基于模糊推理水下作业系统运动控制研究

水下作业系统是运动学冗余系统,本文将模糊推理方法融入基于任务优先运动学控制算法,对系统载体与机械手进行协调运动分配,同时对系统多个任务进行优化。通过带有3自由度水下机械手的水下作业系统进行算例仿真研究,说明运动控制算法的有效性。

基于模糊神经网络水下机器人直接自适应控制

提出了基于广义动态模糊神经网络的水下机器人直接自适戍控制方法,该控制方法既不需要预先知道模糊神经结构,也不需要预先的训练阶段,完全通过在线自适应学习算法构建水下机器人的逆动力学模型.首先,本文提出了基于这种网络结构的水下机器人直接自适应控制器,然后,利用Lyapunov稳定理论,证明了基于该控制器的水下机器人控制系统闭环稳定性,最后,采用某水下机器人模型仿真验证了该控制方法的有效性。

利用计算机仿真与系统辨识求解导弹弹道轨迹

提出了求解某武器系统导弹弹道轨迹的两种方法：计算机仿真和系统辨识方法．详细介绍了导弹系统的计算机仿真模型，并利用控制理论和数值分析的方法对仿真模型求解；根据系统辨识理论，将整个系统看作“黑箱”，建立与输入、输出数据等价的模型，引入折息因子对模型进行辨识．最后分别给出了计算机仿真试验曲线和系统辨识试验曲线，证明了两种求解方法的有效性。

基于运动速度的机器人学习控制

为了使机器人跟踪给定的期望轨线，提出了一种新的基于机器人运动重复性的学习控制法．在这种方法中机器人通过重复试验得到期望运动，这种控制法的优点：一是对于在期望运动附近非线性机器人动力学的近似表达式的线性时变机械系统产生期望运动的输入力矩可不由估计机器人动力学的物理参数形成；二是可以适当的选择位置、速度和加速度反馈增益矩阵，从而加快误差收敛速度；三是加入了加速度反馈，减少了速度反馈，减少了重复试验的次数．这是因为在每次试验的初始时刻不存在位置和速度误差，但存在加速度误差．另外，这种控制法的有效性通过ＰＵＭＡ５６２机器人的前三个关节的计算机仿真结果得到验证。

基于加速度传感器的机器人极点配置控制

本文为工业机器人提出了一种极点配置控制法．这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动．最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。

基于加速度传感器的机器人最优学习控制

为工业机器人提出了一种最优学习控制法。这种控制法用加速度误差校正驱动器运动。并提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的理论方法。所提出学习控制法的有效性通过PUMA562机器人的计算机仿真结果得到了证实。

工业机器人的小脑模型控制

本文为动力学控制工业机器人提出了一种综合学习算法,这种学习算法可将以前所学的信息用于新的控制输入.这种控制方法不需要事先知道机器人动力学,它易于应用于特殊的控制问题或修改以适应实际系统中的变化,控制方法在时间上是有效的,且很适合于定点实现.学习控制算法的有效性通过4自由度的直接驱动机器人前两个关节在重复运动中的计算机仿真实验得到了验证.

基于动力学约束的机械臂最优关节轨迹规划

本文提出了基于机械臂关节驱动力矩约束方程规划其关节最优运动轨迹的一种有效方法.该方法运用矩阵范数理论简化机械臂的动力学约束方程;在机械臂的关节空间内采用归一化的无因次量运用非线性规划法优化其运动轨迹.将所规划的无因次量轨迹方程作为机械臂产生实际运动轨迹的发生器,通过给定机械臂各运动段的起始和终止关节坐标,由系统的动力学约束方程计算出整个运动段所允许的最短运行时间,即生成所期望的运动轨迹.本文的轨迹规划方法计算效率高,可用于在线轨迹规划,文中通过算例证实了该方法的实用性.

工业机器人机械手的小脑模型自适应控制

本文为动力学控制工业机器人机械手提出一种综合控制算法。该控制算法,利用小脑模型算术计算机模块模拟机器人机械手的动力学方程并计算实现期望运动所需力矩作为前馈力矩控制项;利用自适应控制器实现反馈控制,以消除由输入扰动和参数变化而引起的机器人机械手运动误差。这种控制方法在时间上是有效的,且很适合于定点实现。控制方法的有效性通过四自由度的直接驱动机器人前两个关节的计算机仿真实验得到验证。

工业机器人的学习控制

加速度传感器装在机械手手部,各关节的加速度由加速度分解算法得到.然后,提出了一种学习控制法,这种控制法利用加速度误差校正驱动器运动.并提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的理论方法.本文所提出的学习控制理论的有效性通过 PUMA-562 机器人的计算机仿真实验得到了证实.

