MDF连续平压板厚自动纠偏协同控制研究
|
摘要
在中密度纤维板(MDF)连续平压过程中,板厚控制始终决定产品最终质量,板厚纠偏控制是板厚控制的重要组成部分。MDF连续平压由液压缸阵列驱动热压板产生位移和压力,对板坯进行热压、定厚或纠偏处理。液压缸阵列是一类群集系统,具有“个体自治、局部信息交换、整体运行一致性”等特点。本学位论文结合教育部高等学校博士点专项基金“MDF连续平压板形自动纠偏协同控制关键技术研究”(20120062110012),针对液压缸阵列控制问题,从群集控制角度研究多执行器基于行为的协同控制方法,形成MDF连续平压板厚纠偏协同控制机制,主要完成了以下创新工作：
提出并建立多动力终端(即液压缸阵列)的协同控制递阶结构,即“协同核-控制中介-动力终端”结构。基于该结构,自底向上研究液压缸阵列协同控制方法,形成MDF连续平压板厚自动纠偏协同控制机制。
建立单终端位移控制系统模型和静载压力控制系统模型,并设计相应的协同控制器。所建立的系统朗之万方程考虑了板坯粘弹性作用。分别推导位移控制系统和静载压力控制系统的序参量方程,求得协同控制律(即系统运行涨落力)表达式。对位移控制系统和静载压力控制系统进行仿真分析,结果表明,协同控制方法实现了单终端对位移和压力的无超调输出,适用于MDF连续平压这一必须严格避免输出超调的应用领域。
定义热压工艺模式,提出多终端层次协同方案。针对多终端同步输出控制问题,研究控制中介对多终端的校正方法,形成层次协同方案。基于等状态耦合结构,推导自协同同步控制系统的序参量方程,采用协同控制方法校正自协同动力单元中两个终端的输出；引入干扰补偿器增强系统稳定性；基于模糊理论对跟踪控制器进行改进,改善自协同系统全压力输出时的稳态性能；基于主从校正结构和协同控制方法,解决互协同的个终端同步输出控制问题；分别对自协同、互协同的多终端系统进行仿真,结果表明,协同同步校正方法能有效消除自协同、互协同同步系统的输出误差。
定义板厚偏差阈值,进行偏差等级划分,制定协同核板厚纠偏决策规则。研制MDF连续平压板厚纠偏系统,对研究形成的板厚纠偏协同控制机制进行测试。通过对模拟数据和实验用板坯厚度纠偏处理测试,验证协同控制机制的有效性。液压缸阵列位移输出与压力输出的动态曲面表明：根据板厚纠偏要求,各终端输出的位移或压力与板厚纠偏决策相吻合,协同核能够根据各终端作用处的板坯特性做出相应决策切换。
综上,本文通过研究基于行为的液压缸阵列协同控制方法,最终形成MDF连续平压板厚自动纠偏协同控制机制,实现在MDF连续平压中对板厚偏差的无超调、动态调节,液压缸阵列整体输出具有良好一致性,方法可行且有效。所得到的结论对MDF连续平压板厚控制研究具有一定参考价值。
In process control of medium density fiberboard(MDF) continuous press, slab thickness control is an important part which has a critical effect on final quality of the product. The thickness deviation rectification control to slab is a key point of slab thickness control. In the production line, press plate outputs displacement or pressure. It is driven by hydraulic cylinder-array and executes hot-pressing and thickness setting. The cylinder-array is an individual autonomy system which contains local information exchanging and output consistently overall. From the point of flocking control, behavior-based synergetic control for multi actuators is researched in this dissertation, which concludes thickness deviation rectification synergetic control mechanism for MDF continuous press, and is funded by the Specialized Research Fund for the Doctoral Program of Higher Education of China-Key Techniques of Synergetic Control for Flatness Deviation Auto-Rectification of MDF Continuous Press-(20120062110012). The main contents of this dissertation are as follows:
Firstly, a hierarchical synergetic control structure is proposed for cylinder-array. It is Synergy Nuclear-Control Agent-Motion Terminal structure. Synergetic control method for cylinder-array is researched and thickness deviation rectification synergetic control mechanism for MDF continuous press is concluded based on the structure.
