Optimal bounded control of first-passage failure of quasi-integrable Hamiltonian systems with wide-band random excitation

The optimal bounded control of quasi-integrable Hamiltonian systems with wide-band random excitation for minimizing their first-passage failure is investigated. First, a stochastic averaging method for multi-degrees-of-freedom (MDOF) strongly nonlinear quasi-integrable Hamiltonian systems with wide-band stationary random excitations using generalized harmonic functions is proposed. Then, the dynamical programming equations and their associated boundary and final time conditions for the control problems of maximizinig reliability and maximizing mean first-passage time are formulated based on the averaged It$\ddot{\rm o}$ equations by applying the dynamical programming principle. The optimal control law is derived from the dynamical programming equations and control constraints. The relationship between the dynamical programming equations and the backward Kolmogorov equation for the conditional reliability function and the Pontryagin equation for the conditional mean first-passage time of optimally controlled system is discussed. Finally, the conditional reliability function, the conditional probability density and mean of first-passage time of an optimally controlled system are obtained by solving the backward Kolmogorov equation and Pontryagin equation. The application of the proposed procedure and effectiveness of control strategy are illustrated with an example.

Optimal bounded control of first-passage failure of strongly non-linear oscillators under combined harmonic and white-noise excitations

A procedure for designing the optimal bounded control of strongly non-linear oscillators under combined harmonic and white-noise excitations for minimizing their first-passage failure is proposed. First, a stochastic averaging method for strongly non-linear oscillators under combined harmonic and white-noise excitations using generalized harmonic functions is introduced. Then, the dynamical programming equations and their boundary and final time conditions for the control problems of maximizing reliability and of maximizing mean first-passage time are formulated from the averaged Ito equations by using the dynamical programming principle. The optimal control law is derived from the dynamical programming equations and control constraint. Finally, the conditional reliability function, the conditional probability density and mean of the first-passage time of the optimally controlled system are obtained from solving the backward Kolmogorov equation and Pontryagin equation. An example is given to illustrate the proposed procedure and the results obtained are verified by using those from digital simulation. (C) 2003 Elsevier Ltd. All rights reserved.

Static shape control of repetitive structures integrated with piezoelectric actuators

In this paper, several simplification methods are presented for shape control of repetitive structures such as symmetrical, rotational periodic, linear periodic, chain and axisymmetrical structures. Some special features in the differential equations governing these repetitive structures are examined by considering the whole structures. Based on the special properties of the governing equations, several methods are presented for simplifying their solution process. Finally, the static shape control of a cantilever symmetrical plate with piezoelectric actuator patches is demonstrated using the present simplification method. The result shows that present methods can effectively be used to find the optimal control voltage for shape control.

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。

Pump-dump control and the related transient absorption spectroscopies

We combine theories of optimal pump-dump control and the related transient probe absorption spectroscopy in order to elucidate the relation between these two optical processes and the possibility of experimental realization. In the weak response regime, we identify the globally optimal pair of pump-dump control fields, and further propose a second-order difference detection scheme to monitor the wave packets dynamics that is jointly controlled by both the pump and dump fields. The globally optimal solution serves also as the initial input for the iterative search for the optimal control fields in the strong response regime. We use a model I-2 molecule to demonstrate numerically the pump-dump control and the detection of a highly vibrationally excited wave packet focusing dynamics on the ground X surface in both the weak and strong response regimes. The I2B surface serves as the intermediate to assist the pump-dump control and the optical detection processes. Demonstrated in the strong response regime are the optimal pair of pump-dump molecular-pi pulses that invert nearly total population onto the predefined target region within a half period of vibration motion. (C) 1999 American Institute of Physics. [S0021-9606(99)00115-4].

