Volume 14    Number 8    (2002)

 

Title Author Abstract
A Study on Characteristic Model Based Control for Flexible Joint Manipulator QIU Zhi-cheng     The plant characteristic model description of flexible joint manipulator is carried out by using second order time varying difference equation, and the characteristic model based control of flexible joint manipulator combined with adaptive control method is constructed. The main idea of this method is to design intelligent controller by means of estimating the parameters of the equation according to the input and output of the system without computing the dynamic model of the system. It is simple and feasible. Comparing simulation results to that from other method can prove the effectiveness of the method.
Simulation Research on Radar-ESM Track Correlation GUO Hui-dong, ZHANG Xin-hua     The problem of radar-ESM correlation can be considered as a pattern recognition problem. The position of target can be ascertained by using the azimuth of target. Based on statistical hypothesis theory and fuzzy synthetic analysis, multi-threshold mathematical model, multi-target motion model and sequence time correlation mathematical model are presented in the paper. Furthermore, a fast correlation model based on accumulative data accounting is proposed by which the measurements of two kinds of sensors can be smoothed and interpolated on-line. The result of fast correlation can meet precision demand in track-to-track fusion. Finally, the simulations of correlation result on different movement situation are analyzed in detail. The analytical results have important reference value to practical application.
Complex Repairable System Reliability and Maintainability Simulation YANG Yu-hang, FENG Yun-cheng     Along with the determination of sub-system and component’s repair priority with “first-in, first-out” queuing discipline, the logic relationship and significant features of reliability and maintainability simulation are established by means of repair priority and event lists. According to identification of system mission to success and and characteristics of sub-system run, the simulation output provides the entire history of the mission and statistics of reliability and maintainability parameters. The objective is to give a basis of system reliability design and maintainability management.
A New blind beamforming Modeling and Simulation Li hong-sheng, zhao jun-wei, wang feng,

 guo ye-cai

    A new blind beamformer based on higher-order cumulant and neural network is presented in this paper. Its model and simulation are studied further. In this beamformer, the higher-order cumulant is used to estimate the steering vector of the desired signal and the linear programming neural network is employed to carry out the blind optimizing beamforming. The algorithm is not very dependent on the manifold of the array and adapts to the error easily. It is able to avoid computing the inverse of a matrix so as to cut down on computing amount and be easily implemented by hardware. Simulation proves efficiency and correctness of this beamformer model.
Module Generation Technology Research in Electronic Design Automation ZHOU Zheng-wei, WANG Hao-cai, 

CHEN Wei-yuan

    Module generation technology is a new technique developing with EDA design. It influences the spread of Electronic Design Automation (EDA) software, the performance and quality of the designed product, and the development cost. To resolve the problems in the EDA design and remedy the defects of the EDA software, the author who has engaged in this field for many years brings forth the module generation technology. It preferably settles the new problems in the EDA design and simulation.
A New Automatic Generation Method for Multi-resolution Models WANG Guo-xing, ZHANG Ming-min, 

