自适应控制

Adaptive subdivision is performed only in the areas facing to the viewpoint in the pre-process. And in the each adaptive subdivision, we choose the normal angle of the adjacent faces as the control error to detect whether the approximation is sufficient. Sharp edges are automatically tagged according to the given thresholdθand subdivision masks are designed based on different sharp degrees.

在预处理过程中，只选取面向视点的网格作为能够被进一步自适应细分的网格；在自适应细分过程中，用相邻面片的法向夹角作为控制误差来反映细分的逼近程度是否足够；并根据预设的阈值θ自动标记网格中的尖锐特征边，重新设计尖锐特征处的权值掩模。

In the light of cost index and pollution degree, the characteristics of kinds of pulp are analyzed in detail, and the GP pulp which is low cost, high-yield, no-pollution is chosen as the material of tableware. Based on material element analyzed, shaping technology is designed, the to and for single plane shaping equipment which is high shaping quality, high production efficiency and is easy to automatize is chosen. All kinds of measure are taken to solve the problems which are inequality in the shaping process of GP pulp, and dosage which matches with GP pulp is chosen. Some ways of fixing shape and heat up are analyzed, the technology of saving energy of heat pressing to fix shape being composed of oil heat and only one fixed shape in the mold is applied, with which it is high production efficiency, low cost to fix shape effectively, which saves energy 30 percent. In order to make the production line meet with material of GP pulp, measure are taken to solve the problem of pulp adhered to netlike molding which can lead to carry material difficult, the structure of fully automatic equipment is renovated, the loaded beam is optimizationally designed to make equipment structure compactand improve location precision and products quality. According to technologic flow and actual characteristic, Omron PLC is chosen as the core of the control system, proximity switch as detect unit take the place of touch switch, software is designed reasonably according to time order figure, hardware is simplified, the reliability of system is advanced, the stability of system is assured to make production order. Intelligence neuron PID system is studied theoretically which is made up of both neuron with self-organizing and self-learning function and ordinary PID with the characteristic of the simple structure and high stability, which can automatically tune the parameter with the change of system parameter, remain perfect performance.

按成本指标和污染程度分析各浆料的特点，选择低成本、高得率、无污染的磨石机械浆为原料，在原料组分分析的基础上，设计成型工艺，选择成型质量好、生产率高、易实现自动化的往复式单板成型机，采取各种措施解决GP浆成型不均匀的问题及选择与机械浆相匹配的助剂；分析几种定型方式和加热方式，采用定型效果好、生产率高、成本低的油加热与模内一次性定型相结合的热压定型节能技术，节能30％；为了使生产线适应磨石机械浆原料，采取相应措施解决由于粘网造成物料转移困难，对全自动设备结构进行改进设计，着重对物料传送系统的关键部件——承载梁的进行优化设计，使设备更加紧凑合理，提高设备的定位精度和产品质量；根据生产线工艺流程和现场特点，选用OMRON CPM1A型PLC为主核心，接近开关作为检测元件，替代有触点开关，选用可编程终端代替常规面板按扭，并按照时序图科学合理地设计软件，有效地简化系统硬件构成，提高系统的可靠性，保证系统的稳定性，从而使生产更加通畅有序；从理论上探索将神经元应具有的自组织、自学习要求与PID控制结构简单、稳定性好的全自动纸浆模塑餐具生产线的研究特点结合起来，构成神经元自适应PID控制器，当参数的变化时，系统能自行参数整定，保持优良的工作性能指标，满足实际需求。

The fuzzy control theory is applied in many fields because of its robustness and insensitivity.

为此将模糊推理引入到PID控制策略中，仿真试验证明基于模糊推理的自适应PID控制算法提高了传统PID算法的适应能力及控制精度。

Based on the discussion of contradict model's exist condition and learning method, a Internal Model Control strategy that may used in on-line self-adapting adjust and self-collected is presented. The strategy settles the problem in identification and control of the no self-balance object by using feedback compensatory sangfroid implement. And it also settled the unable on-line problem due to the slow training speed through separating control process and on-line study process.

在讨论了逆模型的存在条件和学习方法的基础上，本文提出了一种可以在线自适应调整的、镇定的内模控制方法，通过加入反馈补偿镇定器，解决了无自平衡对象的辨识问题与控制问题，同时通过将控制过程和在线学习过程分开的方法解决了由于训练速度慢而造成的不能在线问题。

Based on the discussion of contradict model's exist condition and learning method, a Internal Model Control strategy that may used in on-line self-adapting adjust and self-collected is presented.

