设计出

In this project, we have tackled the robust fault detection and diagnosis problem for affine nonlinear sampled-data systems based on nonlinear H∞ filtering theory,and focused on the design of robust fault dtetction filter. The main contribution of this project is that we (1)present design methods of robust fault estimator for nonlinear discrete-time systems based on least square estimation and linear matrix inequality;(2)improve the bounded real lemma of systems with finite discrete jumps;(3)develop the robust fault detection filters for affine nonlinear sampled-data systems with parameter uncertainties based on the improved bounded real lemma.

本项目以提高故障的正确检测率为目的，以非线性H∞滤波理论为基础，对不确定仿射非线性采样系统的鲁棒故障检测与诊断问题进行了研究，重点研究了不确定仿射非线性采样系统的鲁棒故障检测滤波器设计问题，取得了一些新的成果，主要成果有：(1)基于最小二乘估计和线性矩阵不等式，给出了非线性离散系统的鲁棒故障估计器设计方法；(2)改进了有限跳跃点系统的有界实引理；（3）基于改进的有界实引理，给出了不确定仿射非线性采样系统的鲁棒故障检测滤波器的设计方法。

Chapter one and chapter two analyse the basis theory and give a whole design plan and expatiate the basic exoterica of system inculding primary technology for application. It involves the basic control theory of satellite antenna and analyse for the whole function. Chapter three gives the hardware design which includes hardware etlectrocircuit structure, principle chart, selecting all kinds of parts of the apparatus , the sensor elements and the design of serial communication electrocircuit etc. Chapter four and chapter five introduce software design for the SCM and the personal computer, giving mainly design theory and material program which includ the design of searching for the satellite and searching for the high-point and the program development by Delphi on PC, explaining the basic principium of asynchronous serial communication for epigyny computer and hypogyny computer.

第一、二两章阐述了系统的理论基础及应用的主要技术，包括卫星天线控制基础理论和整体功能分析等等；第三章是系统硬件设计，包括硬件电路组成及原理图、各类元器件的选取及传感器原理，串行通信电路设计等：第四、五两章是单片机、PC机软件设计，给出了主要部分的设计原理及具体程序，包括监控软件设计、寻优设计、寻星设计，PC端Delphi程序设计开发等，并阐述了PC机和单片机异步串行通信的基本原理，是本课题的重点所在。

Based on the analysis of design demands of the equipment to confect the nutritious liquid for soilless culture ,this paper presen ts a list of design demands,and confirms functional parameters.

分析了无土栽培养液配比设备的设计要求，给出设计要求表，并确定功能参数，进行功能分析后，建立功能结构，采用形态学矩阵法求解出多种方案，经加权评价后确定最佳自动控制系统设计方案

It solves the problem that the unitary contour presentation can not correctly extract face contour in a face image which suffers from scale, rotation etc. The definition of the internal and external energy function is provided. At the same time, the global matching algorithm and local matching algorithm is given. The experiment shows that this presentation and the accompanying matching algorithm can be used to extract the face contour very well. So the image segmentation can be implemented by using it.②By analyzing the recognition principle of PCA method, we can conclude that the face images coming from different surrounding consist of different face image space. This is the essential reason that makes the generality of PCA method worse. Also, we give a measurement means to measure the distance from different face image space, so we can analyze face image space more conveniently.③We also construct various scale models and rotation pose models to detect the scale and rotating angle of face image to be recognized. The experiment results show that the detecting precision is very high. So it is good for face image feature extraction and face image representation.④Similarly, we construct local feature models of face image and utilize them to detect the local feature of face image. At the same time, we put forward a novel face image local feature detection algorithm, locating step by step. The experiment results show that this method can accurately detect the location of local face feature in a image.⑤A novel face image presentation model, dual attribute graph , is put forward. Firstly, it utilizes attribute graph to present the face image, then exact the local principal component coefficient and Gabor transform coefficient of thc pixels which corresponds to the nodes of the graph as the attribute of the nodes. This representation fully makes use of the statistical characteristic of the local face feature and utilizes Gabor transform to present the topographical structure of face image. So DAG has more general property.⑥Based on the DAG presentation, we give a DAG matching function and matching algorithm. During the design of the function and algorithm, the noise factor, e. g., lighting, scale and rotation pose are considered and tried to be eliminated. So the algorithm can give more general property.⑦A general face image recognition system is implemented. The experiment show the system can get better recognition performance under the noise surrounding of lighting, scale and rotation pose.

