电气自动化英文文献和翻译论文

我有一篇我本科毕设的小论文，英文中文都有，而且是我人工翻译的，8000字左右。你要的话PM我。我是电气工程及其自动化专业的。《Analysis of thyristor-controlled phase shifter applied in damping power system oscillations》

Electric Power Systems 电力系统 The modern society depends on the electricity supply more heavily than ever before. 现代社会的电力供应依赖于更多地比以往任何时候。 It can not be imagined what the world should be if the electricity supply were interrupted all over the world. 它无法想象的世界应该是什么，如果电力供应中断了世界各地。 Electric power systems (or electric energy systems), providing electricity to the modern society, have become indispensable components of the industrial world. 电力系统（或电力能源系统），提供电力到现代社会，已成为不可缺少的组成部分产业界的。 The first complete electric power system (comprising a generator, cable, fuse, meter, and loads) was built by Thomas Edison – the historic Pearl Street Station in New York City which began operation in September 1882. 第一个完整的电力系统（包括发电机，电缆，熔断器，计量，并加载）的托马斯爱迪生所建-站纽约市珍珠街的历史始于1882年9月运作。 This was a DC system consisting of a steam-engine-driven DC generator supplying power to 59 customers within an area roughly 1.5 km in radius. The load, which consisted entirely of incandescent lamps, was supplied at 110 V through an underground cable system. 这是一个半径直流系统组成的一个蒸汽发动机驱动的直流发电机面积约1.5公里至59供电范围内的客户。负载，其中包括完全的白炽灯，为V提供110通过地下电缆系统。 Within a few years similar systems were in operation in most large cities throughout the world. With the development of motors by Frank Sprague in 1884, motor loads were added to such systems. This was the beginning of what would develop into one of the largest industries in the world. In spite of the initial widespread use of DC systems, they were almost completely superseded by AC systems. By 1886, the limitations of DC systems were becoming increasingly apparent. They could deliver power only a short distance from generators. 在一个类似的系统在大多数大城市在世界各地运行数年。随着马达的弗兰克斯普拉格发展在1884年，电机负载被添加到这些系统。这是什么开始发展成为世界上最大的产业之一。在最初的直流系统广泛使用尽管如此，他们几乎完全被空调系统所取代。到1886年，直流系统的局限性也日益明显。他们可以提供功率只有很短的距离从发电机。To keep transmission power losses ( I 2 R ) and voltage drops to acceptable levels, voltage levels had to be high for long-distance power transmission. Such high voltages were not acceptable for generation and consumption of power; therefore, a convenient means for voltage transformation became a necessity. 为了保持发射功率损失（我2 R）和电压下降到可接受的水平，电压等级，必须长途输电高。如此高的电压不发电和电力消耗可以接受的，因此，电压转换成为一个方便的手段的必要性。 The development of the transformer and AC transmission by L. Gaulard and JD Gibbs of Paris, France, led to AC electric power systems. 在发展的变压器，法国和交流输电由L.巴黎戈拉尔和JD吉布斯导致交流电力系统。 In 1889, the first AC transmission line in North America was put into operation in Oregon between Willamette Falls and Portland. 1889年，第一次在北美交流传输线将在俄勒冈州波特兰之间威拉梅特大瀑布和实施。It was a single-phase line transmitting power at 4,000 V over a distance of 21 km. With the development of polyphase systems by Nikola Tesla, the AC system became even more attractive. By 1888, Tesla held several patents on AC motors, generators, transformers, and transmission systems. Westinghouse bought the patents to these early inventions, and they formed the basis of the present-day AC systems.这是一个单相线路传输功率为4,000公里，超过21 V系统的距离。随着交流的发展多相系统由尼古拉特斯拉，成为更具吸引力的。通过1888年，特斯拉举行交流多项专利电动机，发电机，变压器和输电系统。西屋公司购买了这些早期的发明专利，并形成了系统的基础，现在的交流。 In the 1890s, there was considerable controversy over whether the electric utility industry should be standardized on DC or AC. By the turn of the century, the AC system had won out over the DC system for the following reasons: 在19世纪90年代，有很大的争议或交流电力行业是否应该统一于直流。到了世纪之交的，在交流系统赢得了原因出在下面的直流系统为： （1）Voltage levels can be easily transformed in AC systems, thus providing the flexibility for use of different voltages for generation, transmission, and consumption. （1）电压水平可以很容易地改变了空调系统，从而提供了传输的灵活性，发电用不同的电压和消费。 （2）AC generators are much simpler than DC generators. （2）交流发电机简单得多比直流发电机。 （3）AC motors are much simpler and cheaper than DC motors. （三）交流电机和电机便宜简单得多，比直流。 The first three-phase line in North America went into operation in 1893——a 2,300 V, 12 km line in southern California. 前三个阶段的美国北线投产于1893年- 1 2300五，南加州12公里路线研究。 In the early period of AC power transmission, frequency was not standardized. 在电力传输初期交流，频率不规范。 