PAN Zhi-geng

    In this paper we present a new automatic generation method for multi-resolution models. This method modified the mesh simplification algorithm based on vertex merge, which can decimate the mesh greatly and efficiently by merging the vertices, and can preserve the topology of the original mesh very well. In addition, the operations of the decimation algorithm can be encoded for progressive mesh storage, transmission, and reconstruction. We also describe the vertex merge/split operation and show how they can be encoded as a progressive mesh in this paper. The samples illustrate the efficiency of the algorithm.
A Learning Algorithm for Fuzzy Neural Network: Dynamic Small Universe YANG Xi-yun, XU Da-ping     A novel algorithm for fuzzy neural network named dynamic small universe is firstly presented in this paper. Identification of nonlinear function with high precision and good real-time performance is solved by the on-line algorithm. With hybrid method of separating premise and consequence parameters, two influence elements on identification precision including membership function type and numbers of membership function within the universe of discourse are analyzed. Then a dynamic small universe algorithm is derived. In contrast to common fuzzification procedure, it employs methods of shifting a small operating window in the universe of discourse and reducing the numbers of membership function in the windows to generate the initial values of premise fuzzification parameters. So a contradiction between the high precision and real-time performance is avoided. Simulation results of nonlinear function identification demonstrate the approach has high precision and good real-time performance.
An Immunity Algorithm for Path Finding and Optimizing of the Moving Robot WANG Sun-an, ZHUANG Jian     This paper analyzes the moving characteristic of the car like moving robot. And the immunity algorithm to solve the moving path finding and optimizing is designed. By the simulating experiments, it shows us that the algorithm has ability to finding and optimizing the moving path and has good flexibility to be suit for different tasks. So the method is high intelligent.
Implement of Genetic Programming with C++ Language and Its Application in The Evolution of Robot’s Self-adaptive Behavior CHEN Wei-dong, JIAN Wei-cheng     As a branch of Genetic Algorithms, Genetic Programming (GP) has direct and close connection with computer programming, especially, GP is effective in general problem solving programming optimization and automatic code generation. Therefore, in recent years, it has attracted more and more attention in the scientific circles and has been applied to lots of fields. But since the limitation of hardware and software configuration, it is difficult to implement GP algorithm in PC using traditional LISP language and it is necessary to implement this algorithm with a common advanced language. This paper describes an implementation of GP with C++ language, providing the details of programming procedure. In GP algorithm, the binary tree date structure is used to represent the node structure in the individual programs of every generation. In case study, this method is adopted to evolve a wall-following behavior of autonomous mobile robot, illustrating the application of GP algorithm in the evolution of robot adaptive behaviors. The simulation results show the validity of this method.
Designing of the Simulation Software on Underwater Vehicle LI Hao, KANG Feng-ju, PAN Yong-jun     In this paper, mostly the structure designing of the simulation software and the constructing methods of model base & data base are studied. And the key techniques are settled, such as standardizing model, current model and Open Database Connectivity (ODBC). Lastly the integrated process is achieved including modeling, simulating and statistical analyzing. This software has friendly interface and good extension. And it can satisfy requirement of simulation about real-time and non-real-time. The application shows that this research is useful for analyzing the capability of underwater vehicle and it has applied in several departments.
Development of Simulation Software of 63A Water and Land Tank Driving Training Simulator GUO Qi-sheng, LIU Yong-hong, LI Guang-hui, XUE Qing, YANG Rui-ping, ZHENG Chang-wei, ZHU Hao      63A water and land tank driving training simulator is a simulation system, which has the functions such as the tank posture simulation of both pitch and roll, the training simulation on land and water, etc. The simulation software consists of modules of the visual simulation, tank kinematics and dynamics simulation, posture simulation, sound simulation and test simulation. This paper establishes the simulation models, develops the simulation software in Visual C++ and 8098 assemble language, and verifies the models. The software has found applications and the effect is satisfactory.
Object-Oriented Simulation Frame about Carrier Rocket Dynamics ZHENG Wei, JIA Pei-ran, MENG Yun-he     Based on Object-Oriented methodology and united modeling language (UML), the paper put forward a general simulation frame about carrier rocket dynamics. In the frame, such things as carrier rocket, rocket, state variables and their corresponding right function, GNC system, engine, aero dynamics, actuators and earth are modeled as independent classes, and much arithmetic, for example, integral, coordinate transform, and interpolation , is also implemented by object-oriented technique. So the frame is flexible, extensible and can support simulation with various backgrounds and various grains. The effectiveness of the frame is validated by a distributed carrier rocket dynamics simulation system grounded on distributed component technique.
