Parameters Optimization of Robot Arm PID Controllers Based on PSO Algorithm

机械臂的工作环境复杂,对其工作的响应指标要求较高。PId控制受限于机械臂的数学模型的复杂性与不精确性,导致经典的参数整定方法在实际生产中适应性不良或性能欠佳。文章基于MATlAb/SIMulInk将PSO算法(粒子群优化算法)用于机械臂PId控制器的参数优化中,通过对3关节连杆机械臂单次拉伸动作的建模仿真研究,结果表明:使用此方法后,机械臂各关节响应的调节时间和超调量都得到明显的优化。The robot arm always runs in a complex condition,and the demand for its state response performance index is high.PID control is restricted to the complicacy and the inexactitude of robot arm's mathematics model,which leads the classical parameters tuning methods to the maladjustment and the suboptimal performance in real operating.And the PSO algorithm is presented and applied to optimize PID parameters in robot arm based on MATLAB/Simulink.According to the simulation of a stretching movement in a 3-joint-robot arm,the numerical simulation shows that by this method the setting time and overshoot of every joint in the robot arm present optimized distinctly.国家自然科学基金(60704042);福建省自然科学基金(2008J0033

Composite Nonlinear Feedback Control for an Underactuated Overhead Crane Servo System

吊车系统是一个具有代表性的欠驱动系统。吊车的伺服控制系统不仅需要将台车准确迅速平滑地移动到指定的位置，而且同时需要对负载的摇摆进行抑制，减小负载的摆动幅度和周期。但是，在吊车水平搬运重物的过程中，仅通过台车上的单个控制输入，很难使得台车的位置跟踪和负载摇摆的镇定两个控制目标同时达到理想的性能。针对这一问题，控制领域的学者除了将传统的控制方法应用在吊车系统的控制中，更提出了越来越多有效的新型控制策略。但是这些方法都还尚留有空间可以进一步提高吊车伺服系统的瞬态性能。 本文针对一个欠驱动吊车系统的伺服控制问题，展开相关的理论研究。为了同时提高吊车在台车位移跟踪和负载抗摇摆两方面的瞬态性能，本文...The overhead crane system is a representative underactuated system. The overhead crane servo system not only needs to move the trolley to a specific location smoothly, but also needs to restrain the swing angle of the payload and reduce the swing cycle. However, in the horizontal direction, only by a single control input on the trolley, it is quite difficult to simultaneously achieve both control ...学位：工程硕士院系专业：信息科学与技术学院_控制工程学号：2322010115322

A highly selective probe for human cytochrome P450 3A4: isoform selectivity kinetic characterization and its applications

A highly selective probe for human cytochrome P450 3A4: isoform selectivity kinetic characterization and its application

JUNO sensitivity on proton decay p → ν K + searches*

The Jiangmen Underground Neutrino Observatory (JUNO) is a large liquid scintillator detector designed to explore many topics in fundamental physics. In this study, the potential of searching for proton decay in the $p\to \bar{\nu} K^+$ mode with JUNO is investigated. The kaon and its decay particles feature a clear three-fold coincidence signature that results in a high efficiency for identification. Moreover, the excellent energy resolution of JUNO permits suppression of the sizable background caused by other delayed signals. Based on these advantages, the detection efficiency for the proton decay via $p\to \bar{\nu} K^+$ is 36.9% ± 4.9% with a background level of $0.2\pm 0.05({\rm syst})\pm$$0.2({\rm stat})$ events after 10 years of data collection. The estimated sensitivity based on 200 kton-years of exposure is $9.6 \times 10^{33}$ years, which is competitive with the current best limits on the proton lifetime in this channel and complements the use of different detection technologies

JUNO Sensitivity on Proton Decay p→νˉK+p\to \bar\nu K^+ Searches

The Jiangmen Underground Neutrino Observatory (JUNO) is a large liquid scintillator detector designed to explore many topics in fundamental physics. In this paper, the potential on searching for proton decay in $p\to \bar\nu K^+$ mode with JUNO is investigated.The kaon and its decay particles feature a clear three-fold coincidence signature that results in a high efficiency for identification. Moreover, the excellent energy resolution of JUNO permits to suppress the sizable background caused by other delayed signals. Based on these advantages, the detection efficiency for the proton decay via $p\to \bar\nu K^+$ is 36.9% with a background level of 0.2 events after 10 years of data taking. The estimated sensitivity based on 200 kton-years exposure is $9.6 \times 10^{33}$ years, competitive with the current best limits on the proton lifetime in this channel