控制理论

Therefor, it is meaningful to improve the performance of antiskid braking systems by means of parametric uncertainty nonlinear control theory, and it is the topic of this dissertation.

文中总结了参数不确定非线性系统控制理论的研究成果，特别注意到基于反馈线性化理论的控制方法是参数不确定非线性系统控制理论的一个重要组成部分。

These issues and problems make the corporational groups lose control of their finance and the disappearances of national assets arise repeatedly.

本文根据企业集团财务控制的相关概念和理论基础，对企业集团财务控制的概念及特点进行了系统剖析，力图构建一个企业集团财务控制理论体系的基本框架；从S高速集团财务控制的现状出发，依据提出的财务控制的理论，对S高速集团财务控制问题进行系统的研究，重点从完善母子公司治理结构、强化预算控制、集中控制集团资金、委派独立财务总监、加强内部审计、完善内部信息制度等八个方面提出了相应的对策。S高速集团是我国特大型国有独资企业，集团资产规模位居省管企业第一名，列2006年度"中国最大500家企业"第314位，本文选择S高速集团财务控制问题作为研究对象，具有一定代表意义。

At the same time, the characteristic equations of the controlled systems with time delays are transcendental equations and belong to infinite dimensional systems, so it is difficult to study the time delay systems in mathematics theory and also difficult to obtain good performance for the time delay systems using the controller designed by classical control theory.

同时，由于含有时滞的控制系统的特征方程是超越方程，属于无穷维系统，对时滞系统的研究在数学理论上是非常困难的，有很高的理论价值，而且通过经典控制理论设计出来的控制器对时滞系统很难得到良好的控制效果。

An artificial neural network used for nonlinear vibration control systems is proposed in combination with state feedback control theories.

将人工神经网络理论引入振动控制工程领域，并将现代控制理论中的状态反馈理论与人工神经网络理论相结合，提出了一种基于BP网络的自适应控制方法。

An instantaneous optimal semi-active control method is put forward. Combined sliding mode control with lyapunov's stability theory, the control weights matrix, which can minimize structural instantaneous energy, is designed. Simulation and shaking table test is conducted to validated the method's effectiveness. To solve combination explosion of controlled structural state encountered in high-rise building control, the semi-active control strategy, which can drive structural state point to reach the sliding mode switching band, is designed by using sliding mode control theory, and genetic algorithm is used to find the optimal semi-active switching to drive the structural state point to sliding mode switching band at prestissimo speed.

提出了一种瞬时最优半主动结构控制方法，利用滑模变结构控制理论和Lyapunov稳定性理论设计使结构瞬时能量最小的半主动控制权矩阵，仿真实例和振动台试验验证了本文所提方法的有效性和实用性；为解决在高层建筑半主动控制中半主动控制器状态组合爆炸的问题，利用滑模变结构控制理论设计在Lapunov稳定意义下使结构在运动状态空间中任一相点于以最快速率到达滑模切换带的半主动控制策略，并用遗传算法找出了最快到达滑模切换带的半主动控制切换组合。

The mechanical behavior of Shape Memory Alloys material is tested, and the constitutive model of the SMA is established. A kind of SMA combined rubber isolator is developed, and the isolation effect of the SMA combined rubber isolator for long-span bridge and tall building structures is numerically simulated, from which the adaptive isolation performance and the self-restoring capacity of the SMA combined rubber isolator are verified. A kind of SMA damper is developed, the mechanical behavior of the SMA damper is tested, and the model of restoring force of the SMA damper is established. The theory and method of adaptive control based on the SMA damper for the long-span bridge are built, and the effectiveness and reliability of the adaptive control for the long-span bridge using the SMA damper are verified through numerical simulation and model test. The MRF-04K type magnetorheological damper is developed, the mechanical behavior of the MR damper is tested, and the model of restoring force of the MR damper is established. The theory and method of adaptive control based on the MR damper for the long-span bridge and tall building structures are built, and the effectiveness and reliability of the adaptive control for the long-span bridge and tall building structures using the MR damper are verified through numerical simulation and model test. In addition, the theory and method of sub-structural damage identification for long-span bridge are derived, the influence of soil-structure dynamic interaction on the seismic isolation and control effects with different isolation and control measures and the damage responses and the sliding base-isolation of large structures under the excitation of underground explosion are investigated.

试验研究了形状记忆合金材料的力学性能，建立了SMA材料的本构模型；研制了一种SMA复合橡胶隔震支座，数值仿真分析了应用SMA复合橡胶支座的大跨桥梁和高层建筑结构的隔震效果，从而验证了SMA复合橡胶支座的自适应隔震性能及其震后自恢复能力；研制了一种SMA阻尼器，试验研究了SMA阻尼器的力学性能，建立了SMA阻尼器的恢复力模型，建立了基于SMA阻尼器的大跨桥梁结构自适应控制理论与方法，通过数值仿真与模型试验验证了大跨桥梁结构SMA阻尼器自适应控制的有效性与可靠性；研制了一种MRF-04K型磁流变阻尼器，试验研究了MR阻尼器的力学性能，建立了MR阻尼器的恢复力模型，建立了基于MR阻尼器的大跨桥梁和高层建筑结构的自适应控制理论与方法，通过数值仿真和模型试验验证了大跨桥梁和高层建筑结构MR阻尼器自适应控制的有效性与可靠性；还建立了大跨桥梁结构的子结构损伤识别的理论与方法，研究了土-结构动力相互作用对不同隔震和控制措施的减震控制效果的影响以及地下爆炸波作用下各类大型结构的灾害响应与滑移隔震。

