自适应控制

ABSTRACT This paper presents results of online identification of hydrogenerators, a long-term running robust self-tuning regulator of generator excitation, governor power system stabilizer decoupled in multimachine systems, and an adaptive GPSS designed in frequency domain. 1. It presents a step-by-step zero cancellation method , accuracy weighted recursive least squares and approximate RLS algorithms, inferior limit of sampling time.

针对发电机励磁和调速系统建模与控制，针对多机电力系统的稳定性，本文综述了自适应控制理论及其在电力系统中应用的现状和发展方向后，在辨识、自适应控制结构和鲁棒性提高的措施上进行了研究，取得了水轮机调速系统现场辨识的成功，获得了长期稳定运行的鲁棒励磁自校正控制器、多机解耦的调速侧电力系统稳定器和频域设计的自适应GPSS。

Simulation studies of the dissolved oxygen control in wastewater treatment and pH control in a reactor show that the algorithms given in the thesis have good performance, and the algorithms are simple and easy to use and need fewer measured parameters in comparison with Goodwin's method of bilinear system adaptive control.

将本文的双线性系统自适应控制方法，用于废水处理中的溶氧过程控制和pH值控制的实例仿真研究表明，本文算法具有良好的动态性能，和Goodwin所采用的双线性自适应控制方案相比，具有所需的测量参数少、简单、易于实现等优点。

A compound control scheme combining detaching Proportion and Integral control with Model Reference Adaptive Control based on Liapunov stability theory was formulated,which is used on the plant of direct driving electric-servo-actuator.

以直接力驱动电动舵机为被控对象，提出了一种分离比例-积分控制与基于李雅普诺夫稳定性理论的模型参考自适应控制相结合的复合控制方案，该方案充分结合了分离PI控制动态性能好和自适应控制抗干扰能力强、鲁棒性好等优点。

A compound control scheme combining detaching Proportion and Integral control with Model Reference Adaptive Control based on Liapunov stability theory was formulated, which is used on the plant of direct driving electric-servo-actuator. This scheme combined the good property of each algorithm, such as good dynamic property of the PT and strong anti-disturbance ability and good robustness of MARC.

以直接力驱动电动舵机为被控对象，提出了一种分离比例－积分控制与基于李稚普诺夫稳定性理论的模型参考自适应控制相结合的复合控制方案，该方案充分结合了分离PI控制动态性能好和自适应控制抗干扰能力强、鲁棒性好等优点。

Firstly,the Image Jacobin Matrix for GRB-400 robot which is a dynamic look and move system has been established.Then,a hierarchical Model Reference Adaptive Control law combined with a fuzzy regulator is proposed to solve the control problem,and the comparison of the experimental step responses between system with fuzzy logic and system without fuzzy regulator is delivered.The experimental results show the feasibility and advantage of the control l...

首先建立了视觉伺服GRB-400机器人的图像雅可比矩阵，然后针对该动态Look and Move系统提出了一种带有模糊自调整能力的分层模型参考自适应控制的设计方法，其特点是设计方法简单并可以在线调节相关参数，给出了闭环系统的阶跃响应实验结果，并与原分层模型参考自适应控制闭环系统的动态性能做了比较，实验证明了改进后的闭环系统具有更好的动态性能。

A new switching scheme to the gain of variable structure control signals is proposed. The following important open problems in standard VS-MRAC and MRAC are solved by using the scheme: 1 . a prespecified transient and steady-state performance index for tracking error can be achieved without requiring any information about the plant high frequency gain sign when relative degree of modelled part of plant is one, and 2 . it is shown that as long as the performance indexes are guaranteed for the auxiliary errors, each of which in dynamics is a sub-system with relative degree one, the tracing error will converge to a small residual set in a prespecified transient time when relative degree of modelled part of plant is greater than one.

提出了一种控制增益可切换的变结构自适应律，解决了如下变结构模型参考自适应控制（包括基于调参律的模型参考自适应控制）理论研究中长期没有解决的问题：当对象建模部分相对阶为1、高频增益符号未知且存在非线性输入扰动和未建模动态等情况下，系统跟踪误差可满足预先给定的动态和稳态性能指标；当对象建模部分相对阶大于1且存在非线性输入扰动和未建模动态时，可保证系统跟踪误差在预先给定的过渡过程时间内收敛到一个残差集中； 5。

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。

With the consideration of the interconnection between the subsystems and the unmodeled charicteristics of each subsystem, the robustness of multi-grade adaptive controller is studied and the multi-grade robust adaptive controller is brought birth.

之后，给出了多级自适应控制器的设计程序，并在理想子系统的假设条件下，证明了两级自适应控制系统的稳定性；在考虑子系统间的相互关联及子系统存在未建模特性的情况下，分析了多级自适应控制器的鲁棒性，给出了多级自适应鲁棒控制器。

Adaptive control system plays an important role in piezoelectric based smart structures for active vibration isolations.

自适应控制系统是基于压电智能结构主动隔振系统的核心部分，而自适应算法则是实现自适应控制系统的关键技术。

The combined control strategy of the engine gun control, the slip ratio control and the power control is put forward.(6)Based on the structure and parameters matching of a cold milling machine, a kind of adaptive controller which can be used on the cold milling machine is developed.

在研究控制算法的基础上，对冷铣刨机功率自适应控制主要模块的控制策略进行了研究，并给出了软件设计的流程图，提出了冷铣刨机作业过程中发动机油门开度、滑转率及功率自适应三者的联合控制策略。6。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。