Many different frequencies were in use: 25, 50, 60, 125, and 133 Hz. 有许多不同频率的使用：25，50，60，125，和133赫兹。 This poses a problem for interconnection. Eventually 60 Hz was adopted as standard in North America, although 50 Hz was used in many other countries. 这对互连的问题。最后60赫兹标准获得通过，成为美国在北美，虽然是50赫兹在许多其他国家使用。 The increasing need for transmitting large amounts of power over longer distance created an incentive to use progressively high voltage levels. To avoid the proliferation of an unlimited number of voltages, the industry has standardized voltage levels. In USA, the standards are 115, 138, 161, and 230 kV for the high voltage (HV) class, and 345, 500 and 765 kV for the extra-high voltage (EHV) class. In China, the voltage levels in use are 10, 35, 110 for HV class, and 220, 330 (only in Northwest China) and 500 kV for EHV class . 较长的距离越来越需要大量的电力传输多激励他们逐步使用高压的水平。为了避免电压增殖数量无限，业界标准电压水平。在美国，标准是115，138， 161，和230千伏的高电压（高压）类，345，500和765千伏级的特高电压（超高压）。在中国，各级使用电压为10，35，110级高压， 220，中国330（仅在西北）和500千伏超高压类。The first 750 kVtransmission line will be built in the near future in Northwest China. 第一个750 kVtransmission线将建在不久的将来在中国西北地区。With the development of the AC/DC converting equipment, high voltage DC (HVDC) transmission systems have become more attractive and economical in special situations. 随着交流的发展/直流转换设备，高压直流高压直流（HVDC）传输系统已经成为更具吸引力的经济和情况特殊。 The HVDC transmission can be used for transmission of large blocks of power over long distance, and providing an asynchronous link between systems where AC interconnection would be impractical because of system stability consideration or because nominal frequencies of the systems are different. 在高压直流输电可用于输电块以上的大长途电话，并提供不同系统间的异步连接在AC联网系统将是不切实际的，因为稳定考虑，或因标称频率的系统。 The basic requirement to a power system is to provide an uninterrupted energy supply to customers with acceptable voltages and frequency. 基本要求到电源系统是提供一个不间断的能源供应，以客户可接受的电压和频率。 Because electricity can not be massively stored under a simple and economic way, the production and consumption of electricity must be done simultaneously. A fault or misoperation in any stages of a power system may possibly result in interruption of electricity supply to the customers. 由于电力无法大量储存在一个简单的方法和经济，电力的生产和消费必须同时进行。系统的故障或误操作的权力在任何阶段可能导致电力供应中断给客户。 Therefore, a normal continuous operation of the power system to provide a reliable power supply to the customers is of paramount importance. 因此，一个正常的电力系统连续运行的，提供可靠的电力供应给客户的重要性是至关重要的。 Power system stability may be broadly defined as the property of a power system that enables it to remain in a state of operating equilibrium under normal operating conditions and to regain an acceptable state of equilibrium after being subjected to a disturbance. 电力系统稳定，可广泛定义为干扰财产的权力系统，可继续经营的状态下正常运行的平衡条件和后向遭受恢复一个可以接受的平衡状态。 Instability in a power system may be manifested in many different ways depending on the system configuration and operating mode. 在电力系统的不稳定可能会表现在经营方式和多种不同的方式取决于系统配置。 Traditionally, the stability problem has been one of maintaining synchronous operation. Since power systems rely on synchronous machines for generation of electrical power, a necessary condition for satisfactory system operation is that all synchronous machines remain in synchronism or, colloquially "in step". This aspect of stability is influenced by the dynamics of generator rotor angles and power-angle relationships, and then referred to " rotor angle stability ". 传统上，稳定性问题一直是一个保持同步运行。由于电力系统的发电电力，一个令人满意的系统运行的必要条件是，依靠同步电机同步电机都留在同步或通俗的“步骤”。这一方面是受稳定的发电机转子的动态角度和功角的关系，然后提到“转子角稳定”。

我可以给你 +471903103 专业论文及翻译，还有CAD图形。

用于分布式在线UPS中的并联逆变器的一种无线控制器A Wireless Controller for Parallel Inverters in Distributed Online UPS SystemsJosep M. Guerrero', Luis Garcia de Vicufia", Jose Matas'*, Jaume Miret", and Miguel Castilla". Departament #Enginyeria de Sistemes, Automatica i Informhtica Industrial. Universitat Polithica de CatalunyaC. Comte d'Urgell, 187.08036 -Barcelona. Spain. Email: .. Departament #Enginyeria Electrbnica. Universitat Polit6cnica de CatalunyaAV. Victor BaLguer s/n. 08800I - Vilanova i la Geltrh. SpainAbsiract - In this paper, a novel controller for parallelconnectedonline-UPS inverters without control wireinterconnections is presented. The wireless control technique isbased