大气扰动对舰载机纵向着舰点散布的影响分析

针对大气扰动具有的非线性和随机性特点,采用单因素方差分析法和决策树与线性回归结合法,分别对纵向着舰点散布的影响进行了定性和定量分析.研究结果表明,大气扰动各分量对纵向着舰点散布的影响有显著不同,且垂直方向的扰动分量对舰载机着舰点散布的影响更大.特别地,所提出的决策树与线性回归结合法显著提高了纵向着舰点的预测精度.国家自然科学基金(61374037,61673325

The design of robust PID controller based on genetic algorithms

将基于遗传算法的PID控制器设计方法应用于分布参数系统,在这个过程中,将系统的鲁棒性能指标作为目标函数选择的重要依据,使用遗传算法对PID参数进行寻优.仿真结果表明,由于加入鲁棒性信息,改进方法完全满足了控制系统的快速性、稳定性和准确性要求,控制系统表现出很好的动态鲁棒性及性能鲁棒性.In this paper,the design method of PID controller based on the genetic algorithm is applied to these parameter objects,and in this process,genetic algorithm is used for PID parameters optimization while the system robust performance is considered as an important basis for the selection of the objective function.The simulation results show that,due to adding the information of robustness,the rapidity,stability and accuracy requirements are fully met by the system,and the control system shows a very good dynamic and robust performance of robustness.福建省自然科学基金资助项目(A051002

Stabilizing H_∞ control in finite frequency ranges and finite frequency tracking problem

基于gkyP引理的动态输出反馈设计,未保证设计后闭环系统的稳定性。针对以小增益作为指标的有限频段动态输出反馈问题,在不增加新变量的前提下,增加稳定性约束,使得设计后的闭环系统渐近稳定且满足有限频段性能指标。针对增加约束后难以找到可行解的情况,基于零空间条件的不惟一性,补充了另一种零空间条件,从而扩大了问题的可行域。将改进后的方法应用于有限频段跟踪问题的研究,通过仿真例子验证,有限频段动态输出反馈虽然存在保守性,但在合理选择基矩阵r的情况下,仍然可以使得其保守性小于传统的全频段最优H∞控制的保守性。Dynamic output feedback control via GKYP lemma with small gain specification does not automatically guarantee the stability of the resulting closed-loop systems.Improvements are made to the existing approach to render the asymptotical stability,and the new approach is applied to researching the tracking problem.For the synthesis problem with finite frequency small gain specification via dynamic output feedback control,this paper adds a stability constraint to the design in terms of Linear Matrix Inequality(LMI),without adding any new variables.Furthermore,for the situation that feasible solution can not be found after adding the stability constraint,based on the non-uniqueness of the null space condition,it provides an alternative null space condition to enlarge the feasibility region of this design.Simulation example in tracking problem shows that,although dynamic output feedback control in finite frequency range is conservative,by choosing basis matrix reasonably,the degree of conservatism can be smaller than that of optimal H∞ control in entire frequency range.航空科学基金(No.2009ZH68022

Research on the PID Controller with Incomplete Derivation of Three-ax is Dispensing Machine System

中文摘要: 设计不完全微分P ID控制器,利用MATLAB工具箱进行点胶机的三轴平台的稳定性仿真。仿真结果表明,利用该方法所整定的控制系统具有良好的性能,其运行过程中的鲁棒性,抗干扰能力得到了很好的实现。英文摘要：Abstract: The PD controller with incomplete derivation is designed in this paper. The stability of three－ax is dispensing machine is simulated by using the MATLAB toolbox. Simulation results show that the tuning control system has good performance. It realizes robustness and disturbance attenuation in the running process.福建省自然科学基金(A0510002

Ship formation control via output feedback with unknown dynamics

研究了仅利用相对位置信息和相对航向信息的船舶编队输出反馈控制问题.首先使用leader-follower策略,建立了船舶编队的运动学模型.然后应; 用微分同胚变换将系统解耦成3个子系统.根据船舶低频运动的特点,在跟随船水动力学模型中粘性水动力和力矩未知以及所有船舶速度都不可测量的假定下,提出; 了一种高增益广义比例积分观测器来估计这些未知和不可测量动态.在高增益广义比例积分观测器的基础上,分别设计了线性输出反馈控制器和输入饱和受限的输出; 反馈控制器,并分析了闭环系统的稳定性.最后仿真结果表明了方法的有效性.This paper focuses on the ship formation control problem via output; feedback, with only the information of the relative positions and; relative heading angles available. Firstly, the kinematic model of the; ship formation is established using the leader-follower strategy. Then; the system is decoupled into three subsystems via the diffeomorphism; transformation. According to the low frequency characteristics of the; ship motion, and the assumption that the viscous hydrodynamic forces and; moments in the hydrodynamic models of the follower ships are unknown and; the velocities of all the ships are unmeasurable, the high-gain; generalized proportion-integral observers are proposed to estimate the; unknown and unmeasurable dynamics. On the basis of the high-gain; generalized proportion-integral observers, the linear output feedback; controllers and the output feedback controllers with input saturation; are designed respectively, and the stability of the closed-loop systems; is analyzed. Finally, the simulation results show the effectiveness of; the proposed approach.国家自然科学基金项目; 福建省自然科学基金项

