Optimal Fuzzy PID Controller with Incomplete Derivation and Its Simulation Research on Application of Intelligent Artificial Legs

提出了一种新的最优模糊PID控制器，它由两部分组成，即在线模糊推理机构和带有不完全微分的常规PID控制器，在模糊推理机构中，引入了三个可调节因子xp,xi和xd，其作用是进一步修改和优化模糊推理的结果，以使控制器对一个给定对象具有最优的控制效果，可调节因子的最优值采用ITAE准则及Nelder和Mead提出的柔性多面体最优搜索算法加以确定，这种PID控制器被用来控制由作者设计的智能人工腿中的一个直流电机，仿真结果表明该控制器的设计是非常有效的，它可被用于控制各种不同的对象和过程。

低感应数条件下大地电导率测量方法研究

A frequency domain electromagnetic (conductivity) method for near surface soundings at low frequencies is discussed in this thesis. Its elementary principle is to detect the conductivity of the earth by the secondary magnetic fields induced by a current dipole on the earth. According to the EM induction theory, a coil with alternating current on the earth will generate a magnetic field in whole space which is referred to as the primary field Hp. The primary field would induce secondary currents in the earth which go down to depth like a batch of smoking rings. These currents further produce secondary magnetic field Hs .The primary and secondary magnetic fields are collected together by a receiver coil. Generally speaking，the secondary magnetic field is a complicated function of coil spacing, transmitting frequency and earth conductivity. But at low induction numbers, the secondary field is deduced to as a simple function of frequency, spacing and conductivity. Especially the ratio of secondary to primary field shares a linear proportion to the apparent conductivity. The earth conductivity can be interpreted by proper inversions with the apparent conductivity. The method is discussed at three steps: (1)Derivation of primary and secondary magnetic fields arising from vertical and horizontal magnetic dipoles on the earth based on the basic EM induction theory. (2)Field techniques and equipment developed for the method. (3)An interpretation technique was introduced using a cumulative and relative response function. Finally a test example is presented for examining the effectiveness of the method.