on the well-known droop method, which consists inintroducing P-oand Q-V schemes into the inverters, in order toshare properly the power drawn to the loads. The droop methodhas been widely used in applications of load sharing betweendifferent parallel-connected inverters. However, this methodhas several drawbacks that limited its application, such as atrade-off between output-voltage regulation and power sharingaccuracy, slow transient response, and frequency and phasedeviation. This last disadvantage makes impracticable themethod in online-UPS systems, since in this case every modulemust be in phase with the utility ac mains. To overcome theselimitations, we propose a novel control scheme, endowing to theparalleled-UPS system a proper transient response, strictlyfrequency and phase synchronization with the ac mains, andexcellent power sharing. Simulation and experimental resultsare reported confirming the validity of the proposed approach.1. INTRODUCTIONThe parallel operation of distributed Uninterruptible PowerSupplies (UPS) is presented as a suitable solution to supplycritical and sensitive loads, when high reliability and poweravailability are required. In the last years, many controlschemes for parallel-connected inverters has been raised,which are derived from parallel-schemes of dc-dc converters[I], such as the master-slave control [2], or the democraticcontrol [3]. In contrast, novel control schemes have beenappeared recently, such as the chain-structure control [4], orthe distributed control [ 5 ] . However, all these schemes needcontrol interconnections between modules and, hence, thereliability of the system is reduced since they can be a sourceof noise and failures. Moreover, these communication wireslimited the physical situation ofthe modules [6].In this sense, several control techniques has been proposedwithout control interconnections, such as the droop method.In this method, the control loop achieves good power sharingmaking tight adjustments over the output voltage frequencyand amplitude of the inverter, with the objective tocompensate the active and reactive power unbalances [7].This concept is derived from the power system theory, inwhich the frequency of a generator drops when the powerdrawn to the utility line increases [8].0-7803-7906-3/03/$17.00 02003 IEEE. 1637However, this control approach has an inherent trade-offbetween voltage regulation and power sharing. In addition,this method exhibits slow dynamic-response, since it requireslow-pass filters to calculate the average value of the activeand reactive power. Hence, the stability and the dynamics ofthe whole system are hardly influenced by the characteristicsof these filters and by the value of the droop coefficients,which are bounded by the maximum allowed deviations ofthe output voltage amplitude and frequency.Besides, when active power increases, the droopcharacteristic causes a frequency deviation from the nominalvalue and, consequently, it results in a variable phasedifference between the mains and the inverter output voltage.This fact can be a problem when the bypass switch mustconnect the utility line directly to the critical bus in stead ofits phase difference. In [9], two possibilities are presented inorder to achieve phase synchronization for parallel lineinteractiveUPS systems. The first one is to locate a particularmodule near the bypass switch, which must to synchronizethe output voltage to the mains while supporting overloadcondition before switch on. The second possibility is to waitfor the instant when phase matching is produced to connectthe bypass.However, the mentioned two folds cannot be applied to aparallel online-UPS system, since maximum transfer timeought to be less than a % of line period, and all the modulesmust be always synchronized with the mains when it ispresent. Hence, the modules should be prepared to transferdirectly the energy from the mains to the critical bus in caseof overload or failure [lo].In our previous works [11][12], we proposed differentcontrol schemes to overcome several limitations of theconventional droop method. However, these controllers bythemselves are inappropriate