多艘拖轮协助大型船舶靠泊的编队控制方法

为了研究多艘拖轮协助欠驱动大型船舶靠泊的控制,提出了一种采用拖轮编队来解决大型船舶靠泊问题的控制方法.在拖轮的水动力学模型中,将大型船舶对拖轮的反作用力视为未知输入,给出了一种干扰估计误差方程和原状态方程形成互联系统的干扰观测器.该干扰观测器使得拖轮速度实际值与期望值误差能够快速收敛.在干扰观测器的基础上给出了拖轮编队控制器设计,并分析了闭环系统的稳定性.仿真结果验证了该方法的有效性.国家自然科学基金(61374037

一种基于蚁群算法的用户浏览路径推荐方法

在协同过滤算法的基础上,结合仿生学蚁群算法设计出一种新型的推荐算法.该算法模拟蚂蚁觅食原理,将用户视为"蚂蚁",目标商品视为"食物",利用蚂蚁之间通过信息素的交流来预测用户下一步将要浏览的商品项目.从标准数据集MovieLens上的测试结果表明,相比于传统的协同过滤算法,该算法可有效减少由数据集稀疏带来的问题,提高推荐系统的推荐质量

Analysis and Application of Qualitative Data Clustering Approach Based on Attribute Importance

传统的聚类方法大多是基于距离或者是样品间相似度的,这就要求所分析的数据必须是定量的。但是在数据挖掘中,存在着大量的定性数据,传统的聚类分析方法已不再是一个可行的方法,这就需要寻找一个可以有效处理定性数据的聚类方法。粗糙集是处理定性数据的有效方法,在详细阐述粗糙集的相关概念后,利用属性重要性的概念,提出了一种能有效处理定性数据的聚类分析方法,并利用了数据对该方法进行了实证分析,取得了良好的结果。Most of the current clustering approaches are based on the distance among the data or of the similarity of the data,which makes the data analyzed must be quantifiable data.In data mining,there are many qualitative data.That makes the traditional clustering techniques are not useful in tackling the qualitative data as hoped.So need to find an effective clustering method to cope with the qualitative data.Rough set is an useful tool to deal with the qualitative data.After explicating the relative concepts of the rough set,introduced a new clustering approach by using attribute importance concept,which can deal with the high dimensions data effectively.At last,make an empirical analysis of the data and obtain a good clustering result.国家教育部“新世纪优秀人才支持计划”资助(NCET-04-0608

Reduced-order Observer-based H_∞ Controller Design for Descriptor Systems

本文研究基于Luenberger观测器的广义系统降阶H∞控制器的设计问题,并且该观测器是关于干扰解耦的。首先是提出了广义系统H∞状态反馈控制问题的一个充要条件,并利用线性矩阵不等式方法求解出广义系统的H∞状态反馈增益。然后对该H∞状态反馈增益进行渐进降阶观测,基于广义Sylvester矩阵方程的显式通解的参数化设计方法,实现了广义系统的降阶H∞控制。本文最主要的工作是给出了相应的广义线性系统降阶H∞控制器的设计算法。在文章的最后给出了一个例子,用来说明降阶算法的有效性。This paper presents the design of a robust reduced-order Luenberger observer-based H∞ controller for the descriptor system.This observer is with disturbance decoupling.A necessary and sufficient condition for the H∞ state-feedback control problem of descriptor systems is established.Based on the parametric design approach for generalized Sylvester matrix equations,a reduced-order H∞ controller for descriptor systems is obtained.One major contribution of the present work is that a design algorithm for constructing the reduced-order H∞ controller is presented.An illustrative example is also given.福建省自然科学基金(A0510002)资助;; 厦门大学985二期信息创新平台项目资助;; 福建省新世纪优秀人才支持计划资

一类参数不确定系统的鲁棒正实性

中文摘要: 本文考虑了一类参数不确定系统的鲁棒正实性, 给出了一个输出反馈系统具有鲁棒严格扩展正实性( ESPR)的充分条件以及求反馈控制器的方法, 并利用该条件可估计出系统保持ESPR 的最大参数摄动范围。在此基础上, 对某不确定控制系统进行了鲁棒正实控制设计, 并采用两种方法对结果进行验证, 仿真的结果证明了该设计的有效性与可行性。福建省自然科学基金(A0510002)、厦门大学985 二期信息创新平台项目和福建省新世纪优秀人才支持计划资