Study on Database Technology of Advanced Distributed Simulation System ZHAO Xin-jun, WANG Hui-xia, WANG Xing-ren, GONG Min     With the development of the advanced distributed simulation system, simulation systems become more and more huge and complex. How to manage the data of simulation systems more quickly, more efficiently, more reliably appears very important. This paper discusses the problems of the realistic of the database system in the advanced distributed simulation system, including the architecture of the model Lib and data Lib, the design of the database and the function of the database, puts forward the form layers of MD/MB architecture in ADS, gives out the process to design the database, analyzes the methods to manage the data in ADS with database and other technologies, provides the effectual architecture and method for the realistic of database system in the advanced distributed simulation system.
Structure Analytic Data Exploitation Based 3DVS Visualization System WU Wei-yu, YU Wei, LI Hua     In order to assist engineers to understand the results of structure computing, the finite elements reverse computing method was put forward and a structure analysis data exploitation-based visualization prototype system was developed according to the status of engineering field. The system includes basic modules of data input-output, structure modeling, transform controller, structure rendering, internal force display of components, and stress display on dissecting plane. This prototype realized ViCS technique, which is a probing application in architecture engineering field, and translated a great amount of computing results to comprehensible data, which is of great value and need to structure design.
Component-based Simulation Environments of Distributed Discrete Event Simulation ZHANG Yao-hong, LUO Xue-shan, YU Bin     Component-based design is a software design method developed from object-oriented design. This method uses hierarchical, modular and normative ideas to analyze and design systems, improves reuse of system, decreases the cost of application development, and it is convenient for update and extension of systems. Basing on characteristics of distributed discrete event simulation, this paper introduces the idea of component-based software design, puts forward its simulation component model standards and distributed simulation method, and develops the corresponding simulation environment. The method is suitable to modeling and simulating large and complex systems, and supports models reuse effectively. The simulation environment has better flexibility and extension.
Unmanned Aerial Vehicle Flight Simulation and Training System Based on Virtual Reality ZHANG Xiong, YE Zhen, ZHU Ji-hong, LI Shi     For a new training mode for the UAV steerer and a more advanced, lower-cost and shorter-period training approach, the paper introduces the structure and PC-based implementation of “Unmanned Aerial Vehicle Flight Simulation and System based on Virtual Reality” on the background of a new UAV application. Based on the flight simulation of UAV, the paper puts forward “super bounding box” collision detection and panorama modeling to construct the VR 3D flight simulation environment that helps the trainees to immerse themselves into the virtual environment so that the they could be trained more effectively. The successful research would be significant for widely use of the new UAV system.
Study on Slide Window Protocols by the Method of Virtual Experiment LI Ren-fa, HE Yan     With the rapid development of network technique, it is important for either researchers or learners to analyze principles of network quantitatively. Constituting virtual network laboratory, an advanced method to study and contrive network nowadays, makes it possible to construct test platform for complex network system with low expense. This paper presents a study on three typical kinds of sliding window protocols by the method of virtual experiment. A model of virtual experiment is constructed by object-oriented method, including architecture and main classes. Other features of the model are also presented. The course of the virtual experiment is described by some typical examples. At last, characteristic and performance of those three sliding window protocols are analyzed based on the result of experiment.
Design Analysis and Simulation Research of Ring Piston Source System GUO Ye-cai, ZHAO Jun-weiGUO yi     The use of single ring piston sound source to detect target suffers from two disadvantages: directivity is bad and action distance is short. For greatly reducing these two disadvantages, we developed a system of ring piston plane sound sources. In this paper the system and its structure, and the directivity simulation tests under condition of different vibrating velocity of ring piston, different area of ring piston and different number of ring piston are described. From the simulation results we can conclude that this system has directivity at any acoustic frequency, the smaller the area of ring piston is, the stronger its directivity is; the bigger amplitude of vibrating velocity is, the stronger it is; the more number of ring piston are, the stronger it is. Hence, the research in this paper has an important reference value for engineering research.
The Application of Simulation in Complex Product Design and the Challenges CHEN Xiao-bo, XIONG Guang-leng , 