Secondly, hydraulic displacement control system and static pressure load control system with single terminal are modeled, and the synergetic controllers are designed. The established Langevin's equations have taken the viscoelastie of the slab. The order-parameter equations of the two kinds of system are derived. And synergetic control rule, which is also called fluctuating force of system, is formulated. To simulate the two kinds of system, the results demonstrate that synergetic control method enables the motion terminal to output without overshoot. It is suitable for application of continuous press which should avoid overshoot strictly.
Thirdly, hot pressing process modes are defined. And hierarchical synergetic correction solution for multi terminals is proposed. For multi terminals synchronized output, study on the correction method of control agent and form the hierarchical synergy correction solution. Synergetic correction controller based on equal statue structure is employed to eliminate synchronized error for self-synergy terminals. Disturbance compensator is introduced into the system to enhance stability. And tracking controller is improved based on fuzzy theory so as to overcome dependence of synergetic controller on system's precise mathematical model. Synergetic correction controller based on primary-minor structure is employed to eliminate synchronized error for inter-synergy terminals. To simulate self-synergy and inter-synergy terminals, the results demonstrate that synergetic synchronized correction method is effective to eliminate errors in self-synergy and inter-synergy synchronized system.
Fourthly, slab thickness deviation thresholds are defined so as to make a distinction among thickness deviation levels. And thickness deviation rectification decision rules of synergy nuclear are formulated. Slab thickness deviation rectification system of MDF continuous press is developed. To test the established thickness deviation rectification synergetic control mechanism by the system, let the simulated data and slab for experiment be detected. The dynamic surfaces of displacement output and pressure output of slab thickness deviation rectification system demonstrate that the hydraulic cylinder-array's outputs are consistent with slab deviation rectification decision. Synergy nuclear could shift decision rules according to slab features under each hydraulic cylinder.
In summary, this dissertation mainly researches on behavior-based synergetic control method for cylinder-array, and finally formulates thickness deviation rectification synergetic control mechanism for MDF continuous press. It achieves slab thickness deviation dynamic rectifying for MDF continuous press without overshoot. The outputs of cylinder-array are consistent overall. The conclusions are meaningful for MDF continuous slab thickness control research.
提出并建立多动力终端(即液压缸阵列)的协同控制递阶结构,即“协同核-控制中介-动力终端”结构。基于该结构,自底向上研究液压缸阵列协同控制方法,形成MDF连续平压板厚自动纠偏协同控制机制。
建立单终端位移控制系统模型和静载压力控制系统模型,并设计相应的协同控制器。所建立的系统朗之万方程考虑了板坯粘弹性作用。分别推导位移控制系统和静载压力控制系统的序参量方程,求得协同控制律(即系统运行涨落力)表达式。对位移控制系统和静载压力控制系统进行仿真分析,结果表明,协同控制方法实现了单终端对位移和压力的无超调输出,适用于MDF连续平压这一必须严格避免输出超调的应用领域。
定义热压工艺模式,提出多终端层次协同方案。针对多终端同步输出控制问题,研究控制中介对多终端的校正方法,形成层次协同方案。基于等状态耦合结构,推导自协同同步控制系统的序参量方程,采用协同控制方法校正自协同动力单元中两个终端的输出；引入干扰补偿器增强系统稳定性；基于模糊理论对跟踪控制器进行改进,改善自协同系统全压力输出时的稳态性能；基于主从校正结构和协同控制方法,解决互协同的个终端同步输出控制问题；分别对自协同、互协同的多终端系统进行仿真,结果表明,协同同步校正方法能有效消除自协同、互协同同步系统的输出误差。
定义板厚偏差阈值,进行偏差等级划分,制定协同核板厚纠偏决策规则。研制MDF连续平压板厚纠偏系统,对研究形成的板厚纠偏协同控制机制进行测试。通过对模拟数据和实验用板坯厚度纠偏处理测试,验证协同控制机制的有效性。液压缸阵列位移输出与压力输出的动态曲面表明：根据板厚纠偏要求,各终端输出的位移或压力与板厚纠偏决策相吻合,协同核能够根据各终端作用处的板坯特性做出相应决策切换。
综上,本文通过研究基于行为的液压缸阵列协同控制方法,最终形成MDF连续平压板厚自动纠偏协同控制机制,实现在MDF连续平压中对板厚偏差的无超调、动态调节,液压缸阵列整体输出具有良好一致性,方法可行且有效。所得到的结论对MDF连续平压板厚控制研究具有一定参考价值。
In process control of medium density fiberboard(MDF) continuous press, slab thickness control is an important part which has a critical effect on final quality of the product. The thickness deviation rectification control to slab is a key point of slab thickness control. In the production line, press plate outputs displacement or pressure. It is driven by hydraulic cylinder-array and executes hot-pressing and thickness setting. The cylinder-array is an individual autonomy system which contains local information exchanging and output consistently overall. From the point of flocking control, behavior-based synergetic control for multi actuators is researched in this dissertation, which concludes thickness deviation rectification synergetic control mechanism for MDF continuous press, and is funded by the Specialized Research Fund for the Doctoral Program of Higher Education of China-Key Techniques of Synergetic Control for Flatness Deviation Auto-Rectification of MDF Continuous Press-(20120062110012). The main contents of this dissertation are as follows:
Firstly, a hierarchical synergetic control structure is proposed for cylinder-array. It is Synergy Nuclear-Control Agent-Motion Terminal structure. Synergetic control method for cylinder-array is researched and thickness deviation rectification synergetic control mechanism for MDF continuous press is concluded based on the structure.