自然侵蚀量和容许土壤流失量与水土流失治理标准

在总结分析国内有关自然侵蚀量、容许土壤流失量研究成果的基础上,探讨自然侵蚀量与容许土壤流失量的关系,讨论制订水土流失治理标准的思路。认为水土流失治理标准的确定有3个参考值:1)标准值,即一定条件下的容许土壤流失量,是水土流失治理至少要达到的目标,且随着对不同土地利用类型的功能需求与可实施的最佳水土保持措施、以及所在水土流失类型区的侵蚀危害与治理约束条件的不同而不同;2)理想值,即正常自然侵蚀状态下的土壤流失量;3)极端值,即土壤流失量为0,不发生水土流失。水土流失治理应是先控制到现时生态环境与社会经济条件下的容许土壤流失量范围内,逐步达到自然正常侵蚀量或制止水土流失的发生;还应引入环境伦理、环境美学及景观设计等理念,最终实现土地的可持续利用、区域生态系统的健康稳定及人与自然的和谐友好发展。

次生植被土壤碳、氮养分季节动态及凋落物输入与温度的影响

土壤微生物量、可溶性有机碳与氮虽然只占土壤有机碳、氮总量的较小部分，但可以在土壤全碳、氮变化之前反映土壤微小的变化，又直接参与土壤生物化学转化过程，因而在植被恢复过程中，较其它土壤理化性质等能够更好地指示土壤恢复情况。在青藏高原东缘存在大面积的次生人工林替代灌丛或采伐迹地，而关于这些人工林替代后的生态效果和生态过程的评估却十分缺乏，本研究通过评估岷江上游植被恢复重建过程中典型人工替代次生植被凋落物层与土壤碳、氮等养分大小，动态监测土壤微生物生物量、水溶性碳、氮等指标，结合温度与凋落物输入等影响土壤活性有机碳、氮因子的控制试验，系统分析不同人工替代次生植被土壤碳、氮等养分的差异原因，试图寻找低效人工林优化调控与持续管理技术，为区域生态公益林持续管理提供理论和技术依据。主要结论如下： 1. 通过对不同人工替代次生植被凋落物层和土壤碳、氮分析发现，油松和华山松人工林替代次生灌丛后土壤碳、氮含量较灌丛和阔叶人工林低，主要原因可能为凋落物质量(C/N)较差，而引起碳、氮等元素难以归还土壤。进而通过对不同人工替代次生植被凋落物层和土壤微生物生物量、水溶性有机碳、氮等指标的季节性动态模式的分析，发现各次生植被土壤微生物生物量C、N，P以及土壤水溶性碳、氮含量均呈明显季节性动态，呈现秋季明显大于其它季节，冬季最低，在表层土壤最为明显。 2. 油松、华山松人工林凋落物层和土壤水溶性有机碳(WDOC)、土壤水溶性有机氮(WDON)明显低于灌丛和连香树，土壤微生物生物量C、N也以油松和华山松人工林最低，而落叶类植被，如灌丛、连香树和落叶松之间没有明显差异，说明可利用底物的数量和质量差异是影响各次生植被凋落物分解和土壤微生物活性的主要原因。MBC/OC和MBN/ON能较好地指示土壤微生物活性的变化，MBC/OC凋落层总体以灌丛和连香树人工林最高，油松和华山松人工林最低；而土壤中MBC/OC连香树人工最高，华山松人工林最低。说明以油松和华山松为主的人工造林替代乡土阔叶灌丛造成土壤C、N等养分严重匮乏，微生物活性低下是影响其养分周转的主要原因。 3. 从各次生植被凋落物产生看，凋落物年归还量最大的为华山松人工林(5.1×103 kg ha-1)，其次为落叶松人工林(4.8×103 kg ha-1)，阔叶灌丛林地凋落物产生总量(4.4×103 kg ha-1)略大于油松人工林(4.2×103 kg ha-1)，最小的为连香树人工林(3.6×103 kg ha-1)；叶是凋落物的主体，落叶类树种月动态表现为单峰型，高峰主要在10-11月，如落叶松、连香树和灌丛林；常绿的松类月动态不明显，各月基本相同，最为明显地为油松林，华山松人工林略有二个小峰，分别出现在11月和5月。落叶阔叶灌丛的凋落物分解速率大于常绿针叶林，如油松和华山松。结合凋落物的产生量和分解速率，不同树种人工林替代次生阔叶灌丛后，人工油松和华山松林枯落物总贮量和厚度明显大于落叶松人工林、灌丛林和连香树人工林，说明以油松和华山松为主的人工造林替代乡土阔叶灌丛延缓了有机物向土壤的顺利归还，不利于土壤C、N等养分循环。 4. 通过控制地面凋落物和地下根系输入有机物对土壤碳、氮的影响研究发现，(1) 单独去除根系以及根系与地面凋落物同时去除处理1年后对表层(0-10cm)土壤WDOC均没有显著影响，而土壤WDON显著增加，油松人工林土壤微生物生物量C、N显著降低，人工落叶松林没有显著差异，说明油松人工林土壤微生物活性对地下碳输入的依赖大于其它次生植被，而落叶松土壤微生物活性对地下碳输入依赖性较小；去除地面凋落物，明显降低了落叶松人工林土壤WDOC，华山松和连香树土壤WDON均较对照显著减少，油松人工林土壤微生物量C较对照显著减少；双倍增加地面凋落物处理对土壤微生物生物量、WDOC和WDON没有明显地增加，相反，连香树、华山松和油松人工林土壤WDON较对照减少。说明油松人工林微生物活性不仅依赖于地下碳输入，而且对地上有机物输入的依赖性也较大；连香树、落叶松和华山松人工林土壤微生物生物量并没有因地面凋落物的去除减少可能与土壤总有机碳含量及活性均较高有关，而双倍增加地面凋落物反而降低了土壤微生物生物量，说明凋落物覆盖后改变了土壤微气候。 5. 碳矿化累积量与有机碳含量和活性有机碳含量之间存在显著地正相关关系。凋落物碳累积矿化量、矿化速率以连香树最高，油松和华山松人工林次之，落叶阔叶灌丛低于常绿针叶纯林，导致其差异的主要原因可能为凋落物产生的时间动态模式不一样，致使凋落物起始分解时间不一致。而土壤层有机碳矿化速率和矿化量以阔叶落叶灌丛和连香树最高，油松和华山松人工土壤最低，再次证实利用针叶纯林恢复植被阻碍了有机质周转与循环。 6. 凋落物累积矿化量与C/N值呈显著地相关关系，并随着温度的升高而明显增加，而土壤累积矿化量与C/N值没有显著相关关系，说明土壤有机碳质量(C/N)对温度的响应不十分明显。通过双指数模型对不同温度下碳矿化过程进行模拟和计算出活性有机碳与惰性有机碳比例，发现温度升高促进了惰性有机碳向活性有机碳的转化，增加了活性有机碳含量，说明温度升高可促进次生植被凋落物与土壤有机质的分解，进而可影响到林地碳源/汇关系的变化。 综上，通过对不同人工替代次生植被凋落物与土壤C、N大小、以及土壤微生物生物量、水溶性C、N等指标动态变化模式研究，结合温度与凋落物数量输入等影响土壤活性C、N因子的综合分析，以油松和华山松人工纯林对山地植被恢复，延缓或阻碍了有机质周转与循环，造成了土壤肥力退化。对现有低效人工纯林改造，应为地面大量有机物分解创造条件。 Although soil microbial biomass, dissolved organic carbon (DOC) and dissolved organic nitrogen (DON) are a small part of total soil organic carbon and nitrogen, they can directly participate in the process of soil biochemical translation and indicate the fine changes before changes of soil total organic carbon and nitrogen occur. So, they are good indexes to indicate soil restoration condition during the process of vegetation rehabilitation. There are large areas of secondary vegetations which substitute for indigenous shrubs in the eastern fringe of Qinghai-Tibet Plateau. However, it is not well known that the ecological effect and process after substitution by different secondary plantations. Based on comparison of soil organic and nitrogen contents in litter