本文在上述研究的基础上，取得了如下主要研究成果：①构造了一个通用的人脸轮廓模型表示，解决了由于人脸图象尺度、旋转等因素而使得仅用单一轮廓表示无法正确提取人脸轮廓的问题，并给出了模型内、外能函数的定义，同时给出了模型的全局与局部匹配算法，实验表明，使用这种表示形式以及匹配算法，能够较好地提取人脸图象的轮廓，可实际用于人脸图象的分割；②深入分析了PCA方法的识别机制，得出不同成象条件下的人脸图象构成不同的人脸图象空间的结论，同时指出这也是造成PCA方法通用性较差的本质原因，并给出了不同人脸空间距离的一种度量方法，使用该度量方法能够直观地对人脸图象空间进行分析；③构造了各种尺度模板、旋转姿势模板以用于探测待识人脸图象的尺度、旋转角度，实验结果表明，探测精确度很高，从而有利于人脸图象特征提取，以及图象的有效表示；④构造了人脸图象的各局部特征模板，用于人脸图象局部特征的探测；同时提出了一种新的人脸图象局部特征探测法---逐步求精定位法，实验结果表明，使用这种方法能够精确地得到人脸图象各局部特征的位置；⑤提出了一种新的人脸图象表示法---双属性图表示法；利用属性图来表示人脸图象，并提取图节点对应图象位置的局部主成分特征系数以及Gabor变换系数作为图节点的属性，这种表示方法充分利用了人脸图象的局部特征的统计特性，并且使用Gabor变换来反映人脸图象的拓扑结构，从而使得双属性图表示法具有较强的通用性；⑥在双属性图表示的基础上，给出双属性图匹配函数及匹配算法，在函数及算法设计过程中，考虑并解决了光照、尺度、旋转姿势变化等因素对人脸图象识别的影响，使得匹配算法具有较强的通用性；⑦设计并实现了一个通用的人脸图象识别系统，实验结果表明，该系统在图象光照、尺度、旋转姿势情况下，得到了较好的识别效果。

They are as following: to establish the selection method of the slaving designed quality functions according to the interrelationship among designed quality functions; to construct the measurement functions of the optimality robustness with the hypersurface characteristics around the current iterative point of designed quality functions.

具体地，根据设计性能函数之间相互关系给出了处于支配地位设计性能函数的选择方法；利用设计性能目标函数在当前迭代点附近的超曲面特征，构造设计性能目标函数的最优性健壮度量函数；按照系统有序化设计模型的最优解应同时具有可行性健壮与最优性健壮的要求，通过计算设计性能目标函数与约束函数对设计变量的波动与非设计参数的波动的一阶敏度来确定系统有序化设计模型中的健壮参数；并以此为基础建立了进一步考虑非设计参数波动对设计变量波动有影响的后健壮分析方法。

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。

In this paper, searching technology of product information based on knowledge was researched. On the aspect of cognition, we researched the relation between user\'s cognition and designer\'s cognition, explored the knowledge flow in the process of product development, set up a matching model between user\'s knowledge and designer\'s knowledge, brought forward a modeling method based on users\' cognition, and set up a measurable model of product feature; coded and decoded product form element, set up a computer aided product form design system and image evaluating system based on the result of measurement. Accordingly, the product style and product image were systematically discussed, the recognition space of product style and image was constructed, the factors that affect product style and image were put forwards and analyzed, and the relation between product image and form elements was tested by experiments. Furthermore, the product automatic recognition technologies were discussed.And then, with the media of concept model and the kernel of parameter technology, a mathematic model that describing product layout design by constraints and rules was presented. Furthermore, a product design integration system based on imagery thinking including product fonii base system based on imagery thinking, product form design system based on imagery thinking and product form intelligent design system based on space layout were set up, which tested the system and provided a new way for product innovative design.

本文以产品特征描述目标对象——产品，研究一种基于知识的产品信息检索技术，在对产品的认知方面，研究了用户认知和设计师认知之间的关系，研究了产品开发过程中的知识流传递过程，建立了用户知识和设计知识之间的匹配模型，提出了一种基于用户知识的产品建模方法，它不但提取了产品的特征，还建立了产品特征量化模型，从而实现了产品知识的量化描述；对产品造型元素进行分解和编码，利用实验量化结果构造计算机辅助产品形状设计系统和心象评价系统；使用量表分析造型元素的心象尺度，构造输入、输出系统，建立了产品设计知识库咨询系统，可以方便用户和设计师来导入或查询产品设计方案；实现了对产品造型心象的分类知识库系统，便于设计师存储或查询，辅助设计师进行产品创新设计；通过实验量化了产品造型参数和产品心象参数之间的关系，并在此基础上建立了基于心象的产品形状设计系统，为产品空间布局方案智能生成系统奠定基础；在基于知识库的基础上建立了产品空间布局方案智能生成系统，通过更改概念产品造型参数，实现了产品设计方案的智能生成，使系列化的设计工作变得十分方便；将产品的心象运用到实际设计过程中，能够引导流行趋势，创造出产品无形的设计价值。