Secondly, hydraulic displacement control system and static pressure load control system with single terminal are modeled, and the synergetic controllers are designed. The established Langevin's equations have taken the viscoelastie of the slab. The order-parameter equations of the two kinds of system are derived. And synergetic control rule, which is also called fluctuating force of system, is formulated. To simulate the two kinds of system, the results demonstrate that synergetic control method enables the motion terminal to output without overshoot. It is suitable for application of continuous press which should avoid overshoot strictly.
Thirdly, hot pressing process modes are defined. And hierarchical synergetic correction solution for multi terminals is proposed. For multi terminals synchronized output, study on the correction method of control agent and form the hierarchical synergy correction solution. Synergetic correction controller based on equal statue structure is employed to eliminate synchronized error for self-synergy terminals. Disturbance compensator is introduced into the system to enhance stability. And tracking controller is improved based on fuzzy theory so as to overcome dependence of synergetic controller on system's precise mathematical model. Synergetic correction controller based on primary-minor structure is employed to eliminate synchronized error for inter-synergy terminals. To simulate self-synergy and inter-synergy terminals, the results demonstrate that synergetic synchronized correction method is effective to eliminate errors in self-synergy and inter-synergy synchronized system.
Fourthly, slab thickness deviation thresholds are defined so as to make a distinction among thickness deviation levels. And thickness deviation rectification decision rules of synergy nuclear are formulated. Slab thickness deviation rectification system of MDF continuous press is developed. To test the established thickness deviation rectification synergetic control mechanism by the system, let the simulated data and slab for experiment be detected. The dynamic surfaces of displacement output and pressure output of slab thickness deviation rectification system demonstrate that the hydraulic cylinder-array's outputs are consistent with slab deviation rectification decision. Synergy nuclear could shift decision rules according to slab features under each hydraulic cylinder.
In summary, this dissertation mainly researches on behavior-based synergetic control method for cylinder-array, and finally formulates thickness deviation rectification synergetic control mechanism for MDF continuous press. It achieves slab thickness deviation dynamic rectifying for MDF continuous press without overshoot. The outputs of cylinder-array are consistent overall. The conclusions are meaningful for MDF continuous slab thickness control research.
