控制实验

This paper presents the configuration,design principal and performance of a blowdown short duration turbine test rig newly built by Institute of Engineering Thermophysics of Chinese Academy of Sciences.

本文介绍了中国科学院工程热物理研究所最新建成的暂冲式短周期涡轮实验台的装置结构和关键设备的研制原理及性能，描述了短周期涡轮实验过程、实验台的控制系统和测试系统，展示了本实验台的部分标志性实验结果。

This paper describes a control system of Free Electron Laser-THz,which is a distributed control system based on Experiment Physics and Industrial Control System.

介绍了自由电子激光THz源控制系统的组成和结构，对实验物理和工业控制系统在注入器控制系统、磁压缩控制系统和消色散传输控制系统中的应用进行了研究，详细分析了控制系统硬件结构及软件实现。

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。

Combining the experimental results and theoretical analysis, the following work has been accomplished.(1) Reasons of the decrease of interelectrode capacitance and the increase of discharge gap caused by the powder suspended in dielectric fluid are explained. And the mechanism that surface quality of workpiece improved by powder-mixed EDM is analyzed from this viewpoint.(2) The variation regularity of the percentage of silicon on the machined surface of workpiece has been summarized according to the experiment results when silicon powder was added into the working fluid. The entropy is introduced to explain the reasons for this variation regularity by thermodynamics.(3) The dimensional accuracy is greatly influenced by the overcut resulting from discharge gap and electrode wear in practice application. Empirical formulas for the overcut in EDM and powder-mixed EDM are established based on the experimental results using the ternary linear regressive method in this paper.(4) The influence of main factors on the machined surface characteristics has been evaluated based on the orthogonal experimental design method.

通过一系列普通电火花加工与混粉电火花加工的对比实验，运用工艺实验和理论分析相结合的方法，重点做了以下工作：(1)探讨了粉末颗粒导致极间电容减小、放电间隙增大的原因，并从这个角度解释了混粉电火花加工可以改善工件表面质量的机理；(2)以混合硅粉的电火花加工为例，实验得出峰值电流和脉冲宽度对加工表面层成分中硅元素含量的影响规律，并引入熵的概念从热力学的角度对硅元素含量变化的原因寻找了理论依据；(3)在实际加工中，由于粉末的加入使放电间隙变大，这使得混粉电火花加工的尺寸精度难以控制，本文利用三元线性回归的方法，在实验数据的基础上，建立了两种电火花加工过切量的计算公式；(4)将正交试验法应用于混粉电火花加工实验研究，并通过对实验指标极差的直观分析，得出各电参数对加工指标影响的敏感程度。

The thesis contains five chapters. The first chapter summarizes the development and research of switched reluctance drive, discusses the main research direction, and explains the main work in this paper. In chapter 2, hardware system which includes the design of power converter and various control circuit is discussed. TMS320LF2407 DSP is used to design the hardware circuits of SRM control system, and design details including the current detection, position sensing, fault protection, speed detecting, keyboard and display etc. are provided. Because of the full use of the abundant peripheral resources of DSP, it comes to the aim simplifying the circuit structure and heightening the reliability. In chapter 3, the application of neural network on SRM control system is introduced, a new the application of neural network and the method of sampling is proposed and a simulation system based on Matlab/Simulink is established. Chapter 4 discusses the routine designing issue. Because the modularized programming method is adopted, and multi-interrupt processing technique is used, operation efficiency of the control software is highly raised. At last, the foregoing SRM control system is tested. Speed adjustment is realized, and other targets on the research and design of SRM control system are reached, which establishes a good foundation for further research.

本文共分五章，第一章概述了开关磁阻电机调速系统(Switched Reluctance Drive，简称SRD)及其发展和研究现状，论述了其主要研究方向，并说明了本文的主要工作；接下来的一章主要讨论了SRM的硬件系统，主要包括功率变换器的设计和各种控制电路的设计，本文以TMS320LF2407为核心设计了开关磁阻电机控制系统硬件电路，给出了包括电流检测、位置检测、故障保护、测速电路及键盘和显示电路等部分电路的详细设计，充分利用了DSP的丰富外设资源，达到了简化电路结构、提高运行可靠性的目的；第三章介绍了人工神经网络在开关磁阻电机控制系统中的应用，提出了一种新的应用方式(利用GPFN神经网络调节PI参数)以及如何采取样本，搭建了基于Matlab/Simulink的仿真系统；在第四章中，讨论了开关磁阻电机控制软件的设计，采用模块化编程方法，采用基于多中断的控制程序，提高了控制软件的效率；最后，对所设计的开关磁阻电机控制系统进行了实验，实现了电机调速，达到了开关磁阻电机控制系统研究和设计的预期目标，为更近一步研究打下了基础。