layer and soil under different secondary vegetations in upper reaches of Minjiang River, soil microbial biomass, DOC and DON in litter layer and soil were investigated in order to analyze the seasonal dynamic. Combining the effects of temperature, litter input and root exclusion on soil microbial biomass, DOC and DON, we also aim to understand the reason and mechanism of difference in soil carbon and nitrogen contents among different secondary vegetations. The study would contribute to comprehensively understanding C and N cycling processes and provide optimal control and sustainable technology of low-effect plantations in these regions. The results are as follows: (1) Organic carbon and nitrogen in litter layers and soil under different substitution plantations were investigated. The results showed that contents of soil organic carbon and nitrogen were lower in P. tabulaeformis (PT) and P. armandi Franch(PA) than those in native broad-leaf shrub and broad-leaf plantation. The low quality (C/N) of litter in PT and PA plantations caused carbon and nitrogen returning to soil difficultly. Seasonal dynamic of soil microbial carbon (MBC),-nitrogen (MBN),-phosphor (MBP), and WDOC and WDON showed similar pattern, which had the highest values in autumn and the lowest values in winter. (2) WDOC and WDON in litter layers and soil under PT and PA plantations were significantly lower than those in native broad-leaf shrub and Cercidiphyllum japonicum Sieb. et Zucc.(CJ). Soil MBC and MBN were also the lowest, while there were no significant differences among deciduous vegetations, i.e. native broad-leaf shrub, CJ and Larix kaempferi Lamb.(LK) plantation. The results suggested that difference in quantity and quality of available substance was main reason that affected the activity of microbe in soil and litter layer. MBC/OC and MBN/ON were good indexes to indicate the change of soil microbial activity. MBC/OC of litter had the highest value under native broad-leaf shrub and CJ plantation, and had the lowest value in PT and PA plantations, while MBC/OC of soil was the highest under CJ plantation, and was the lowest in PT and PA plantations. These results indicated that PT and PA plantations substituting for native broad-leaf shrub caused deficit of carbon and nitrogen in soil, low microbial activity was a main reason influencing the cycling and turnover of carbon and nitrogen in soil. (3) The annual litter fall production, composition, seasonal dynamic and decomposition of five typical secondary stands in upper reaches of Minjiang River were studied in this paper. The annual litter productions were: PA (5.1×103 kg ha-1), LK(4.8×103 kg ha-1), native broad-leaf shrub (4.4×103 kg ha-1), PT(4.2×103 kg ha-1)，CJ(3.6×103 kg ha-1). The litter production of leaves in five secondary vegetations occupied a higher percentage in the annual total litter production than those of other components. The litterfall was mostly producted in the cool and dry period (October-November) for deciduous vegetations and relatively equably producted in every season for evergreen coniferous vegetations. The decomposition rate of leaf litter in the broad-leaf stand was higher than those in evergreen coniferous stand. Combined with annual litter fall production and decomposition rate of leaf litter, we found that stock and depth of litter layer were significantly larger in PT and PA plantations than those in native broad-leaf shrub, LK and CJ plantations. The results confirmed that