引文
[1]王清文,郭垂报.生物质资源高效利用模式探索-“生物质-生物质材料-生物质能源”产业链模式[J].西南林学院学报,2010,30(6)：11～14
[2]中国林学会木材工业分会秘书处.2009年我国人造板产量[J].中国人造板,2010,(7)：37
[3]中国林学会木材工业分会秘书处.2010年我国人造板产量统计数据[J].木材工业,2011,25(4)：54
[4]2012年我国人造板产量及流通情况[oL],中国林业网,www.wood365.cn
[5]国际木业编辑部.人造板行业2011年回顾与未来三年展望[J].国际木业,2012,(1)：22-27
[6]欧阳琳.连续平压热压机(之一～之六)[J].木材工业,1997.2～6,1998,1
[7]李绍昆,杨一飞,陈沪成.国产中纤板成套设备现状-发展趋势及对策[J].林产工业,2002,29(5)：5-7
[8]陈怀峰,张荣其.我国人造板连续压机的现状和发展前景[J].中国人造板,2007,14(1)：5～7
[9]马启升,任芳,牛丽丽.国产中密度纤维板生产线设备现状与发展[J].中木材加工机械,2009,27(5)：22～25
[10]林业机械与木工设备编辑部.中国福马机械集团成功研发8英尺中(高)密度纤维板连续平压生产线[J].林业机械与木工设备,2012,(1)：7
[11]胡伟,乔宗明,工宝金等.纤维板连续平压机热压工艺的研究[J].南京林业大学学报(自然科学版),2011,35(6)：151～154
[12]卫宏,郭晓磊,曹平祥.人造板连续平压机板坯厚度在线监测技术的现状与研究[J].中国人造板,2011,(3)：19～23
[13]乔宗明.人造板连续平压机板坯厚度在线监测与控制[D].南京林业大学,2012
[14]李新华,邓贞贞,邓富洲.人造板连续压机的压力自动控制系统研究[J].中南林业科技大学学报,2012,32(4)：216～219
[15]邓贞贞.基于PLC的人造板连续压机热压控制系统研究[D].中南林业科技大学,2012
[16]韩宇光,曹军,朱良宽.刨花板热压控制系统模糊自适应PID控制[J].森林工程，2011,27(4)：30～33
[17]韩宇光,曹军,朱良宽.刨花板热压控制系统BP神经网络整定PID控制[J].自动化技术与应用,2011,30(12)：8-10
[18]韩宇光.刨花板连续平压自动纠偏智能控制算法研究[D].东北林业大学,2012
[19]WANG Yan-wei, CHENG Fang, ZHOU Yu-cheng, XU Jia-he. Analysis of Double-T Filter Used for PWM Circuit to D/A Converter[C]. CCDC2012:2764-2768
[20]工艳伟,程放,周玉成.多线程CSerialPort类的多串口通信实现[J].木材加工机械,2012,23(2)：1-4
[21]工艳伟.网络控制系统下的连续平压机群集控制器的设计与实现[D].中国林科院,2012
[22]Hermann Haken. Erfolgsgeheimnisse der Natur:Synergetik, die Lehre vom Zusammenwirken [M]. Deutsche Verlags-Anstalt,1981
[23]高隽,智能信息处理方法导论[M].北京：机械工业出版社,2004
[24]Hermann Haken. Visions of synergetics[J]. Journal of the Franklin Institute,1997,334(5-6), pp:759-792
[25]M.Bestehorn, E.V.Grigorieva, H.Haken, S.A.Kaschenko. Order parameters for class-B lasers with a long time delayed feedback[J]. Physica D:Nonlinear Phenomena,2000,145(1-2), pp:110-129.
[26]Leonid N.Christophorov. Self-controlled flow processing by biomolecules[J]. Solid State Lonics,1997,97(1-4),pp:83-88.
[27]刘颖,王淑英,朱洪秀.化学反应动力学系统序参量模型及其应用[J].吉林工学院学报,1997,18(4)：45～50.
[28]Hermann Haken, Juval Portugali. The face of the city is its information[J]. Journal of Environmental Psychology,2003,23(4), pp:385-408.
[29]郭治安,谭叔明.协同学及其在计算系统和社会系统中的应用[J].系统工程与电子技术,1987,(7)：13～19.