广义预测极点配置前馈控制的一种算法

本文提出了广义预测极点配置前馈自校正控制算法,计算机仿真结果表明,该算法控制质量好,能够消除系统可测扰动对输出的影响。

一种并联激光焊接机器人的机构设计与运动学分析

提出了一种3分支5自由度的并联激光焊接机器人,通过3个分支共同作用,使整机具备了5个自由度的空间加工能力.针对激光焊接,通过分析该机器人的结构特性,建立了其正反解运动学模型,通过解析法求解该模型并进行了计算仿真.最后,对机器人进行激光拼焊实验,仿真数据和实验结果表明,本文研究的并联机器人机构适用于实际的高速、高精度激光焊接。

基于整车配送的多仓库开路VRPTW问题的研究与实现

以整车销售物流为背景,探讨多仓库带时窗约束的车辆路线安排问题的解决方法.提出了更为复杂的基于现实的细节性要求的多配送中心开路VRPTW问题模型,并将遗传算法产生部分解和评估完整解的优化解决方法和涌现交叉算子MX1引入到带时窗的多仓库VRP问题优化中,实现了快速全局优化.提出的开路混合配送方法有利于提高车辆满载率,降低回程空载率.同时实现了运输资源的优化配置,提高车辆利用率.计算机仿真实验证明了算法的可行性.

高温高压下H2O-CH4体系PVTx性质的分子动力学模拟研究

Geological fluids are important components in the earth system. To study thephysical chemistry properties and the evolution of fluid system turns out to be one of the most challenging issues in geosciences. Besides the conventional experimental approaches and theoretical or semi-theoretical modeling, molecular level computer simulation(MLCS) emerges as an alternative tool to quantificationally study the physico-chemical properties of fluid under extreme conditions in order to find out the characteristics and interaction of geological fluids in and around earth. Based on our previous study of the intermolecular potential for pure H2O and thestrict evaluation of the competitive potential models for pure CH4 and the ab initio fitting potential surface across H2O-CH4 molecules in this study, we carried out more than two thousand molecular dynamics simulations for the PVTx properties of pure CH4 and the H2O-CH4 mixtures. Comparison of 1941 simulations with experimental PVT data for pure CH4 shows an average deviation of 0.96% and a maximum deviation of 2.82%. The comparison of the results of 519 simulations of the mixtures with the experimental measurements reveals that the PVTx properties of the H2O-CH4 mixtures generally agree with the extensive experimental data with an average deviation of 0.83% and 4% in maximum, which is equivalent to the experimental uncertainty. Moreover, the maximum deviation between the experimental data and the simulation results decreases to about 2% as temperature and pressure increase,indicating that the high accuracy of the simulation is well retained in the high temperature and pressure region. After the validation of the simulation method and the intermolecular potential models, we systematically simulated the PVTx properties of this binary system from 673 K and 0.05 GPa to 2573 K and 10 GPa. In order to integrate all the simulation results and the experimental data for the calculation of thermodynamic properties, an equation of state (EOS) is developed for the H2O-CH4 system covering 673 to 2573 K and 0.01 to 10 GPa. Isochores for compositions < 4 mol% CH4 up to 773 K and 600 MPa are also determined in this thesis.

南襄盆地泌阳凹陷断裂斜坡带构造特征与油气成藏

The faulted slope zone of Biyang depression, a multiple hydrocarbon accumulation zone lying in a rich oil depression of Nanxiang basin, is a structural-sedimentary compounded slope, which is developed in Yanshanian period and has an area of 500 km2. From the ‘bottom up’, the developed strata may be divided into Yuhuangding formation in Neogene, Dacang Fang, Hetao-yuan plus Liaozhuang formations and Fenghuangzheng plus Pingyuan formation in Neogene, while Hetao-yuan formation is the main hydrocarbon-bearing target. Because of transtensional stress fields formed by persistent action of large-scale faulting in the south of the depression, sedimentary differential compaction in different stages, and tectonic inversion in later developing stage of the depression, a series of nose structure zones cut by different strike faults are developed. Therefore, the reservoir migration and accumulation are controlled by the complex faulted-nose structural zone, reservoir types are dominated by faulted-noses, faulted-blocks and fault-lithology, while lithology and stratigraphic unconformable reservoirs are locally developed. In combination with demands of practical production, applying with a new research approach of systematology and a combination with dynamic and static modes, guided by modern petroleum geologic theory, and based on previous data and studies, new techniques, methods of geophysical exploration, various computer simulation and forecasting techniques are applied in the new research of this paper. Starting from the structural features and formation mechanism, the forming mechanism of faulted structure, conditions and controlling factors of hydrocarbon accumulation, as well as various space-time allocation relationships in the process of accumulation are analyzed in the research. Besides that, the hydrocarbon migration, accumulation mechanism and dynamic evolution process are also discussed in the paper. Through the research, the accumulation rule of the faulted slope zone in faulted lake basin, the distribution and enrichment regularity of different reservoir controlling factors are systematically summarized. The summarizations indicate that the faulted slope is a favorable orientational zone, hydrocarbon is accumulated in nose structures and enriched in the main body of nose structures, faulted transformation zone and the ascent direction of laddering faulted blocks, the faults are the controlling factors, hydrocarbon accumulation zones controlled by fault-lithology are distributed along the faulting direcion. In the end, hydrocarbon migration and accumulation models of complex faulted-nose blocks are established. 1) Down cut model—‘flank-sheet’: the hydrocarbon is migrated like ‘sheet’ along a series of faults with parallel distribution and accumulated in the flank of nose structures; 2）Cross cut --‘axis-string’ model: the hydrocarbon cutting across the faults is migrated like ‘string’ and accumulated in the axis of nose structures. In view of different distribution models, reservoir forming combination patterns are divided and hydrocarbon reservoir evaluation exploration is carried out, which achieves good results in application. Key words: faulted slope zone; migration and accumulation model; reservoir controlling mechanism; reservoir-forming combination