PT and PA plantations substituting for native broad-leaf shrub delayed organic matter returning to soil and hindered cycling of carbon and nitrogen again. (4) We explored plant litter removal, double litter addition, root trenching, and combining root trenching and litter removal treatments to examine the effects of above- and belowground carbon inputs on soil microbial biomass, WDOC and WDON in four secondary plantations. During the experimental period from June 2007 to July 2008, 1 year after initiation of the treatments, WDOC in soil did not vary in root trenching, and combining root trenching and litter removal treatments, while WDON in soil significantly increased compared with CK treatment. Root trenching reduced soil MBC and MBN in PT plantation, while MBC and MBN in soil did not vary in LK plantation. The rasults implied that soil microbial activity was more dependent on belowground carbon input in PT plantation than those in other secondary plantations, on the contrary, soil microbial activity in LK plantation was not dependent on belowground carbon input. Plant litter removal significantly decreased soil WDOC in LK plantation, decreased WDON in PA and CJ plantations, and also significantly reduced soil MBC in PT plantation. However, double litter addition did not increase soil microbial biomass, WDOC and WDON, on the contrary, soil WDON in CJ, PA and PT plantations were decreased. These suggested that soil microbial activity was not only dependent on belowground carbon input, but also on aboveground organic material input. Double litter addition could change the microclimate and result in the decrease of soil microbial activity in CJ, PA and PT plantations. (5) We measured carbon mineralization in a 107 days incubation experiment in 5℃,15℃ and 25℃. Carbon cumulative mineralization was positively correlated with organic matter and labile organic carbon in litter layer and soil. Cumulative carbon mineralization and mineralization rate of litter layers in PT and PA plantations were higher than that in native broad-leaf shrub. This difference between native broad-leaf shrub and coniferous plantations in cumulative carbon mineralization and mineralization rate of litter layers could be attributed to the initiating time of decomposition due to the difference in seasonal dynamic of litter fall production between two types of secondary plantations. However, cumulative carbon mineralization and mineralization rate in soil were the highest in native broad-leaf shrub and CJ plantation, and were the lowest in PT and PA plantations. This also confirmed that PT and PA plantations substituting for native broad-leaf shrub hindered the cycling and turnover of organic matter again. (6) Carbon cumulative mineralization was positively correlated with C/N in litter layer and increased with temperature increasing, while carbon cumulative mineralization was not correlated with C/N in soil. This indicated that soil organic matter quality (C/N) was insensitive to temperature. Applying bi-exponential model, we computed the percent of labile and stable carbon in different temperature incubation and found that temperature increasing would accelerate the transform from stable carbon to labile carbon and increase the percentage of labile organic carbon. This illuminated that temperature incraesing could facilitate the decomposition of litter and soil organic matter in secondary vegetations and hence affect the relationship between carbon source and sink.