Some key part is ameliorated to meet the demands of working. This thesis mainly includes:(1) Analysing the working principle of the spring operateing mechanism, expatiating the character of the mechanism;(2) With the design aim of the spring operating mechanism, accomplishing the design of ZW□-12/630-20 outdoor HV vacuum breaker based on the systemic design theory of the spring operating mechanism, which includes spring mechanism of open-close switch; cam mechanism based on the principle of power balance; buckle-off mechanism with force-minished device; ratchet wheel mechanism with number-increased detent;(3) In the design on the spring operating mechanism for the outdoor vacuum breaker, using the air cushion device with speed controller to ensure the steady working of the spring operating mechanism;(4) Accoding the problem of daily maintenance for HV circuitbreaker, giving some effective steps of daily maintenance.

论文工作主要包括以下几个方面：(1)从真空断路器弹簧操动机构的功能原理出发，详细分析了该机构的工作原理，阐述了机构工作的基本特性；(2)根据工程实际提出了真空断路器弹簧操动机构的设计目标，在系统分析弹簧操动机构设计理论的基础上，完成了ZW□-12/630-20型户外真空断路器弹簧操动机构的设计工作，其中包括真空断路器弹簧操动机构的分合闸弹簧机构的设计；以输出力特性曲线设计机构理论演化出的功率平衡原则为基础的凸轮机构的设计；带有减力机构的滚动摩擦扣结方式的脱扣机构设计；根据实际情况增加了棘爪数量的棘轮机构设计；(3)在真空断路器弹簧操动机构的设计中，引入了速度控制模式空气缓冲器，对惯性负载起到了良好的自动缓冲效果，从而保证了真空断路器弹簧操动机构稳定、有效地运行，保证了真空断路器的动作质量；(4)针对目前真空断路器运行过程中存在的问题，提出了有效的日常维护措施。

Thirdly, the key modules of the system are described in this paper in detail. We focused on the design of Robot, Filtrating of military information, and the re-design and development on Lucene.

接着，给出了系统关键模块的设计方案，主要包括具有识别功能的Robot设计、军事专题信息过滤模块的设计、全文检索包Lucene的二次开发设计，给出了各模块主要部分的实现细节。

Based on these, an improving μ-synthesis is presented, with which the high-purity distillation is designed well. 2. The robust performance problem of MIMO plant is explained with the plant direction angle, which shows that the robust performance varies with different input uncertainties and the μ-synthesis should be applied correctly according to the uncertainty structure. 3. Condition number and bandwidth are the important items for robust performance design in MIMO system. The H〓 two-block problems can not deal with the robust performance design of MIMO system because of the condition number cancellation. A general μ-synthesis procedure for MIMO system with uncertainties is presented. 4. For the SISO system, the object function in robust performance is amplified by at most 〓 than that of H〓 two-block problems in value: So the robust performance of SISO system can be done with the H〓 two-block problems to avoid the complicated μ-synthesis procedure. 5. All the conclusions and methods presented in this paper are demonstrated by some typical design examples.

从而形成一种改进的μ综合方去，并对精馏塔病态对象进行了鲁棒性能设计，得到令人满意的结果；（2）利用对象的方向角解释了MIMO对象鲁棒性能设计出现问题的原因，并提出不同输入摄动形式下系统的鲁棒性能问题也并不相同，因此利用μ综合处理鲁棒性能设计时，应根据不同的摄动情况采用不同的结构进行设计：（3）条件数问题和带宽问题是MIMO系统鲁棒性能设计的两个主要问题，指出由于条件数对消的存在使得一般H〓两块问题无法处理MIMO系统的鲁棒性能设计，而μ综合方法则是处理MIMO系统鲁棒性能设计的有效方法，并给出了其处理MIMO系统鲁棒性能设计的一般性方法；（4）提出对于SISO系统H〓两块问题（S/T问题、S/KS问题）的设计指标函数与鲁棒性能设计的μ指标函数在数值上最大差〓倍，因此对于一般SISO系统的鲁棒性能设计可以简单地用一般的H〓的两块问题处理，而避免μ综合设计的复杂过程；（5）本文中提出的结论和算法都利用H〓/μ发展中的典型例子：Doyle-Stein问题，Safonov的战斗机模型，精馏塔对象等进行了设计验证。

Plunder melds and run with this jewel!

掠夺melds和运行与此宝石！

My dream is to be a crazy growing tree and extend at the edge between the city and the forest.

此刻，也许正是在通往天国的路上，我体验着这白色的晕旋。