to apply to a parallel online-UPS system. In this paper, a novel wireless control scheme isproposed to parallel different online UPS modules with highperformance and restricted requirements. The controllerprovides: 1) proper transient response; 2) power sharingaccuracy; 3) stable frequency operation; and 4) good phasematching between the output-voltage and the utility line.Thus, this new approach is especially suitable for paralleled-UPS systems with true redundancy, high reliability andpower availability. Simulation and experimental results arereported, confirming the validity of this control scheme.Fig. 1. Equivalenl cimuif ofan invener connecled 10 a bust"Fig. 2. P-odraop function.11. REVlEW OF THE CONVENTIONAL DROOP METHODFig. 1 shows the equivalent circuit of an inverter connectedto a common bus through coupled impedance. When thisimpedance is inductive, the active and reactive powers drawnto the load can be expressed asEVcosQ - V2 Q=where Xis the output reactance of an inverter; Q is the phaseangle between the output voltage of the inverter and thevoltage of the common bus; E and V are the amplitude of theoutput voltage of the inverter and the bus voltage,respectively.From the above equations it can be derived that the activepower P is predominately dependent on the power angle Q,while the reactive power Q mostly depends on the outputvoltageamplitude. Consequently, most of wireless-control ofparalleled-inverters uses the conventional droop method,which introduces the following droops in the amplitude Eand the frequency U of the inverter output voltageu = w -mP (3)E = E ' - n Q , (4)being W* and E' the output voltage frequency and amplitudeat no load, respectively; m and n are the droop coefficientsfor the frequency and amplitude, respectively.Furthermore, a coupled inductance is needed between theinverter output and the critical bus that fixes the outputimpedance, in order to ensure a proper power flow. However,it is bulky and increase:; the size and the cost of the UPSmodules. In addition, tho output voltage is highly distortedwhen supplying nonlinezr loads since the output impedanceis a pure inductance.It is well known that if droop coefficients are increased,then good power sharing is achieved at the expense ofdegrading the voltage regulation (see Fig. 2).The inherent trade-off of this scheme restricts thementioned coefficients, which can be a serious limitation interms of transient response, power sharing accuracy, andsystem stability.On the other hand, lo carry out the droop functions,expressed by (3) and (4), it is necessary to calculate theaverage value over one line-cycle of the output active andreactive instantaneous power. This can be implemented bymeans of low pass filters with a smaller bandwidth than thatof the closed-loop inverter. Consequently, the powercalculation filters and droop coefficients determine, to a largeextent, the dynamics and the stability of the paralleledinvertersystem [ 131.In conclusion, the droop method has several intrinsicproblems to be applied 1.0 a wireless paralleled-system ofonline UPS, which can he summed-up as follows:Static trade-off between the output-voltage regulation(frequency and amplitude) and the power-sharingaccuracy (active an4d reactive).2) Limited transient response. The system dynamicsdepends on the power-calculation filter characteristics,the droop coefficients, and the output impedances.Lost of ac mains synchronization. The frequency andphase deviations, due to the frequency droop, makeimpracticable this method to a parallel-connectedonline UPS system, in which every UPS should becontinuously synchronized to the public ac supply.1)3)111. PROPOSED CONTROL FOR PARALLEL ONLINE UPSINVERTERSIn this work, we will try to overcome the above limitationsand to synthesize a novel control strategy withoutcommunication wires that could be appropriate to highperformanceparalleled industrial UPS. The objective is toconnect online UPS inverters in parallel without usingcontrol interconnections. This kind of systems, also namedinverter-preferred, should be continuously synchronized tothe utility line. When an overload or an inverter failureoccurs, a