摘要：Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.

摘要：This article presents the design of a new implantable axial-flow blood pump. The special feature of the flow channel inside the blood pump is that the blood is driven by a big-small tandem impeller installed in the inner hole of the cylinder magnet of a brushless direct current motor. The inner hole makes the main flow channel possible, while the gap between the inner end of the stator and the outer end of the cylinder magnet gives the shape of the tributary flow channel. There is no motor magnet inside the main flow channel, therefore, more blood can pass through it. The gap of the tributary flow channel is very small, but the blood flow in it is not blocked. Thus, the efficiency is increased and the volume and weight of blood pump can be reduced greatly. The outer diameter, length and weight of the manufactured implantable axial-flow blood pump are 29.6 mm, 76 mm and 158 g, respectively. The impeller spins at the speed of 9000 rpm and can generate a pressure head of 100 mmHg and a flow rate of 8 L/rain. In an animal experiment, the blood pump has been successfully applied as a Ventricular Assist Device （VAD） in the chest of a small cow. Besides a mathematical model is established to simulate the flow inside an axial-flow blood pump of implantable VAD. The numerical studies on the performance of the implantable axial-flow blood pump are carried out by combining this mathematical model and the Fluent software. The numerical results agree well with those of experiments, with the maximum error less than 10%.

摘要：A new series of benzamide derivatives as glucokinase activators （GKAs） were designed and synthesized, and their activation for glucokinase were evaluated by the preliminary glucokinase activity assay. The structure-activity relationship （SAR） is discussed. The result shows that compound 12d and 12h have potent activity reference drug RO-28-1675.

摘要：为了提高船舶减摇效果,研究了舵/鳍联合减摇鲁棒控制问题.通过提出广义输出干扰的概念,将舵/鳍联合减摇控制系统广义对象的奇异控制问题转化为非奇异标准控制问题,给出了艏摇/横摇耦合运动的线性分式变换模型和广义对象状态空间实现.基于μ综合设计了舵/鳍联合减摇H∞鲁棒控制系统的控制器,并用结构奇异值理论对所设计的系统进行鲁棒稳定性和鲁棒性能分析.通过数字仿真,证明了所设计的控制系统具有良好的减摇效果和鲁棒性.

摘要：利用低机电耦合系数的压电陶瓷,制作一种低频窄带陶瓷滤波器。这种梯形陶瓷滤波器中心频率为140kHz,具有低插损、高阻带、高选择的特点。为了改进其可靠性,还为这种滤波器设计了一种新颖的组装结构。

摘要：高海情下,船舶航向/横摇运动凸显出强耦合、不确定的特性,传统的PID控制存在适应性差的不足;此外,舵在控制航向的同时还具有减横摇的作用,合理的减摇鳍动作也对航向控制有利。为改善船舶航向、横摇控制效果,研究船舶航向/横摇耦合运动不确定模型,采用基于线性矩阵不等式的鲁棒控制器设计理论,对船舶航向/横摇联合控制问题进行研究,并设计和求解控制器。仿真结果表明,高海情下船舶航向/横摇联合鲁棒控制比传统PID控制提高了约20%的航向和横摇控制精度。

摘要：建立了飞机仿真器航道罗盘伺服系统数学模型,选择直流电动机作为系统的执行元件,采用滑模控制(SMC)设计位置环控制器,重点讨论了控制参数的选取。仿真和实验结果表明,与直接采用LQR方法设计的控制器相比,结合变结构控制选取的控制器具有较强的鲁棒性能,能够满足系统的快速定位要求。

摘要：设计了船舶航向保持GA-PID自适应控制系统,通过系统辨识得到船舶航向运动的数学模型,在该模型的基础上采用遗传算法优化PID参数,将优化所得参数赋予实际的航向保持系统。在系统运行过程中,不断检测航向角偏差的标准差值,若该值超出设定范围,则重新辨识模型,优化参数。对系统进行仿真,仿真结果表明,与单纯形法优化的PID控制系统相比,该系统对海情的变化具有良好的自适应能力。该系统简单可行,具有工程应用价值。

摘要：基于船舶横摇运动非线性模型,设计了一种船舶减横摇FC-PID并联控制器。该控制器由Fuzzy Control和PID并联组成,其结构简单,易于工程实现。通过合理的设计模糊隶属度函数和PID输出限幅环节,实现自动无级切换控制,使船舶减横摇系统的鲁棒性能和控制精度均得到有效改善。仿真结果表明,在高海情下,基于FC-PID并联控制的船舶减横摇系统具有良好的减摇效果,并且鳍角饱和率和鳍伺服系统的功耗也得到显著降低。

摘要：为提高船舶航向/横摇控制系统的可靠性,改善系统故障情况下的容错控制效果,采用基于线性矩阵不等式(LMI)的鲁棒容错控制方法,对船舶航向/横摇系统进行容错控制研究.建立船舶航向/横摇耦合运动模型,分析故障导致的模型等效不确定性,通过定义广义干扰,将模型变换为适合于H2/H∞鲁棒容错控制设计的标准模型.设计系统的性能评价指标,求解鲁棒容错控制器,并进行仿真验证.结果表明,船舶航向/横摇鲁棒容错控制系统具有良好的容错性能.