CHAI Xu-dong

    First presents the current status of the application of simulation in complex product design, then discusses the method to fully apply simulation to complex product design, analyzes the simulation requirements in complex product design based on the features of complex product, and concludes with the challenges on modeling, simulation running, evaluation and decision making.
Simulation on Nonlinear Rudder/Fin Joint Control Based on H Control Theory YU Ping, LIU Sheng     The ship-motion equations of sway, yaw and rolling were founded. The simulation algorithms of wave high, yaw force, rolling moment and sway moment were put forward. Induced the H  design approach for disturbance attenuation of linear system. The non-linear rudder/fin joint control system-design problem was transformed into the H  design problem for disturbance attenuation of linear system. Based on the H  control theory , a rudder/fin joint controller was designed. Design and simulation of the controller were completed using MATLAB. Simulation results show that this control strategy has nice performance on course-keeping and roll stabilization.
Variable Structure Control for 6-6 Parallel Manipulators Based on Cascaded CMAC LI Shi-jing, WANG Jie-fa, FENG Zu-ren     This paper proposes a novel control scheme with respect to the uncertainty of the complex robot system, which combine cascaded Cerebellar Model Articulation Controller (CMAC) with Variable Structure Control (VSC). Firstly, a improved CMAC is used to learn the uncertainty of robot system, and it is used as a feed-forward compensator, fast tracking error convergence and better learning stability are obtained through using cascaded CMAC. Then, a VSC term is used to reduce the effect of CMAC estimate error and unrepeatable disturbances. The control law is chosen based on Lyapunov direct method. Simulation of 6-6 parallel manipulator trajectory tracking shows that good stability and accuracy are obtained.
Research and Simulation on Time Variant Time Delay Estimation of Moving Air Target WANG Zhao, CHEN Zhong, ZHAO Jun-wei, 

SHI Kun-lin

    Time variant time delay estimation is a kind of key technique for passive orientation of moving target. Parametric model is a kind of important time delay estimation methods, its adaptive model can be used for the estimation of time variant time delay. Three kinds of adaptive time delay estimation methods are analyzed and used for practical acoustic data of helicopter, then plenty of simulation is made. It provides valuable data and result to passive orientation of moving air target under the situation of limited array size.

A New Identification Method for the Nonlinear Systems of Wiener Type Based on Laguerre Functions and Static Neural Networks

XU Zi-fu, LI Si-fu, CHEN Zong-hai     A new identification method for the nonlinear systems of Wiener type is proposed. The model of nonlinear systems of Wiener type is made up of Laguerre function networks with static BP (SBP) networks, and also, its recursive identification algorithm is given. The parameter identification of this model needs no a priori knowledge on the order degree and the time delay of the identified nonlinear systems. The digital simulation result shows the efficiency of the proposed method.
Network Simulation about the Performance of Satellite Channels XU Xin, TANG Kai, MA Yi-fei     This paper analyzes the network performance of satellite channels and the routing characteristics of low earth orbit satellite constellation. In order to resolve the problems in simulation experiments for satellite channels, two simulation experiments are designed and implemented. Then the results of them are presented. At the same time, the methods and tools of simulation experiments for satellite channels are discussed.
Method of Petri Nets Simulation in Tunnel Construction Process YANG Xue-hong, HU Zhi-gen, HU Jian-ming     Based on the characteristics of Perti net, the simulation models of construction system are established. They describe relationships between the parameters, schedule and dynamic changes of the real construction system, and optimize the schemes and machine numbers of construction process. Then, a tunnel construction process and procedure are systematically analyzed. Finally, a multi-objective decision mathematical model is developed for construction planning. A case study illustrates that the simulation method and models are reasonable and effective.
Simulation Analysis on the Petri Net of the Controlled Series of a Process of Launching Torpedo DUAN Hao, HU Zong-wu, YANG Cheng-shi, 

