针对非线性、不稳定的二级倒立摆状态空间方程模型问题,本文提出一种基于最优控制的模糊控制器的设计方法,采用状态变量融合技术,将模糊控制器的维数由6维降到2维,并通过不断调试量化因子来提高模糊控制器的精度;同时,以Matlab Simulink为平台,建立了二级倒立摆系统仿真模型,并进行仿真分析.仿真结果表明,模糊控制很好地实现了倒立摆的稳定性控制,而且在系统存在噪声的情况下也能较好的完成控制任务;减少了模糊控制器的推理规则数,很好地解决了模糊规则爆炸问题.该研究超调量小,调节时间短,鲁棒性强,证明所提出的控制策略可行,因此具有很好的应用前景.

针对二次型最优控制调节器难以实现对二级倒立摆系统的最优控制问题,本文建立了倒立摆数学模型,并对直线二级倒立摆(线性二次型控制器)(linear quadratic regulator,LQR)进行设计,同时采用卡尔曼滤波对系统的输出做出最优估计,并利用Matlab对未经卡尔曼滤波的调节器系统与前置卡尔曼滤波器的调节器系统进行仿真比较分析,仿真结果表明,应用基于前置Kalman滤波器的控制,比单独用线性二次型最优控制效果更加有效可行:未经滤波时,系统输出受扰动影响大;采用卡尔曼滤波后,系统输出波动小,稳定性好.该研究可以消除噪声给系统带来的抖动影响,具有一定的实用性.

In order to provide scientific basis for the safety and risk assessment of aquatic products,the residue level of phosphates in aquatic products sampled from different market sources of Qingdao was investigated.The concentrations of orthophosphate,pyrophosphate,tripolyphosphate and trimetaphosphate in 265 aquatic products,including 64 samples of frozen shrimps and 201 samples of frozen shrimp meat,were determined by ion chromatography method.The results showed that only a few aquatic products had high orthophosphate concentrations,and the level of pyrophosphate and tripolyphosphate were higher than that of other polyphosphates.No significant differences in orthophosphate concentration in frozen shrimps and frozen shrimp meat were found(P0.05),but theconcentrations of three kinds of polyphosphates were quite different(P0.05).The level of polyp hosphates in frozen shrimp meat was higher than frozen shrimps.

Objective To detect the content of 3,6'-di-O-sinapoyl-sucrose in cultured hairy root induced by Polygala tenuifolia. Methods Hairy roots of Polygala tenuifolia were induced from hypocotyl and cotyledon explants with Agrobacterum rhizogens A4,R1600 and R1000,and their 3,6'-di-O-sinapoyl-sucrose contents were determined by HPLC. Results Hairy roots were all produced from the explants of Polygala tenuifolia,and 3,6'-di-O-sinapoyl-sucrose could be detected in the hairy roots,the levels of 3,6'-di-O-sinapoyl-sucrose produced from rhizogenes induced by A4 were higher than that induced by R1600 and R1000(F=5 066.792,P0.05). Conclusion Production of sucrose esters by using hairy root culture of Polygala tenuifolia is a new way worth for further investigation.

With the punishment and implement of appliances to the countryside,these home appliance companies has paid more attention to the rural markets.These companies participating in the Appliances to the countryside should strengthen the channel construction;improve the market network of the countryside,in order to occupy the rural markets quickly.This paper will analyze Haier's innovative research of the channel construction in rural appliance markets-the grid construction mode deeply and its feasibility,based on the reasons of the channel construction develop slowly in rural appliance markets,then spread it in order to provide other companies with suggestions for reference.

With the publishing and implement of Appliances to the countryside,these home appliance companies participating in the Appliances to the should strengthen the channel construction and improve the market network of the countryside for occupying the rural markets quickly.This paper analyzes the grid construction mode deeply based on the reasons of preventing the channel construction's development in rural appliance markets.Its connotation is managing the market regionally,setting the sales goal according to the market size and the target share,choosing the right channel and flat in order to build the marketing,service and logistics network systems through the authorization of the home appliance companies.At the same time,the grid construction mode regulates the market strictly to maximize the market share of these home appliance companies.This paper then analyzes the mode's feasibility and promotion,taking Haier's grid construction for example.

These papers studied the difference between the refractive method and dry method for measuring the solid substance of the different DE value starch syrup by contrast and repeated experiment,and find its discipline to supervise practice.

HACCP管理系统是确保食品卫生质量及安全性的一种先进的管理方法,本文根据HACCP的原理,结合淀粉糖的实际生产工艺,探讨了HACCP在淀粉糖生产中的应用.

本文介绍了用玉米淀粉替代大米为原料生产饴糖所存在的粘度下降、香味淡以及色泽浅等质量的具体问题,并提出了有效改进的工艺方法.通过对其生产工艺的实验探讨及其实践应用表明:调整合适的糖化底物条件和控制较低的产品DE值,可以增加成品饴糖的粘度;增加适当的麦芽用量、加入高温淀粉酶、和延长高温维持时间可以增加饴糖的香味和色泽.该饴糖产品可以满足市场上客户的有关需求.