[30]刘爱民,陈济勤,万鹤群.机械化农业生产系统的自组织现象与序参量[J].北京农业工程大学学报,1995,15(1)：58～63
[31]龙妍.基于物质流、能量流与信息流协同的大系统研究[D].华中科技大学,2009
[32]范文涛.建立系统科学基础理论文框架的一种可能途径与若干思路(之四)[J].系统工程理论与实践,2002,(8)：16～28
[33]Pongpunwattana A. Real-time planning for teams of autonomous vehicles in dynamic uncertain environments[D]. University of Washington,2004
[34]B.T.Metrics Clough, Schmetrics. How the heck do you determine a UAV's autonomy anyway [C]. Proceedings of the 2002 PerMIS Workshop,2002
[35]薛宏涛.基于协进化机制的多智能体系统体系结构及多智能体协作方法研究[D].国防科学技术大学,2002
[36]张健,戴金海.面向多星协同的卫星自组织自主控制体系结构[J].国防科技大学学报,2005,27(5)：95～98
[37]叶媛媛,闵春平,沈林成,朱华勇.基于混合遗传算法的多UCAV协同任务分配方法[J].东南大学学报(自然科学版),2005,35(S2)：53-58
[38]龙涛.多UCAV协同任务控制中分布式任务分配与任务协调技术研究[D].国防科学技术大学,2006
[39]龙涛,陈岩,沈林成.基于合同机制的多UCAV分布式协同任务控制[J].航空学报,2007,28(2)：352～357
[40]Zhijie Zhou, Changhua Hu, Hongdong Fan. Fault prediction of the nonlinear systems with uncertainty[J]. Simulation Modelling Practice and Theory,2008,16(6):690-703
[41]王平,郭继峰,史晓宁,崔乃刚.基于时间状态的敏捷自主在轨服务航天器协同运动规划方法研究[J].控制与决策,2011,26(11)：1699～1705
[42]任敏,王克波,沈林成.多UAV协同突防规划与仿真[J].控制与决策,2011,26(1)：157～160
[43]Xiao-Sheng Si, Chang-Hua Hu, Jian-Bo Yang, Qi Zhang. On the dynamic evidential reasoning algorithm for fault prediction[J]. Expert Systems with Applications, 2011,38(5):5061-5080
[44]Jinia Datta,Sumana Chowdhuri,Jitendranath Bera.Remote monitoring of different electrical parameters of multi-machine system using PC[J].Measurement,2012,45(1):118-125
[45]J.Sudeikat, J.-P.Steghofer, H.Seebach. On the combination of top-down and bottom-up methodologies for the design of coordination mechanisms in self-organising systems[J]. Information and software technology,2012,54(6):593-607
[46]Rosmaini Ahmad, Shahrul Kamaruddin. An overview of time-based and condition-based maintenance in industrial application[J].Computers&Industrial Engineering,2012,63(1):135-149
[47]Bouchra Lamrini, Guy Della Valle, loan Cristian Trelea. A new method for dynamic modelling of bread dough kneading based on artificial neural network[J]. Food Control, 2012,26(2):512-524
[48]肖增博,雷虎民.导弹制导的协同控制方法[J].航空兵器,2012,(1)：18～24
[49]张礼兵,游有鹏,吴婷.数控位置伺服系统控制策略研究[J].中国机械工程,2012,23(14)：1693～1697
[50]孙铸,韩华.基于自适应模糊PID控制的太阳光跟踪伺服系统[J].物联网技术,2012,(9)：76～78
[51]梁军龙，模糊PID控制在伺服控制器中的应用[J].电子世界,2012，(9)：54～56
[52]胡大军.基于模糊控制的舰载光电跟踪伺服系统设计[D].武汉工程大学,2012
[53]霍龙,乐贵高,马大为等.防空多管火箭炮位置控制器的模糊滑模设计[J].弹箭与制导学报,2012,32(2)：123～126
[54]霍龙,乐贵高,马大为等.自适应模糊滑模在位置伺服系统中的应用[J].火力与指挥控制,2012,37(9)：137～140
[55]郭亚军,王晓锋,马大为.自适应模糊滑模控制在火箭炮祸合系统中的应用[J].南京理工大学学报,2012,36(4)：618～623
[56]霍龙,某多管火箭炮操瞄控制系统设计与研究[D].南京理工大学,2012
[57]李光,刘领化.柔性负载电液位置伺服系统的轨迹规划[J].中国机械工程,2012,23(16)：1943～1946
[58]申永.数控位置跟踪中非线性PID位置控制器的研究[D].山东理工大学,2012
[59]崔皆凡,邢丰,赵楠等.基于模糊控制器的改进耦合多电机同步控制[J].微电机,2011,44(3)：37～39