To the condition of deviation from side path when vehicles are turning and braking, according to the deviation distance, the control strategies and control algorithms of vehicle braking stability by two control methods, yaw moment and active steering, are determined. The fuzzy controller are designed whose outputs can be adjusted online according to the variation of slip rate and dynamic proportionality factor. The simulation results prove that the method of fuzzy control which is based on the yaw meoment and front wheel active steering can improve vehicle braking stability and ability of path tracking.

针对汽车在转弯制动时出现的侧向路径偏离状况，根据偏离量大小，利用横摆力矩和主动转向两种控制模式分别进行汽车制动稳定性控制，确立了两种控制模式下的控制策略和控制算法，设计了模糊控制器，根据轮胎最优滑移率变化状况，对模糊输出变量论域的大小按照动态比例系数进行实时在线调整，仿真实验验证了所提出的基于横摆力矩和前轮主动转向的模糊控制方法能提高汽车制动稳定性和路径跟踪能力。

It is the first time that the expert control theory is applied to the blasthole drill control described in the paper, where the expert control structure and strategy for blasthole drill control are studied. At last, an integrated software for the expert control is compiled with Borland C++4. 0 under the operation system of Windows95. It includes the following functions: the simulation for control theory and control structure, the realization of the blasthole drill control.

作者用Borland C++4.0在Windows95环境下编制了专家控制的集成软件系统，一方面对控制方案及算法进行了仿真研究，另一方面针对YZ-55型牙轮钻机的实际工况设计了软件控制功能；并按照牙轮钻机钻进控制的专家控制体系与控制策略，在实验室对控制算法与控制硬件系统进行了实验验证。

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。

Based on the experiment platform of underwater vehicle control system made by ourselves, an underwater demonstration experiment system is developed with forward-looking cameras and man-made targets. Underwater demonstration experiments with the two station keeping methods are made in an indoor experimental pool.

以自行研制的水下机器人控制系统实验平台为实验载体，利用前视摄像机和水下人工目标，建立了水下演示实验验证系统，并在室内实验水池中，分别实现了两种悬停方法的水下演示实验。

To achieve high-performance PMSM position servo system, advanced control scheme, which is static precision, transient responses and self-adaptation and anti-disturbances, is needed in practice. Based on the analysis on the features and control principles of PMSM, this thesis established its math model using id=0 vector control method. Three close loops control system, which includes current loop, velocity loop and position loop, was built up. For position loop, the main feedback loop, we chose a new adapted-fuzzy CMAC intelligent controller, which includes self-learn ability of neural net and quick response merit of fuzzy controller. Finally, the author simulates PMSM position servo system by the simulink of matlab, an advanced computer simulation tool.

本文对PMSM的控制机理和特性作了较为深入的分析；建立了PMSM的数学模型，并采用了id=0的矢量控制策略；对控制系统组成及控制方式作了分析和比较，在此基础上建立了电流环、速度环和位置环的三闭环控制系统，对作为反馈主回路的位置环采用了模糊CMAC神经网络控制方法，该方法兼具模糊控制器的快速性和神经网络的自学习能力；构建了针对PMSM位置伺服系统的模糊CMAC控制器结构及其相应的算法；利用先进的计算机仿真工具（Matlab下的Simulink）对所提出的控制策略进行了数字仿真和分析；仿真和实验结果表明本文所提出的控制策略对PMSM位置伺服系统进行控制具有良好的鲁棒性能和快速性。

Chrysanthemum of 10 thousand birthday is lax to edaphic requirement, with the arenaceous qualitative loam with fecund, good drainage had better.

万寿菊对土壤要求不严，以肥沃。排水良好的砂质壤土为好。

He unstepped the mast and furled the sail and tied it.

他拔下桅杆，把帆卷起，系住。