static bypass switch may connect the input line tothe load, bypassing the inve:rter [14][15].Fig. 3 shows the general diagram of a distributed onlineUPS system. This system consists of two buses: the utilitybus, which is connected lo the public ac mains; and thesecure bus, connected to the distributed critical loads. Theinterface between these buses is based on a number of onlineUPS modules connected in parallel, which providescontinuously power to the: loads [16]. The UPS modulesinclude a rectifier, a set of batteries, an inverter, and a staticbypass switch.11638Q ac mainsutility busI I Ij distributed loads !Fig. 3. Online distributed UPS system.syposr /I 4(4Fig. 4. Operation modes of an online UPS.(a) Normal operation. (b) Bypass operation. (c) Mains failureThe main operation modes of a distributed online UPS1) Normal operation: The power flows to the load, fromthe utility through the distributed UPS units.2) Mains failure: When the public ac mains fails, theUPS inverters supply the power to the loads, from thebatteries, without disruption.Bypass operation: When an overload situation occurs,the bypass switch must connect the critical busdirectly to the ac mains, in order to guarantee thecontinuous supply of the loads, avoiding the damageof the UPS modules.For this reason, the output-voltage waveform should besynchronized to the mains, when this last is present.system are listed below (see Fig. 5):3)Nevertheless, as we state before, the conventional droopmethod can not satisfy the need for synchronization with theutility, due to the frequency variation of the inverters, whichprovokes a phase deviation.To obtain the required performance, we present a transientP-w droop without frequency-deviation in steady-state,proposed previously by OUT in [ 111w=o -mP (5)where is the active power signal without the dccomponent,which is done by. -I t -1sP= p ,( s + t - ' ) ( s + o , )being zthe time constant of the transient droop action.The transient droop function ensures a stable frequencyregulation under steady-state conditions, and 'at the sametime, achieves active power balance by adjusting thefrequency of the modules during a load transient. Besides, toadjust the phase of the modules we propose an additionalsynchronizing loop, yieldingo=w'-m%k,A$, (7)where A$ is the phase difference between the inverter and themains; and k, is the proportional constant of the frequencyadjust. The steady-state frequency reference w* can beobtained by measuring the utility line frequency.The second term of the previous equality trends to zero insteady state, leading tow = w' - k4($ -@'), (8)being $and $* the phase angles of the output voltage inverterand the utility mains, respectively.Taking into account that w = d $ / d t , we can obtain thenext differential equation, which is stable fork, positived$ *dt dt- + km$ = - + k,$' . (9)Thus, when phase difference increases, frequency willdecrease slightly and, hence, all :he UPS modules will besynchronized with the utility, while sharing the power drawnto the loads.IV. CONTROLLIEMRP LEMENTATIONFig. 5 depicts the block diagram of the proposedcontroller. The average active power P , without the dccomponent, can be obtained by means of multiplying theoutput voltage by the output current, and filtering the product........................................................................................io",.LSj'nchronirorion loop.......................................................................................Fig. 5. Block diagram of the proposed controller.using a band-pass filter. In a similar way, the averagereactive power is obtained, hut in this case the output-voltagemust be delayed 90 degrees, and using a low-pass filter.In order to adjust the output voltage frequency, equation(7) is implemented, which corresponds to the frequencymains drooped by two transient-terms: the transient activepower signal term; and the phase difference term, whichis added in order to synchronize the output voltage with theac mains, in a phase-locked loop (PLL) fashion. The outputvoltageamplitude is regulated by using the conventionaldroop method (4).Finally, the physical coupled inductance can