[60]彭思齐,戴瑜兴,蒋近.LED多线切割机同步控制系统研制[J].中国机械工程,2012,23(2)：131～134
[61]贾善斌,刘志奇,侯云辉等.多级液压缸同步控制精度研究[J].液压气动与密封,2012,(8)：64～68
[62]曾洪勇.基于模糊PID闭式液压系统双卷扬同步控制研究[D].大连理工大学,2012
[63]王庆明,孙怡.基于模糊PID控制的直流电机同步控制系统[J].2012,29(5)：493-496
[64]孙怡.基于模糊PID控制的多电机同步控制系统的研究[D].华东理工大学,2012
[65]左岗永.水压双缸同步系统模糊PID控制的研究[D].兰州理工大学,2011
[66]W. Ren. On consensus algorithms for double-integrator dynamics[J]. IEEE Transactions on Automatic Control,2008,53(6):1503-1509
[67]Lin, J. and Morse, AS and Anderson, BDO, The multi-agent rendezvous problem[J]. Part1: The synchronous case, SIAM Journal on Control and Optimization,2007,46(6):2096-2119
[68]Lin, J. and Morse, AS and Anderson, BDO, The multi-agent rendezvous problem[J]. Part2: The asynchronous case, SIAM Journal on Control and Optimization,2007,46(6):2120-2147
[69]R. Olfati-Saber, Flocking for Multi-Agent Dynamic Systems:Algorithms and Theory [J]. IEEE Transactions on Automatic Control,2005
[70]H. Su, X. Wang and Z. Lin, Flocking of multi-agents with a virtual leader[J]. IEEE Transactions on Automatic Control,2009,54(2):293-307
[71]Jing Han, Ming Li, Lei Guo. Soft control on collective behavior of a group of autonomous agents by a shill agent [J]. Journal of Systems Science and Complexity,2006,19(1):54-62
[72]潘福臣,陈雪波,李琳.群集模型的软控制研究[J].科学技术与工程,2009,(17)：4905-4909
[73]Michael M. Zavlanos, Ali Jadbabaie and George J. Pappas. Flocking while Preserving Network Connectivity[C], Proceedings of the 46th IEEF CDC,2007:12-14
[74]H. Su, X. Wang and G. Chen, A connectivity-preserving flocking algorithm for multi-agent systems based only on position measurements[J]. International Journal of Control, 2009,82(7):1334-1343
[75]Vito T. On the Evolution of Self-Organizing Behaviors in a Swarm of Autonomous Robots[D]. Universite Libre de Bruxelles,2006
[76]Tanner H. G. Flocking with obstacle avoidance in switching networks of interconnected vehicles[C]. Proceedings of the 2004 IEEE ICRA,2004:3006-3011
[77]H. Tanner, A Jadbabaie and G, Pappas. Flocking in Fixed and Switching Networks[J]. IEEE Transactions on Automatic Control,2007,52(5):863-868
[78]Olfati-Saber R. Flocking for multi-agent dynamic systems:algorithms and theory[J]. IEEE Transactions on Automatic Control,2006,51(3):401-420
[79]Wang L., Shi H., Chu T. G. Flocking control of groups of mobile autonomous agents via local feedback[C]. Proceedings of the 2005 IEEE ISIC,2005:441-446
[80]俞敏.连续平压心得[OL]. http://blog.sina.cn/jiechengyu,2012,10,07
[81]王国超.影响中密度纤维板热压质量的主要因素[J].林业科技研究,2001,15(6)：32～34
[82]G. Brmhall. Mathematical model for lumber drying Principles involved [J]. Wood science and Technology,1979,12(1):15-21
[83]保昆雁.中密度纤维板热压工艺的研究[D].东北林业大学,2006
