控制器

The controller makes the closed-loop systems internally stable and minimizes the H2 norm of the transfer matrix Tzw from w to z. Two Riccati formulae based on 8 operator is deduced. The H2 problems for continuous time systems, Z operator models and 8 operator models are investigated respectively.The guaranteed cost control problem of robust stabilization and robust performance for uncertain systems which is described by 8 operator is discussed in this paper.

采用Riccati方程处理方法讨论了基于Delta算子描述下的离散系统存在输出反馈控制器的问题，得到了两个基于Delta算子的Riccati方程，设计了Delta域的输出反馈控制器，使得闭环系统内稳定，且满足从w到z的传递矩阵T_的H_2范数最小，设计了基于Delta算子描述下的离散系统的最优控制器，并与S域和Z域的H_2控制器进行了比较。

Since the motherboard with the soft, hard disk, such as the use of DMA operations between the peripheral, DMA operation of the response process is as follows (AST386 in the floppy disk to DMA as an example): floppy disk drive made by DREQ2 signal to the DMA controller (82C206), and DMA controller to the CPU (80386) issued HRQ signal, CPU end the current bus cycle after HLDA response signal to the DMA controller, DMA controller issued a final response signal DMA to the floppy disk drive DACK2 allow its data into the system bus.

由于主板与软、硬盘等外设之间采用DMA操作，DMA操作的应答过程如下(以AST386中软盘DMA为例)：先由软盘驱动器发DREQ2信号给DMA控制器(82C206)，然后DMA控制器向CPU(80386)发HRQ信号，CPU结束当前总线周期后发响应信号HLDA给DMA控制器，最后DMA控制器发DMA响应信号DACK2给软盘驱动器允许其数据进入系统总线。

The dominant merit of the proposed decoupling PID controller was that the controller was developed in an absolutely transparent manner and the controller can realize significant decoupling among the nominal responses of system outputs. Moreover, every output can be tuned on line by the single adjustable parameter in the corresponding diagonal element of the controller.

该解耦PID控制器的突出优点是控制器设计过程简单直观；控制器可以实现标称系统输出间的显著解耦；系统输出分别使用相应控制器对角元素中的调节参数进行单参数整定。

A more general structure for the classic PID controller is proposed by using fractional integral and differential operators.

分数阶PI~λD~μ控制器是用分数阶微分、积分运算器代替经典PID控制器中微分、积分运算器，这样，使分数阶PI~λD~μ控制器和经典的PID控制器统一起来。

Based on two algebra Riccati equation method especially the structure of the system Hamilton matrix and system observability theory, the role of invariant zeros in constructing system reduced order controllers was given. That is, by the suitable selection of free parameters of the system H(subscript ∞) controller, some points which were symmetry with the unstable invariant zeros about the imaginary axis became the stable poles of the system controller which were not observable and could be reduced from the system, thus could get further reduced order controller.

基于2代数黎卡提方程方法，特别是系统Hamilton矩阵的结构特点和系统可观测性理论，论述了不变零点在构造系统降阶控制器中所起的作用，即通过选择控制器的自由参量，使某些不稳定的不变零点关于虚轴对称的点构成系统控制器不可观的稳定极点，从而实现了控制器进一步降阶。

ABSTRACT Aiming at problems of trans-vector controller in a vehicle-carried induction motor such as variable rotor and stator resistance following motor temperature, and their inductance varying with flux saturation degrees. Firstly, CSI and VSI are introduced, for CSI, it can hold the advantages both FOC and DTC using stator flux directional, PI parameter and simulation are also introduced. Secondly, equations of IM in the synchronous rotary frame and its static counterpart, as figuring in the saturation condition of magnetic field, are dealt in this paper and the simulation results are presented. Thereafter, the parameter designing of PI trans-vector controller is processed, which features the non-linear model. In practical realization, as neglecting the dynamical change of motor inductance, this paper employs online modification of inductance parameters, according to the flux saturation, then transforms the non-linear equations into linear ones, and so compacts the structure of controller. Thirdly, in view of the maximum torque output is extraordinary requisite when Electrical Vehicle start up, accelerate, and overtake, this paper issues the maximum torque when both inverter and battery capacity is corporeally definite. Fourthly, on-line differentiating and analyzing both rotor's time constants and its flux by using the expanding order reduction and discrete Kalman filter equation are fathomed, in order to realize high-performance trans-vector algorithm, and also the simulation results are presented. Fifthly, the close-loop regenerative brake system, when the EV's torque is set constant, is deduced; at the same time, unification of electric drive model and brake model is executed. Combined with maximum charge current demands, the mathematical model for online yielding torque as a demand.