be avoided byusing a virtual inductor [17]. This concept consists inemulated an inductance behavior, by drooping the outputvoltage proportionally to the time derivative of the outputcurrent. However, when supplying nonlinear loads, the highordercurrent-harmonics can increase too much the outputvoltageTHD. This can be easily solved by using a high-passfilter instead of a pure-derivative term of the output current,which is useful to share linear and nonlinear loads [I 1][12].Furthermore, the proper design of this output inductance canreduce, to a large extent, the unbalance line-impedanceimpact over the power sharing accuracy.v. SIMULATION AND EXPERIMENTARELS ULTSThe proposed control scheme, (4) and (7), was simulatedwith the parameters listed in Table 1 and the scheme shownin Fig. 6, for a two paralleled inverters system. Thecoefficients m, n, T, and kv were chosen to ensure stability,proper transient response and good phase matching. Fig. 7shows the waveforms of the frequency, circulating currents,phase difference between the modules and the utility line,and the evolution of the active and reactive powers. Note theexcellent synchronization between the modules and theACmiiinr 4 j. ...L...I.P...S...1... ..........................B...u...n...r.r..r..e..s... ................................... iFig. 6. Parallel operation oftwa online UPS modules,mains, and, at the same time, the good power sharingobtained. This characteristik let us to apply the controller tothe online UPS paralleled systems.Two I-kVA UPS modules were built and tested in order toshow the validity of the proposed approach. Each UPSinverter consisted of a single-phase IGBT full-bridge with aswitching frequency of 20 kHz and an LC output filter, withthe following parameters: 1. = 1 mH, C = 20 WF, Vi" = 400V,v, = 220 V, I50 Hz. The controllers of these inverters werebased on three loops: an inner current-loop, an outer PIcontroller that ensures voltage regulation, and the loadsharingcontroller, based on (4) and (7). The last controllerwas implemented by means of a TMS320LF2407A, fixedpoint40 MHz digital sigrial processor (DSP) from TexasInstruments (see Fig. 8), using the parameters listed in TableI. The DSP-controller also includes a PLL block in order tosynchronize the inverter with the common bus. When thisoccurs, the static bypass switch is tumed on, and the droopbasedcontrol is initiated.1640big 7 Wa\cfc)rms for twu.invencr, ;mnectcd in parallel. rpchrontred io Ihc ac mdnl.(a) Frequencics ufhoth UPS (b) Clrculattng currcni among modulcs. (CJ Phmc d!Nercn;: betucen ihc UPS a#>dth e ai mum(d) Ikiril uf the phze diNmncc (e) md (0 Activc and rcactlw pouerr "I ooih UPSNote that the iimc-acs arc deliheratcly JiNercni due in thc disiinct timuion*uni) ofthe \ inrblrr1641TABLEI.PARAMETEROSF THE PARALLELESDYS TEM.Filter Order I IFilter Cut-off Frequency I 0, I 10 I ragsFig. 8 shows the output-current transient response of theUPS inverters. First, the two UPS are operating in parallelwithout load. Notice that a small reactive current is circlingbetween the modules, due to the measurement mismatches.Then, a nonlinear load, with a crest factor of 3, is connectedsuddenly. This result shows the good dynamics and loadsharingof the paralleled system when sharing a nonlinearload.Fig. 8. Output current for the two paralleled UPS, during the connection of Bcommon nonlinear load with a crest factor of 3. (Axis-x: 20 mddiv. Axis-y:5 Mdiv.).VI. CONCLUSIONSIn this paper, a novel load-sharing controller for parallelconnectedonline UPS systems, was proposed. The controlleris based on the droop method, which avoids the use ofcontrol interconnections. In a sharp contrast with theconventional droop method, the controller presented is ableto keep the output-voltage frequency and phase strictlysynchronized with the utility ac mains, while maintaininggood load sharing for linear and nonlinear loads. This fact letus to extend the droop method to paralleled online UPS.On the other hand, the proposed controller emulates aspecial kind of impedance, avoiding the use of a physicalcoupled inductance. Th.e results reported here show theeffectiveness of the proposed approach.

