具有不完全微分的Fuzzy-GA PID控制器及其在智能仿生人工腿中的应用

以模糊推理和遗传算法为基础，提出了一种新的具有不完全微分的最优PID控制器的设计方法，该控制器由离线和在线两部分组成，在离线部分，以系统响应的超调量、上升时间以及调整时间为性能指标，利用遗传算法搜索出一组最优的PID参数Kp^*、Ti^*和Td^*，作为在线部分调整的初始值，在在线部分，一个专用的PID参数优化程序以离线部分获得Kp^*、Ti^*和Td^*为基础，根据系统当前的误差e和误差变化率e^.，通过一个模糊推理系统在线调整系统瞬态响应的PID参数，以确保系统的响应具有最优的动态和稳态性能．该控制器已被用来控制由作者设计的智能仿生人工腿中的执行电机．计算机仿真结果表明，该控制器具有良好的控制性能和鲁棒性能。

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。

监控式水下机械手及相关技术的研究

水下机械手作为水下机器人通用作业工具得到广泛地应用，目前水下机械手的主要操作方式为主从方式。虽然主从方式具有操作直观，灵活的特点，但难于完成需要精确定位，轨迹控制的水下作用，如海洋石油钻井平台导管架的检查作用。为了扩展水下机器人的作业能力，提高水下作业智能化程度，沈阳自动化所承担国家863课题“水下虚拟遥操作与监控机械手系统”关键技术的研究工作。作者参加了此课题的研究工作，以Schilling水下机械手为研究对象，深入研究机械手的作用功能，对机械手的逆运动学，焊缝空间轨迹规划作了深入的研究，形成本文阐述的主要内容。由于Schilling水下机械手各关节之间的连接参数中存在多个偏距，其运动学逆解不能简单由解析方式给出。机械手进行控制与轨迹规划等操作必须找到一种快速求解的方法。本篇文章得出一种基于信赖域法的机械手运动学逆解算法。由于该算法具有收敛速度快的特点，故可以被应用于在线求解机械手运动学逆解；由于没有直接求解二阶导数，故不存在奇异解的问题。经理论分析和实验证明该方法在解决水下监控机械手在线跟踪水下结构物空间轨迹的技术问题具有较好的效果。作为课题的实际应用背景的导管架焊缝曲面为一复杂的空间曲面。为了实现课题的研究目标，本课题不仅要求解焊缝的轨迹，而且要给出其法线方向。对于这样一个问题，用空间解析几何和微分几何方法是很难求解的，本文给出了一种基于B样条参数曲面及曲面求交的方法，具有速度快，通用性强的优点。

Fuzzy层次神经网络

本文提出和归纳了Ｆｕｚｚｙ前馈神经网络模型，并提出了Ｆｕｚｚｙ前馈神经网络的反向传播学习算法，模拟结果表明利用ＦｕｚｚｙＢＰ学习算法训练的Ｆｕｚｚｙ前馈神经网络具有较好的非逻辑归纳能力和Ｆｕｚｚｙ规则表达能力。

高邮凹陷陈堡及陈堡东地区油气成藏规律研究

With the development of petroleum exploration in Gaoyou Depression, both old and new areas have been the active exploration targets, so the study of petroleum accumulation is significant to the petroleum exploration in the study area and the integrated oil and gas accumulation theory. Based on hydrocarbon accumulation theory and systematical research methods and combined with the structural characteristics of Gaoyou Depression, Chenbao and East of Chenbao were selected as the study areas in this dissertation, oil and gas migration pathways, accumulation periods, as well as accumulation models were studied, and favorable exploration targets were proposed. There develop three sets source rocks, which are Tai-2 Member, Fu-2 Member and Fu-4 Member respectively. Tai-2 Member is the predominant source rock in the eastern part. Fu-2 Member mainly occurs in the northern slope, while Fu-4 Member develops in the deep depression. In the study area, oil mainly comes from Fu-2 Member of Liuwushe subsag. The lower limit of TOC is 0.4%, and active source rock mostly distributed in the south fault-step zone. The source rock in Liuwushe subsag began to generate hydrocarbon in the late of Dainan depositional stage and the threshold was 2300m. The macro and micro characteristics of reservoirs and the reservoir heterogeneity characteristics of the Fu-1 Member were studied systematicly. The results show that Fu-1 Member, which has better reservoir properties, are medium porosity-medium permeability reservoir. The reservoir permeability has good correlation with porosity connectivity. The reservoirs have strong dissolution, pores are mainly thin to medium throat, and throat radii are distributed concentratedly, the sorting is good and pore structures are homogeneous. Sandstone reservoirs whether in the plan view, interlayer or in layers have a certain degree of heterogeneity, in particular, the heterogeneity in layers directly affect and control the oil and gas migration and accumulation. By analyzing the lithology correlation of the fault walls, shale smear, cross section stress, the configuration of fracture active periods and hydrocarbon generation and expulsion periods and fuzzy comprehensive evaluation, the main faults sealing were evaluated. The results show that the faults in Chenbao and East of Chenbao had poor sealing properties in Sanduo period and could be used as the migration pathways at that time. After Sanduo period, the tectonic stress fields in the area changed largely, and, consequently, the fault properties converted from tensional shear to compressive shear, the faults changed progressively from close to open, so the faults sealing became better and were conducive to the preservation of oil and gas reservoirs. According to the seismic event suspension modes and profile configurations above and under the unconformities, combined with tectonic evolutions of the study areas, the unconformity types can be classified into truncation unconformity, overlapped unconformity and parallel unconformity and the distribution characteristics of unconformities in the plan view was also studied. The unconformity structure was divided into basal conglomerate, weathered clay and semi-weathered layer vertically in the study area and this kind of structure make unconformities to be effective oil and gas migration pathways and is significant to hydrocarbon accumulation in a parts of areas. With the analyses of typical oil and gas reservoirs in the study area, combined with the research results of pathway systems, hydrocarbon accumulation models were established and the oil and gas accumulation laws in Chenbao and East of Chenbao analyzed. The oil and gas came from Liuwushe subsag and Liuliushe subsag. The oil and gas from Liuwushe subsag mainly migrated from the structural high parts into the fault-step zone along strata in northeast direction, a part of them migrated upward into the fault-step zone and the Wubao low uplift along Wu-1 Fault in northeast direction. The oil and gas from Liuliushe subsag mainly migrated into the upper reservoirs through Wu-2 fault, and lesser oil and gas migrated into the fault-step zone because of the controls of cross-section orientation, depression center and the hydrocarbon formation tendency. The favorable exploration targets in Chenbao and East of Chenbao have been concluded: the southern fault-step zone is a favorable oil and gas accumulation zone of Liuwushe subsag, and they are fault block reservoirs where fault acted as the barriers, the main target intervals are Fu-1 Member and Fu-3 Member in palaeocene; Oil and gas in the middle and northern fault-step zone mainly laterally migrated from the south areas, and the main target interval is Fu-3 Member in palaeocene; Fu-1 Member and the reserviors above the Wubao subsag are still the focuses in future explorations. The results of this study have important guiding significance for the future oil and gas exploration.