LI You-ming

    Basing on that the controlled series of a process of launching torpedo, it is put forward that how to separate a non-perfect discrete system to a discretization system, and more to set up its structure of Petri Net. The Petri Net is sut up basing on the process of launching torpedo, and the operation result is gotten in the type of arriving-tree. Meanwhile, the success probability in launching process is discussed. Any analysis and prospects is made about that the Petri Net will be applied in an analogous no-perfectly discrete system.
Optimal Experiment Design for Wavelet-Based System Identification LONG Tu-jing, SUN Zheng-shun, LI Chun-wen     This paper proposes a method for optimal input signal design in system identification. We firstly apply the wavelet multiresolution theory to the least-squares system identification, and associate it with the control performance index of the closed-loop system, and then present a method for optimal identification input signal design. This method is a control-relevant identification method, and it could get better results as compared with the existing system identification methods. The simulation result proves the effectiveness of the proposed method.
Pattern Recognition of Mechanical Failure Based on Kohonen Network SHEN Yi, LI Wan-li, YAN Rong-qing     Kohonen network confirms traveling state of streamship decelerating box according to instrument’s characteristic data, Kohonen network bases on automatical analysis. Several group characteristic data of streamship decelerating box are selected and trained by Kohonen network. Three nerve cells prevail in competitive layer at last, that is to say, the traveling states of the machine are divided in three sorts. Kohonen network can identify another traveling state of streamship after it has learned. Calculating outcomes are as the same as that of making use of other ways. Therefore, Kohonen network can recognize model. It also can inspect traveling state of machines.
Adaptive Reference Model Tracking Control for a Class of Nonlinear System LIU Xiao-he, LI Jie     This paper proposes a novel adaptive reference model tracking control system design approach for a class of nonlinear system. First the general description of this system is presented, then the existing conditions of the tracking control scheme are discussed. Based on them, the design of feed forward control matrix and the iterative regulative algorithm of feedback control matrix are put forward, which may lead the system to meet a good tracking performance. The simulation result has verified the effectiveness of the proposed scheme.
Robust H Filtering and Simulation for Uncertain Discrete Time-delay Systems GUAN Xin-ping, ZHANG Qun-liang     This paper deals with the problem of robust H filtering for a class of uncertain discrete time-delay systems, where the uncertainties that satisfy the so-called norm-bounded conditions exist in state matrices and input matrices, The aim is to design a linear filter which can guarantee a prescribed H performance level for the filtering error system and all admissible uncertainties. The sufficient conditions for existing filter are derived. A LMI method for designing filters is given by matrix transformations. In order to guarantee the excellent steady performance of filters, we consider the optimization of LMIs. By solving a set of LMIs, the optimal filer can be derived. Finally, the simulation result shows that the method is very effective.
Research of Extracting the Digital Differential Signal Based on MATLAB QU Dong-cai     This paper introduces how to use a certain type of the digital filter to filter the differential signals generated by the digital differential circuit of the control system, and the way to improve the quality of the digital differential signals by some non-linear link such as dead zone and inertia. In order to testify the accuracy of the method, we simulated the designed digital system and give the result. This method is proved to be simple, convenient and easy to be put into practice.
Research on Fusion Algorithm for Multi-sensor Filtering Target Tracking in Nonlinear Systems ZHANG Rui, LI Wen-xiu     In nonlinear systems, the fusion algorithm based on extended Kalman Filter suffers from the disadvantage that the tracking precision is not satisfied. In this paper, a fusion algorithm in nonlinear systems based on converted measurement Kalman filter is put forward. The result of simulation shows that the result of centralized converted measurement Kalman filtering is better than the result of converted measurement Kalman filtering. But we can see that the difference between these two algorithms is small. So it can be concluded that in nonlinear systems distributed fusion algorithm based on converted measurement Kalman filtering can basically reconstruct centralized fusion algorithm.
Predictive Functional Control and Its Application Study WANG Guo-yu, HAN Pu, WANG Dong-feng     The basic theory and properties of Predictive Functional Control (PFC) is introduced and analyzed, and the algorithm for first-order plus pure delay process is given out particularly. PFC-PID cascade control strategy is presented by combining PFC with PID control, and applied to main steam temperature control system in thermal power plant. Internal loop of the system adopts PID control strategy, and internal loop and the super-heater high temperature plant constitute generalized control plant of PFC. The control algorithm is simple because prediction model of PFC is first-order plus pure delay model which is gained by matching generalized plant. Furthermore, the system with unmatched model still has favorable quality. Therefore the strategy is easy to be realized in computer or distributed control system (DCS), and has hopeful application prospect. Many computer simulation results show that the advanced control strategy has more favorable dynamic characteristics than PID cascade control strategy in main steam temperature system, good robustness and disturbance rejection.
The Design of a Kind of Hybrid PID Controller ZHAO Qing-lin, GUO Yan-bing, MEI Qiang, 