轮式移动机器人轨迹跟踪的最优控制

深入分析了轮式移动机器人的运动状态,建立了WMR路径偏差系统的非线性数学模型。应用小偏差线性化理论,将该多输入多输出非线性系统简化成一个单输入单输出线性系统。然后基于线性二次型调节器理论进行了系统最优控制器的设计,并针对该理论中加权矩阵Q与R难以确定的问题,从控制效果出发,采用自适应遗传算法对其进行了优化。实现了移动机器人对预定轨迹的满意鲁棒跟踪,同时满足了实时性要求。实验结果证明了该方法的正确性与实用性。

奇异摄动控制系统:理论与应用

系统地回顾了近年来奇异摄动控制技术的发展 ,主要包括线性奇异摄动系统的稳定性分析与镇定、最优控制、H∞ 控制 ,非线性奇异摄动系统的镇定、优化控制和基于积分流形的几何方法 ,以及奇异摄动技术在实际工业 ,例如机器人领域、航天技术领域和工程工业、制造业等中的成功应用 .并指出了这一领域进一步研究的方向

泵车布料机构运动学分析及轨迹规划控制建模与仿真

给出了以混凝土泵车各臂油缸长度为参变量的布料机构浇筑过程的轨迹规划计算方法。在解决布料机构运动学分析的逆问题时 ,采用了基于多峰值并行搜索的遗传算法来求解最优控制优化目标函数 ,并对施工过程进行了仿真

自适应LQR方法在载人潜水器动力定位中的应用研究

根据我国正在研制开发的某深海载人潜水器的特性及其对载人潜水器动力定位控制的要求,采用最优控制方法LQR与递推辨识系统参数相结合的方法———自适应LQR方法进行控制。仿真结果表明这种方法具有良好的控制效果。

一类载人潜水器的改进LQG控制研究

针对一类载人潜水器(MSV,MannedSubmersibleVehicle)在动力定位中多自由度之间存在的强耦合、非线性,以及系统参数的时变特性,文章采用带遗忘因子的递推最小二乘法和平方根法对系统参数进行辨识,然后在状态空间进行多输入多输出(MIMO)线性系统的最优控制研究。仿真结果表明,该两种改进LQG控制方法对于外界扰动以及系统的参数时变具有良好的控制效果,控制精度得到提高,为实际载人潜水器控制系统的多自由度动力定位控制提供了坚实的依据。

基于SQP算法的7000m载人潜水器有约束非线性控制分配研究

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