[1]ROVITHAKIS G A. Stable adaptive neuro-control design via Lyapunov function derivative estimation [ J ]. Automatica, 2001 37 (8):1213- 1221.[2]王源,胡寿松,吴庆宪.一类非线性系统的自组织模糊CMAC神经网络重构跟踪控制[J].控制理论与应用,2003,20(1):70-77.(WANG Yuan, HU Shousong, WU Qingxian. Adaptive reconfigurable tracking control of a class of nonlinear systems based on self-organizing fuzzy CMAC neural networks [ J ]. Control Theory & Applications, 2003,20(1 ) :70 - 77. )[3]LEWIS F L, YESILDIREK A, LIU K. Multilayer neural net robot controller:structure and stability proofs [ J]. IEEE Trans on Neural Networks, 1996,7(2) :388 - 399.[4]金波,俞亚新.一种自适应CMAC神经元网络控制器及其在水轮调速器中的应用[J].控制理论与应用,2002,19(6):905-908.( JIN Bo, YU Yaxin. Adaptive CMAC controller for hydraulic turbine speed governor [ J ]. Control Theory & Applications, 2002, 19 (6):905 - 908. )[5]CHEN F C, KHALIL H K. Adaptive control of nonlinear systems using neural networks [J]. Int J Control, 1992,55(6): 1299 - 1317.[6]牛玉刚,邹云,杨成梧.基于神经网络的一类非线性系统自适应跟踪控制[J].控制理论与应用,2001,18(3):461-464.( NIU Yugang, ZOU Yun, YANG Chengwu. Neural network-based adaptive tracking control for a class of nonlinear systems [ J]. Control Theory & Application, 2001,18 ( 3 ): 461 - 464. )[7]李翔,陈增强,袁著祉.非最小相位非线性系统的简单递归神经网络控制[J].控制理论与应用,2001,18(3):456-460.(LI Xiang,CHEN Zengqiang, YUAN Zhuzhi. Simple recurrent neural network control for non-minimum phase nonlinear system [ J ]. Control Theory &Application ,2001,18(3) :456 - 460. )[8]CHEN S, BILLINGS S A, GRANT P M. Recursive hybrid algorithm for nonlinear system identification using radial basis function networks [J]. Int J Control, 1992,55(5): 1050 - 1070.[9]BROWN M, HARRIS C J. Neurofuzzy Adaptive Modeling and Control [M].Hertfordshire: Prentice Hall International (UK) Limited,1994.[10]LIN C T, LEE G C S. Neural Fuzzy Systems-A Neuro-fuzzy Synergism to Intelligent Systems [M].New York: Prentice Hall Inc. ,A Simon & Schuster Company, 1996.[11]GE S S, LEE T H, HARRIS C J. Adaptive Neural Network Control of Robotic Manipulators [ M]. Singapore: World Scientific, 1998.[12]孙富春,孙增圻,张钹.机械手神经网络稳定自适应控制的理论与方法[M].北京:高等教育出版社,2004.(SUN Fuchun, SUN Zengqi, ZHANG Bo. Theory and Approaches for Stable Adaptive Control of Robotic Manipulators Using Neural Networks [M]. Beijing: Higher Education Press,2004. )[13]WIDROW B. The original adaptive neural net broom-balancer[ C ]//Proc of IEEE Int Symposium on Circuits and Systems. Piscataway,NJ:IEEE Press, 1987:351 - 357.[14]ALBUS J S.New approach to manipulator control:the cerebellar model articulation controller (CMAC) [ J]. J of Dynamics Systems,Measurement and Control, 1975,97 ( 3 ): 220 - 227.[15]HOPFIELD J J, TANK D W. Computing with neural circuits: A model [ J]. Science, 1986,233:625 - 633.[16]RUMELHART D E, MCCLELLAND J L. Parallel Distributed Processing : Explorations in the Microstructure of Cognition [ M]. Cambridge, MA: MIT Press, 1986.[17]WANG Jeen-Shing, LEE G C S. Self-adaptive recurrent neuro-fuzzy control of an autonomous underwater vehicle [ J ]. IEEE Trans on Robotics and Automation, 2003,19 ( 2 ): 283 - 295.[18]DIAO Yixin, PASSINO K M. Adaptive neural/fuzzy control for interpolated nonlinear systems [ J ]. IEEE Trans on Fuzzy Systems,2002,10(5) :582 - 595.[19]达飞鹏,宋文忠.基于模糊神经网络的滑模控制[J].控制理论与应用,2000:17(1):128-132.(DA Feipeng,SONG Wenzhong. Sliding mode control based on the fuzzy neural networks [ J ]. Control Theory & Applications, 2000,17(1):128- 132.)[20]DENG Hui, SUN Fuchun, SUN Zengqi. Observer-based adaptive controller design of flexible manipulators using time-delay neurofuzzy networks [J]. J of Intelligent and Robotic Systems,2002,34(34) :453 - 466.[21]LIU Huaping, SUN Fuchun, HE Kezhong, et al. Controller design and stability analysis for fuzzy singularly perturbed systems [ J]. Acta Automatica Sinica ,2003,29(4) :494 - 500.[22]胡寿松,周川,胡维礼.基神经网络的模型跟随鲁棒自适应控制[J].自动化学报,2000,26(5):623-629.(HU Shousong, ZHOU Chuan, HU Weili. Model-following robust adaptive control based on neural networks [ J ]. Acta Automatica Sinica ,2000,26(5) :623 - 629. )[23]PARTRICIA Melin, OSCAR Castrilio. Intelligent adaptive control of non-linear dynamical systems with a hybrid neuro-fuzzy-genetic approach [C]//Proc of IEEE Int Conf on Systems, Man, and Cybernetics. Piscataway,NJ: IEEE Press, 2001:1508 - 1513.