[84]Antonelli. Kinematic Control of Platoons of Autonomous Vehicles [J]. IEEE Transaction on Robotics,2006,22(6):166-169
[85]高隆昌.系统学原理[M].北京：科学出版社,2010
[86]Hermann Harken. Information and Self-Organization:a macroscopic approach to complex systems[M], Springer,3. Auflage 2006
[87]吴振顺.液压控制系统[M].北京：高等教育出版社,2008
[88]李友善,李军.模糊控制理论及其在过程控制中的应用[M].北京：国防工业出版社,1993
[89]诸静.模糊控制理论与系统原理.[M]北京：机械工业出版社,2008
[90]梁霄,张均东,李巍.水下机器人T-S型模糊神经网络控制[J].电机与控制学报,2010,(7)：99～104
[91]张艳杰,徐丙垠,熊立新等.一种基于SRD模糊控制的风力机模拟器[J].电机与控制学报,2011,(1)：38～43
[92]武俊峰,工世明.一种基于模糊控制的两步法预测控制方法[J].电机与控制学报,2010,(7)：75～80
[93]陈家伟,陈杰,陈冉等.变速风力发电机组自适应模糊控制技术[J].中国电机工程学报,2011,21：93～101
[94]连朝阳,张京军,史丽红等.基于模糊控制的三自由度并联机器人的联合仿真[J].机床与液压,2011,9：122～125
[95]工峰.柔性关节机器人的参数辨识及模糊控制研究[D].北京邮电大学,2012
[96]曹石.基于模糊控制的工程车辆四参数换挡控制器研究[D].山东大学,2012
[97]周建军,张漫,汪懋华等.基于模糊控制的农用车辆路线跟踪[J].农业机械学报,2009,(4)：151～156
[98]贾艳艳.丛于遗传算法的变频空调器模糊控制的研究[D].东北大学,2011
[99]罗杰.基于模糊控制智能灌溉控制系统研究[D].吉林大学,2011
[100]张伟,何勇,裘正军.基于无线传感网络与模糊控制的精细灌溉系统设计[J].农业工程学报,2009,S2：7-12
[101]武曲.基于2DF的人造板热压电液伺服系统伪微分反馈控制研究[D].东北林业大学,2010
[2]中国林学会木材工业分会秘书处.2009年我国人造板产量[J].中国人造板,2010,(7)：37
[3]中国林学会木材工业分会秘书处.2010年我国人造板产量统计数据[J].木材工业,2011,25(4)：54
[4]2012年我国人造板产量及流通情况[oL],中国林业网,www.wood365.cn
[5]国际木业编辑部.人造板行业2011年回顾与未来三年展望[J].国际木业,2012,(1)：22-27
[6]欧阳琳.连续平压热压机(之一～之六)[J].木材工业,1997.2～6,1998,1
[7]李绍昆,杨一飞,陈沪成.国产中纤板成套设备现状-发展趋势及对策[J].林产工业,2002,29(5)：5-7
[8]陈怀峰,张荣其.我国人造板连续压机的现状和发展前景[J].中国人造板,2007,14(1)：5～7
[9]马启升,任芳,牛丽丽.国产中密度纤维板生产线设备现状与发展[J].中木材加工机械,2009,27(5)：22～25
[10]林业机械与木工设备编辑部.中国福马机械集团成功研发8英尺中(高)密度纤维板连续平压生产线[J].林业机械与木工设备,2012,(1)：7
[11]胡伟,乔宗明,工宝金等.纤维板连续平压机热压工艺的研究[J].南京林业大学学报(自然科学版),2011,35(6)：151～154
[12]卫宏,郭晓磊,曹平祥.人造板连续平压机板坯厚度在线监测技术的现状与研究[J].中国人造板,2011,(3)：19～23
[13]乔宗明.人造板连续平压机板坯厚度在线监测与控制[D].南京林业大学,2012
[14]李新华,邓贞贞,邓富洲.人造板连续压机的压力自动控制系统研究[J].中南林业科技大学学报,2012,32(4)：216～219
[15]邓贞贞.基于PLC的人造板连续压机热压控制系统研究[D].中南林业科技大学,2012
[16]韩宇光,曹军,朱良宽.刨花板热压控制系统模糊自适应PID控制[J].森林工程，2011,27(4)：30～33
[17]韩宇光,曹军,朱良宽.刨花板热压控制系统BP神经网络整定PID控制[J].自动化技术与应用,2011,30(12)：8-10
[18]韩宇光.刨花板连续平压自动纠偏智能控制算法研究[D].东北林业大学,2012
[19]WANG Yan-wei, CHENG Fang, ZHOU Yu-cheng, XU Jia-he. Analysis of Double-T Filter Used for PWM Circuit to D/A Converter[C]. CCDC2012:2764-2768
[20]工艳伟,程放,周玉成.多线程CSerialPort类的多串口通信实现[J].木材加工机械,2012,23(2)：1-4
[21]工艳伟.网络控制系统下的连续平压机群集控制器的设计与实现[D].中国林科院,2012
[22]Hermann Haken. Erfolgsgeheimnisse der Natur:Synergetik, die Lehre vom Zusammenwirken [M]. Deutsche Verlags-Anstalt,1981
[23]高隽,智能信息处理方法导论[M].北京：机械工业出版社,2004
[24]Hermann Haken. Visions of synergetics[J]. Journal of the Franklin Institute,1997,334(5-6), pp:759-792
[25]M.Bestehorn, E.V.Grigorieva, H.Haken, S.A.Kaschenko. Order parameters for class-B lasers with a long time delayed feedback[J]. Physica D:Nonlinear Phenomena,2000,145(1-2), pp:110-129.