本论文针对车载异步电机在矢量控制器所遇到的问题：定转子电阻随温度变化及随电机饱和程度变化的转子电感及定子电感而影响电机调速性能提出一套完整的解决方案：分析了电流型逆变器和电压型逆变器在实现矢量控制时控制器参数的计算，分析出对于电流型逆变器在采用定子磁场定向时，其性能同时具有矢量控制和直接转矩控制两者的优势，并对电压型逆变器在转子磁场定向下的模型进行了仿真研究；建立异步电机非线性模型，推导出考虑磁饱和时异步电机在同步旋转坐标系及静止坐标系下的方程，并做出了仿真结果，建立异步电机在非线性模型下的矢量控制调节器的PI参数设计，在实际应用中，若忽略电机电感的动态变化，可以根据当前的磁路饱和状态而在线修正电感参数，从而将非线性方程线性化，降低控制器的复杂度；考虑到电动汽车在起动和加速超车时需要电机有最大转矩输出，本文讨论在逆变器容量一定和电池供电能力有限的情况下电机最大转矩输出问题；推导了异步电机扩展降阶、离散卡尔曼滤波方程在线辨识转子时间常数和转子磁通，用于实现高性能的矢量控制算法，并给出了仿真结果；推导出了电动汽车恒转矩给定的闭环回馈制动系统，实现了电动控制模型和制动模型的统一，而且结合铅酸电池最大充电电流的要求，为制动转矩在线给定建立了数学模型；设计了基于双DSP系统的高性能矢量控制器软硬件框图，并以大量实验数据说明矢量控制在电动汽车应用的实际应用状况。

Through the characteristic parameters, the system's real-time moment of inertia is given. Then golden section adaptive control law and logic derivative control law both based on moment of inertia are designed. The two kind of control laws are combined to control the attitude of spacecraft and their simulation results are compared with the ones of PD control law which is designed based on the certainly-known system model. The results show that this adaptive control law is effective on the kind of time-variable system studied in this paper.

根据特征模型的参数推算了系统实时的转动惯量，设计了基于转动惯量的黄金分割自适应控制器和逻辑微分控制器，将这两种控制器相结合对带有可伸缩挠性附件的刚体进行姿态控制，仿真结果与基于确知系统模型所设计的变系数PD控制器相对照，表明了该自适应方法控制一类时变系统的有效性。

Both of them have some merit and demerit respectively. The CPM approach presented in this chapter can overcome the shortcomings of the two approaches to some extent. CPM evolves fuzzy controllers in two layers: global and local layer.

本章发展了基于规则的模糊控制器的思想，指出基于规则的模糊控制器和传统的基于领域的模糊控制器在结构和对问题的表达方式上是截然不同的，基于规则的模糊控制器更适合用遗传算法来进行优化。

In order to do so, a new direct formula is first developed to generate the fuzzy rules from the premise part in FNN. This direct formula not only guarantees a one to one mapping that maps the fuzzy membership functions onto the fuzzy rules, but also alleviates the coding effort during hardware implementation. It is further elaborated that the FNN with non-overlapped BPMF's has the advantage of faster on-line training which requires less computation time, but at the cost of more memory requirement to store the fuzzy rules.

本论文提出与查表法技术同等简易的具有非重叠方块脉冲归属函数之FNN控制器架构，并将两者之隐藏连系关系作一完整探讨，提供一套基於FNN设计观念来设计TL控制器的方法；而此一改良的架构也应用到汽车涡轮引擎喷水控制系统及高转速无刷直流马达控制器上，透过即时学习来克服系统非线性，并透过实作验证本系统在汽车涡轮引擎高温恶劣操作环境及无刷直流马达高速三相转换时间下仍保有极佳的性能，显示以具有BPMFs的FNN为基础的TL控制器是一强健的控制系统。

The system based on PLC is designed to meet the need of stability, which PLC is used as a main station to control producing and communicating, while HMI as slave station to display, record, manage and modify the data.

针对烟机生产要求高可靠的特点，作者采取了基于可编程逻辑控制器的解决方案，利用可编程逻辑控制器的运行稳定和可靠的优点，由可编程控制器作为现场控制器和通信主站，负责生产控制和通信，由计算机操作站作为从站，负责数据的显示、记录、管理及参数调整。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了