[24]LEE Ching-hung,LIN Yu-hing,LAI Wei-yu. Systems identification using type-2 fuzzy neural network (type-2 FNN) systems [C]//Proc of 2003 IEEE Int Symposium on Computational Intelligence in Robotics and Automation. Piscataway, NJ: IEEE Press, 2003:1264 -1269.[25]PARTRICIA M, OSCAR C. A new method for adaptive model-based control of nonlinear plants using type-2 fuzzy logic and neural networks [C]//Proc of IEEE Int Conf on Fuzzy Systems. Piscataway,NJ: IEEE Press, 2003: 420 - 425.[26]MENDELAND J M, BOB John R I. Type-2 fuzzy sets made simple [J]. IEEE Trans on Fuzzy Systems,2002,10(2): 117 - 127.[27]Ezhov A A, Khromov A G, Berman G P. Analog quantum neuron for functions approximation [ C ]//Proc of Int Joint Conf on Neural Networks. Piscataway,NJ: IEEE Press, 2001,2:1577 - 1582.[28]SANNER R M, SLOTINE J J E. Stable adaptive control and recursive identification using radial Gaussian networks [ C ]//Proc of IEEE Conf on Decision and Control. Piscataway, NJ: IEEE Press,1991:2116-2123.[29]POLYCARPOU M M, IOANNOU P S. Identification and control of nonlinear systems using neural network models: design and stability analysis EE-Report 91 - 09 - 01 [ R ]. Los Angeles: University of Southem California, 1991.[30]SANCHEZ E N, BERNAL M A. Adaptive recurrent neural control for nonlinear system tracking [ J ]. IEEE Trans on Systems, Man,and Cybernetics, Part B: Cybernetics, 2000,30( 6 ): 886 - 889.[31]SUN Fuchun, LI HanXiong, LI Lei. Robot discrete adaptive control based on dynamic inversion using dynamical neural networks [ J ].Automatica, 2002,38 ( 11 ): 1977 - 1983.[32]SANNER R M, SLOTINE J J E. Structurally dynamic wavelet networks for the adaptive control of uncertain robotic systems [ C ]//Proc of the 34 th IEEE Conf on Decision and Control. Piscataway,NJ: IEEE Press, 1995: 2460 - 2467.[33]POLYCARPOU M M. Stable adaptive neural control scheme for nonlinear systems [ J]. IEEE Trans on Automatic Control, 1996,41(3) :447 - 451.[34]SUN Fuchun, SUN Zengqi, WOO Pengyun. Neural network-based adaptive controller design of robot manipulators with an observer [ J]. IEEE Trans on Neural Networks ,2001,12( 1 ) :54 - 67.[35]NARENDRA K S, PARTHASARATHY K. Identification and control of dynamical systems using neural networks [ J ]. IEEE Trans on Neural Networks, 1990,1(1) :4 - 27.[36]ROVITHAKIS G A. Tracking control of multi - input affine nonlinear dynamical systems with unknown nonlinearities using dynamical neural networks [ J]. IEEE Trans on Systems, Man, and Cybernetics-Part B: Cybernetics, 1999,29(2): 179 - 189.[37]GE S S, LI G Y, LEE T H. Adaptive NN control for a class of strictfeedback discrete-time nonlinear systems [ J ]. Automatica, 2003,39(5) :807 - 819.[38]JAGANNATHAN S, LEWIS F L. Multilayer discrete-time neural-net controller with guaranteed performance [ J ]. IEEE Trans on Neural Networks, 1996,7 ( 1 ): 107 - 130.[39]SUN Fuchun, SUN Zengqi, WOO Pengyan, Stable neural networkbased adaptive control for sampled-data nonlinear systems [ J]. IEEE Trans on Neural Networks, 1998,9(5) :956 - 968.[40]CHENG C M, REES N W. Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach [ J]. IEE Proceeding of Control Theory, 1997,144(5) :403 - 412.[41]SUN Fuchun, SUN Zengqi, FENG Gang. An adaptive fuzzy controller based on sliding mode for robot manipulators [ J ]. IEEE Trans on Systems, Man, and Cybernetics- Part B: Cybernetics,1999,29(5) :661 - 667.[42]TANAKA K, WANG H O. Fuzzy Control Systems Design and Analysis-A Linear Matrix Inequality Approach [M] .New York:John Wiley & Sons, Inc. ,2001.[43]TANIGUCHI T, TANAKA K, WANG H O. Fuzzy descriptor systems and nonlinear model following control [ J ]. IEEE Trans on Fuzzy Systems, 2000,8 (4): 442 - 452.[44]WU S J, LIN C T. Optimal fuzzy controller design: local concept [J] .IEEE Trans on Fuzzy Systems,2000,8(2): 171 - 185.[45]WU S J, LIN C T. Discrete-time optimal fuzzy controller design:global concept approach [ J]. IEEE Trans on Fuzzy Systems, 2002,10(1) :21 - 38.[46]CAO S G, REES N W, FENG G. H∞ control of uncertain fuzzy continuous - time systems [ J ]. Fuzzy Sets and Systems, 2000,115 (2):171 - 190.