一种新的角加速度估计方法及其应用

首先提出了一种新的基于卡尔曼滤波及牛顿预测的角加速度估计方法,在已知电机驱动系统位置信息的情况下,利用卡尔曼滤波实时估计系统的角加速度;同时采用牛顿预测方法解决估计算法的滞后问题,进一步提高了估计加速度的响应频带．以此为基础,本文进一步分析了利用估计加速度进行反馈控制以增强系统对外扰动的鲁棒性问题,提出了加速度反馈控制策略的设计准则并分析了稳定性．在一个直接驱动机器人关节上针对上述加速度估计及控制方法进行了实验研究:将估计加速度的实验结果与实测加速度(利用加速度计)的实验结果进行了比较分析,从而定量地揭示出估计加速度及其反馈控制在实际系统中的可行性及有效性．

苏丹被动裂谷盆地的油气成藏机理和成藏模式

The research area of this paper covers the maximum exploration projects of CNPC, including Blocks 1/2/4 and Block 6 of the Muglad basin and the Melut basin in Bocks 3/7 in Sudan. Based on the study of the evolution history of the Central African Shear Zone (CASZ), structural styles and filling characteristics of the rift basins, it is put forward that the rift basins in Sudan are typical passive rift basins undergoing the strike-slip, extension, compression and inversion since the Cretaceous. The three-stage rift basins overlapped obliquely. The extension and rifting during the Early Cretaceous is 50-70% of the total extension. The features of the passive rift basins decided that there is a single sedimentary cycle and one set of active source rocks within the middle. Influenced by the three-stage rifting and low thermal gradient, hydrocarbon generation and charging took place very late, and the oil pool formation mechanism is very unique from the Lower Cretaceous rift sequences to the Paleogene. The reservoir-seal assemblages are very complicated in time and space. The sealing capacity of cap rocks was controlled by the CASZ. In general the oils become heavier towards the CASZ and lighter far away. The oil biodegradation is the reason causing the high total acid number. The determination of effective reservoir depth ensures that all discovered fields up to now are high-production fields. The propagation and growth of boundary faults in the rift basins can be divided into a simple fault propagation pattern and a fault growth-linkage pattern. It is firstly found that the linkage of boundary fault segments controls the formation of petroleum systems. Three methods have been established to outline petroleum systems. And a new classification scheme of rift-type petroleum system has been put forward: pre-rift, syn-rift (including passive and active) and post-rift petroleum systems. This scheme will be very important for the further exploration of rift basins. This paper firstly established the formation models of oil pools for the passive rift basins in Sudan: the coupling of accommodation zones and main plays for the formation of giant fields. The overlapping of late rifting broke the anticlines to be several fault-blocks. This process determined that anti-fault blocks are the main traptypes in the cretaceous sequences and anticlines in the Paleogene. This can explain why the traptypes are different between the Muglad and Mefut basins, and will provide theoretic guidance for the exploration strategy. The established formation mechanism and models in this paper have had great potential guidance and promotion for the exploration in Sudan, and resulted in significant economic and social benefit. A giant field of 500 million tons oil in place was found 2003. The cost in Blocks 3/7 is only 0.25