is presented. To realize the terminal acceleration constraint, a modified bias term related to the relative distance between target and missile is used to improve the bias proportional navigation guidance law. With the virtual look angle and the line-of-sight angle constrained, the proposed modified bias proportional navigation guidance law can intercept the maneuvering targets in a desired attack angle. Comparisons with the optimal guidance law in the linear system are carried out, and the proposed law is proved to be near-optimal. The numerical simulation results demonstrate the all-aspect interception capability of the proposed law against maneuvering targets.     

中国技术转移体系的演化状态及协同机制研究

本文以回顾我国技术转移体系的演进历程为逻辑起点,对技术转移体系的内容、特征及机制进行阐述,从纵向视角对我国技术转移体系进行解析,将其分为五个子系统,运用复合系统协同度模型对我国技术转移体系的内部演化状态进行测度。研究发现:我国技术转移体系呈现良好的演化态势,但总体水平较低,其薄弱环节为技术中介和扩散系统,表明仅强调某个系统的发展而忽视其它子系统,难以实现技术转移体系的协同发展。最后,尝试性地构建我国技术转移协同运行机制,以供我国技术转移实践之参考。     

Disturbance observer-based robust missile autopilot design with full-state constraints via adaptive dynamic programming

This paper aims to develop a robust optimal control method for longitudinal dynamics of missile systems with full-state constraints suffering from mismatched disturbances by using adaptive dynamic programming (ADP) technique. First, the constrained states are mapped by smooth functions, thus, the considered systems become nonlinear systems without state constraints subject to unknown approximation error. In order to estimate the unknown disturbances, a nonlinear disturbance observer (NDO) is designed. Based on the output of disturbance observer, an integral sliding mode controller (ISMC) is derived to counteract the effects of disturbances and unknown approximation error, thus ensuring the stability of nonlinear systems. Subsequently, the ADP technique is utilized to learn an adaptive optimal controller for the nominal systems, in which a critic network is constructed with a novel weight update law. By utilizing the Lyapunov's method, the stability of the closed-loop system and the convergence of the estimation weight for critic network are guaranteed. Finally, the feasibility and effectiveness of the proposed controller are demonstrated by using longitudinal dynamics of a missile.