QI Zhan-qing       

    It is difficult to get the precise parameters of traditional PID controller, thus the accuracy of its control is not insured. In this paper, a kind of hybrid PID controller’s design method is presented. It uses neural network to compensate the traditional PID controller, and the plant is controlled together. The results of simulation show that the method can yield better control effect than the traditional PID controller.
Study on Radial Basis Function Networks Based Reinforcement Learning in Robot Soccer LUO Qing, LI Zhi-jun, Iqbal Nadeem, 

LU Tian-sheng

    Reinforcement learning has the ability to learn from experience as opposed to supervised learning which learns from examples. Application of reinforcement learning to large state spaces necessitates the use of function approximators like Radial Basis Function Networks (RBFNs) to map between inputs and outputs. This study investigates the applicability of RBFNs based reinforcement learning methods in a dynamic multi-agent scenario of robot soccer. And the result of experiment proves that is a suitable approach.
Research on Development of Ceramic Products Based on Reverse Engineering WANG Ke-qiang     Based on the Reverse Engineering (RE) idea, the development process model of the ceramic products is established. The process and the key technology will be discussed in this paper. The research results prove that development of ceramic products based on RE can shorten product lead-time and improve product quality.
Simulation Framework for Mobile Ad Hoc Network WANG Li-feng, YU Quan, DAI Hao,

SUN Xiao-dong

     Using OPNET a general framework is developed to test Mobile Ad Hoc Network (MANET) routing efficiency for different Medium Access Control (MAC) layers, network layers, and nodal mobilities. With this hierarchical integrated framework, it is possible to design different nodal mobility models, media access methods, and routing schemes, to compare end-to-end statistics (end-to-end delay, throughput and efficiency), and to select the most efficient and suitable solution.
Focus Mathematic Model Improvement & Reliability Research for Hydraulic Turbine Generator Based on Simulation ZHANG De-gan, HAO Xian-chen, ZHAO Hai     For simulation, the focus mathematic model improvement and reliability analysis for automatic adjustment object of hydraulic turbine generator are achieved in this paper. Combining the phase-fit method with parsing method, we educe the simple function and predigest the computing, which is suitable for all work of hydraulic turbine. Because of parameter time-variable on water-hitting model of leading-water system, the general solution is not usable, so a new dynamic iteration solution is used, which is simple, ensures the precision whatever the input is. After analysis and fusion process, the method above has been tested according to the reality, reliability and practicability of the system, which can solve complex issue by simple and direct manner and also can be proved in the example of Fengman hydroelectric power station.
A Method of Threat Evaluation Based on Target Type ZHANG Shan-wen, LIU Jin-mang     Combining the feature of modern air defense combat and the operation process of command automation system, the factors that affect target threat evaluations are analyzed and a method of threat evaluation is presented according to the theory and method of multiple attribute decision making (MADM). Targets and its attributes are divided, and a mathematics model of target threat evaluation is built up by MADM method. The process of solution is given by instantiation. The simulation result indicates this model can efficiently solve the problem of target threat evaluation, and help commanders to allocate targets and improve the efficiency of air defense combat.
Research on the Simulative Testing Circumstance for Vessel Data Fusion Systems TIAN Jie, CHEN Jie, ZHANG Yu-he     Measure and evaluation for data fusion systems are very important but ever ignored subjects in the domain of data fusion, and then it is necessary and meaningful to do the research on the theories and methods of evaluation for data fusion systems. Considering the flexibility of data fusion systems, it is impossible and unrealistic to measure in real environment, so a simulating environment is always needed for the measures and evaluations, which yields the measuring data. In this paper, the application of simulation technique in evaluation for data fusion systems is introduced with the vessel data fusion system as a example. Parts of the simulation models are presented, and the design methods of measure subjects are also discussed.