吐合盆地鲁克沁构造带断块油藏形成机制及油藏预测

Lukeqin arc belt is a compound structure generated by multi-movements and composed of 6 sub-structural zones, which are connected by Huoyanshan Mountain. General characteristics of the arc belt are multi-patterns of structure, multi-phases for petroleum, multi-types of trap and multi-layers for reservoirs. As a part of the eastern Lukeqin arc belt located on the south of Taibei depression, Lukeqin structural zone behaves as a complex faulted-fold zone, in which the formation and distribution of hydrocarbons are controlled by structures. As the dominant source of dynamics for the second migration of hydrocarbon, structure stress field is closely related with the potentials of hydrodynamics. Results derived from the simulations of stress field by finite element method indicate that the northwest tending faults prefer seal to the northeast tending ones. The reason is that the northwest tending faults were squeezed more strongly than the northeast tending ones. Therefor, the northeast tending faults become always the paths for oil to migrate southeastward. Lukeqin structural zone is the main site for oil to concentration because it is surrounded by high stress. Situated on the front of the foreland basin of Turpan-Hami, Lukeqing arc belt is a dam to hold back the southward migrating oil from Shengbei depression. The axis line of Shenquan-Shengnan-Yanmuxi, Lukeqin and Yubei controls the migrating paths and concentrating process of oil and gas. Results derived from stress simulation and structure analyses indicate consistently that both Yubei and Lukeqin structural zones are the favorite areas for oil to migrate. The generally southward paths for oil to migrate out of Taibei depression can be two ways. One of them is from Taibei depression to Yubei structural zone and the other is from Taibei depression to Lukeqin structural zone. By the both ways, oil migrated upward along the faults and southeastward along the structural axis to concentrate in either Permian or Triassic system. The newly ascertained path for oil migration, which is accurately southeastward instead of coarsely southward, indicates the directions for further explorations on the compound Lukeqin block zone. Five kinds of seal models of fault are all found in Lukeqin block zone by studying the seal features of faults occurred in the zone. Having studied the fault seal and their controlling factors by fuzzy set method, the paper deems that the northwest tended faults are better than the northeast tended ones for oil to concentrate. The most important factors to decide the seal extent of faults in this zone are the characteristics of main stress and fluids instead of capillary pressure differences between the two sides of fault and smear mud factors. There exist seal differences not only between the faults of different time but also between the sections within a fault due to the variation of depths, strata and positions. The general distribution rules of reservoirs were dominated by the seal characteristics of a fault during the time reservoirs formed. While the current features of fault seal decide the conservation of reservoirs and heights of oil accumulations. Seal or not of a fault is not absolute because the essential for fault to seal is the distribution of permeability of fault zone. Therefor, the multi cyclical activities of faults create the space-time variation of seal features of the fault. Totally, the seal extent of the faults within the area is not as perfect as to accumulate ordinary crude. Crude oil can only be sealed when it becomes viscous. Process for crude oil to become viscous and viscous happened strongly because of the fault-fold movements. Shallowly burying and even revealing of the objective layers of the reservoirs made the crude oil to be thickened by water washing biologically degradation and oxidation degradation. The northwestward deepening during or after the reservoir formation of the structural zone provided the power for oil to migrate one or more times. The main reason for oil accumulation is the formation of Lukeqin block zone during Xishanyao stage, middle Jurassic Period, Early Yanshanian Movement. While the main reason for reservoir conservation is the placidity of Triassic blocks after the formation of reservoirs. Contrasting to former opinions, it is concluded that the reservoirs in Lukeqin zone, including viscous reservoirs, were formed by one time but not more times. So the author proposes the opinion that the reservoirs of viscous oil were formed by viscous oil migration under the conditions of aptitude sets of fault seals controlled by fluid and other factors. To grope the distribution rules outside Taibei depression and discuss the formation mechanism of Anjurassic reservoirs, it is necessary to study the dominate factors for the formation of reservoirs in Lukeqin structural zone such as structural stress, fault seals and thickening mechanism of crude oil. Also, the necessary studies are the key to break through the Taibei depression and Anjurassic systems. Therefor, they are significant for the future exploration and reserve increasing of hydrocarbon within the Turpan-Hami basin. The paper studied the distribution rules of block reservoirs and forecasted the favorable zones for further exploration in Turpan-Hami basin. Conclusions can be useful for not only the exploration in the area but also the theory consult in the adjacent areas.