The main contents are as follows.1 For the state control problem in closed quantum systems, according to the distance between states, the error between states and the average value of an imaginary mechanical quantity, three Lyapunov functions are chosen, respectively. The corresponding control law designs and the convergence analyses are studied. Especially, for the Lyapunov function based on the distance between states, a class of control laws that can solve the problem that an initial state is orthogonal to a goal state is designed. The convergence of the system is analyzed via LaSalle\'s principle and one method to find the largest invariant set of the closed loop system is proposed by linearizing the unitary evolution operator at the corresponding instants.

在这一背景下，本论文在指出研究量子系统控制的必要性、回顾量子系统控制理论和方法的研究现状的基础上，从控制理论的角度研究Lyapunov理论和最优控制理论对于封闭量子系统的应用以及开放系统中的若干问题，主要内容包含以下几个方面。1针对封闭量子系统中的状态控制问题，根据状态间的距离、状态间的偏差、一个虚拟力学量的均值，分别选择三种Lyapunov函数进行相应的控制律设计和收敛性分析。

Synthetically considering these characteristics, the method of freeway management and control are presented according to four aspects: system objective orientation and concept design, system demand and requirement analysis, system data management and network structure, traffic control and accident detecting theory as well as its application. Function and structure of system are delimitated from the point view of integration. Construction and function demand of subsystem are analyzed and basic implement projects are presented. In this thesis, system data flow and management method and target which based on system network topology structure and equipment demand are described. Traffic modeling ideology and the process of making dynamic model as well as accident detecting program are presented with centralized and distributed traffic control theory in detail, then freeway ramp control theory which based on predictive model and its theoretic pattern are explored. Finally, based on the object oriented programming, program of accident detecting and checking on freeway is developed by using visual C++ as tool.

论文综合考虑高速公路交通管理系统的上述特征，分别从系统目标定位及概念设计、系统需求分析、系统数据管理及网络结构分析、交通控制与交通事件检测理论与应用四个层面，对高速公路交通管理与控制问题进行了系统阐述，界定了系统的功能及各功能的实现要求，并从系统集成角度划分了系统的结构；分析了各子系统的信息、功能、建设等方面的需求，给出了基本实施方案要求；对系统数据流程进行了描述和梳理，提出了数据管理的方法、目标及措施，分析、设计了系统网络拓扑结构及设备需求；阐述了交通模型的建模思想和动态交通模型的建立过程，对集中式和分散式全局交通控制理论进行了详细的分析，提出了基于预测的高速公路匝道控制理论，并对理论模式及相关的问题进行了研究，分析了高速公路事件检测系统，并采用面向对象的编程思想，以Visual C++为编写工具，开发了高速公路事件检测系统分析软件。

ABSTRACT The paper mainly studies the variable structure adaptive control theory for uncertain systems, and applicated the theory into the designs of bank-to-turn missile autopilots. The main contributions of the paper are as follows:(1) Under the condition that all the matched or mismatched parameter, input and disturbance uncertainties exist, a complete set of variable structure control system design and analysis method is proposed and investigated, which brecks throush the serious confines of variable structure invariance conditions theoretically and widen the application area of the VSC theory greatly.

本文着重研究了不确定性系统的变结构自适应控制理论，解决了目前变结构控制理论和自适应控制理论中存在且亟待解决的四个方面的问题，将获得的理论研究成果直接应用于倾斜转弯导弹的自动驾驶仪设计中，取得了很好的结果。

The Fuzzy-PID controller of fin stabilizer was designed based on fuzzy control and PID control theory. The controller of Fin Stabilizer is designed which uses roll angle and angular velocity of roll angel as input and fin angel as output. The model of ship is built based on Conolly theory. The controller is simulated using MATLAB. Results shows that compared with conventional PID controller, the FUZZY-PID controller has better effect.

设计了基于模糊控制和PID控制理论的FUZZY-PID复合控制减摇鳍控制系统，以横摇角和横摇角速度为输入量，鳍角为输出量，基于Conolly理论建立了船舶模型，利用MATLAB针对不同海情对控制器进行了仿真，结果表明减摇鳍模糊控制器动态响应性能和稳态控制精度均十分理想，能够满足减摇鳍控制系统的控制要求。

The absorption and distribution of chromium were studied in ryeusing nutrient culture technique and pot experiment.

采用不同浓度K2CrO4(0，0.4，0.8和1.2 mmol/L)的Hoagland营养液处理黑麦幼苗，测定铬在黑麦体内的亚细胞分布、铬化学形态及不同部位的积累。

By analyzing theory foundation of mathematical morphology in the digital image processing, researching morphology arithmetic of the binary Image, discussing two basic forms for the least structure element: dilation and erosion.

通过分析数学形态学在图像中的理论基础，研究二值图像的形态分析算法，探讨最小结构元素的两种基本形态：膨胀和腐蚀；分析了数学形态学复杂算法的基本原理，把数学形态学的部分并行处理理念引入到家实际应用中。