在讨论了逆模型的存在条件和学习方法的基础上，本文提出了一种可以在线自适应调整的、镇定的内模控制方法，通过加入反馈补偿镇定器，解决了无自平衡对象的辨识问题与控制问题，同时通过将控制过程和在线学习过程分开的方法解决了由于训练速度慢而造成的不能在线问题。

To overcome the bad effect resulting from the nonlinearity time-variability and uncertainty on autopilot system performance during the motion process of aerodynamics missile, and to further improve the flight quality of missile, the autopilot system and used control method are researched. Firstly the integrant structure of system is discussed; then baaed un introducing the traditional PID method, controllers for missile attitude motion are designed respectively using fuzzy self-turning PID method and neural network self-adaptive PID method; at last a simulation experiment is finished. By comparing the simulation results that the designed controllers have good qualities is showed, and the feasibility and validity of applying fuzzy control and neural network into automatic control of aerodynamics missile is confirmed, and the base that other nonlinear control theory can be combined with the traditional control for missile to further improve the performance of missile control system is established.

为了克服飞航导弹运动过程中的非线性、时变性和不确定性对自动驾驶仪系统性能的不良影响，进一步提高导弹的飞行质量，对自动驾驶仪系统及其采用的控制方案进行了研究；首先对系统的整体结构进行了分析，然后在介绍经典PID方案的基础上，分别采用模糊自调整PID方案和神经网络自适应PID方案设计了导弹姿态运动控制器，最后进行了仿真实验；仿真结果的对比展示了所设计控制器良好的品质，验证了将模糊控制和神经网络应用于飞航导弹自动控制中的可行性和有效性，为其它非线性控制理论与导弹传统控制相结合以进一步提高导弹控制系统的性能奠定了基础。

This paper presents a nonlinear robust adaptive excitation control design procedure for multi machine power systems using back-stepping method. The control objective is to drive machine power angle and frequency to the steady-state operation point, and guarantee that the close-loop system is adaptive to the uncertainties of generator damping coefficient and d-axis reactance, and robust to model errors or bounded disturbances.

利用反步法设计了多机电力系统中的非线性鲁棒自适应励磁控制方案，控制目标是调节发电机功角和频率至稳态运行点的极小领域，并使闭环系统对发电机阻尼系数和电抗参数的不确定性具有自适应能力，且对模型误差和外部有界干扰具备鲁棒性，同时保证各控制器是分散化和本地化的。

Adhibiting the nerve cell and qurdratic capability target, by the self-adapting self-studying consistent and better abiding of the nerve cell ,the thesis realizes the conforming of the parameter not depending the canal mathematics ,furthermore the parameter can self-adjust for the information of the canal.Combining the BP nets and the routine PID controller, and adhibiting the linear optimization target function, the thesis realizes the conforming of the parameter not depending the canal mathematics, furthermore the parameter can self-adjust for the information of the canal. Using the MATLAB the thesis simulates and acquires some significative effects.

在传统PID渠道控制中引入了神经元和二次型性能指标，利用神经元自适应、自学习、并行处理及较强的容错能力，实现了PID控制中参数的整定不依赖于渠道数学模型，且PID参数能根据渠道的适时信息在线调整以满足适时控制的要求将BP网络与常规PID控制结合，并引入了最优化目标函数，利用BP网络来实现PID控制器参数的在线整定，将其运用于渠系等体积控制，并利用MATLAB软件进行了数值模拟仿真，取得了一些有意义的成果和较为满意的结果。

And the simulation experimentation is done to test the adaptability of the adjustor to the parameters change of rotor resistance.

就该调节器对转子电阻参数变化的适应能力做了仿真试验，仿真结果表明，在交流调速系统矢量控制的基础上引入自适应模糊控制调节器，比常规的模糊控制调节器更好的适应电机的参数变化，使在转子电阻变化的情况下，系统的性能依然保持良好。

Firstly, based on the sliding mode control and backstepping technique, a new attitude tracking controller is derived to control the attitude motion of spacecraft, the stability of the system is analyzed via Lyapunov method and the reaction wheel dynamics is also considered from the real applications point of view. The whole design process is divided into two steps: the first step is to use sliding control technique to design suppositional adaptive variable structure controller; and the second step is to design attitude tracking controller based on SMC and backstepping technique. Numerical simulations are performed to show that both tracking maneuver and vibration suppression can be accomplished effectively.

首先，采用自适应后步法结合主动振动控制技术设计了姿态跟踪鲁棒控制器，基于Lyapunov方法分析了系统的渐近稳定性；在此基础上，显性地考虑了执行机构动态特性问题，将整个设计过程分为两个步骤：第一步采用滑模控制技术设计了变结构虚拟控制器，给出自适应控制律的设计方法；第二步，将后步法与滑模控制技术相结合，设计了姿态跟踪鲁棒控制器，给出飞轮电压的输入算法及稳定性分析；最后，将提出的控制方法应用于挠性航天器的姿态跟踪控制，通过数值仿真对所提方法的可行性与有效性进行分析和验证。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。