[26]Leonid N.Christophorov. Self-controlled flow processing by biomolecules[J]. Solid State Lonics,1997,97(1-4),pp:83-88.
[27]刘颖,王淑英,朱洪秀.化学反应动力学系统序参量模型及其应用[J].吉林工学院学报,1997,18(4)：45～50.
[28]Hermann Haken, Juval Portugali. The face of the city is its information[J]. Journal of Environmental Psychology,2003,23(4), pp:385-408.
[29]郭治安,谭叔明.协同学及其在计算系统和社会系统中的应用[J].系统工程与电子技术,1987,(7)：13～19.
[30]刘爱民,陈济勤,万鹤群.机械化农业生产系统的自组织现象与序参量[J].北京农业工程大学学报,1995,15(1)：58～63
[31]龙妍.基于物质流、能量流与信息流协同的大系统研究[D].华中科技大学,2009
[32]范文涛.建立系统科学基础理论文框架的一种可能途径与若干思路(之四)[J].系统工程理论与实践,2002,(8)：16～28
[33]Pongpunwattana A. Real-time planning for teams of autonomous vehicles in dynamic uncertain environments[D]. University of Washington,2004
[34]B.T.Metrics Clough, Schmetrics. How the heck do you determine a UAV's autonomy anyway [C]. Proceedings of the 2002 PerMIS Workshop,2002
[35]薛宏涛.基于协进化机制的多智能体系统体系结构及多智能体协作方法研究[D].国防科学技术大学,2002
[36]张健,戴金海.面向多星协同的卫星自组织自主控制体系结构[J].国防科技大学学报,2005,27(5)：95～98
[37]叶媛媛,闵春平,沈林成,朱华勇.基于混合遗传算法的多UCAV协同任务分配方法[J].东南大学学报(自然科学版),2005,35(S2)：53-58
[38]龙涛.多UCAV协同任务控制中分布式任务分配与任务协调技术研究[D].国防科学技术大学,2006
[39]龙涛,陈岩,沈林成.基于合同机制的多UCAV分布式协同任务控制[J].航空学报,2007,28(2)：352～357
[40]Zhijie Zhou, Changhua Hu, Hongdong Fan. Fault prediction of the nonlinear systems with uncertainty[J]. Simulation Modelling Practice and Theory,2008,16(6):690-703
[41]王平,郭继峰,史晓宁,崔乃刚.基于时间状态的敏捷自主在轨服务航天器协同运动规划方法研究[J].控制与决策,2011,26(11)：1699～1705
[42]任敏,王克波,沈林成.多UAV协同突防规划与仿真[J].控制与决策,2011,26(1)：157～160
[43]Xiao-Sheng Si, Chang-Hua Hu, Jian-Bo Yang, Qi Zhang. On the dynamic evidential reasoning algorithm for fault prediction[J]. Expert Systems with Applications, 2011,38(5):5061-5080
[44]Jinia Datta,Sumana Chowdhuri,Jitendranath Bera.Remote monitoring of different electrical parameters of multi-machine system using PC[J].Measurement,2012,45(1):118-125
[45]J.Sudeikat, J.-P.Steghofer, H.Seebach. On the combination of top-down and bottom-up methodologies for the design of coordination mechanisms in self-organising systems[J]. Information and software technology,2012,54(6):593-607
[46]Rosmaini Ahmad, Shahrul Kamaruddin. An overview of time-based and condition-based maintenance in industrial application[J].Computers&Industrial Engineering,2012,63(1):135-149
[47]Bouchra Lamrini, Guy Della Valle, loan Cristian Trelea. A new method for dynamic modelling of bread dough kneading based on artificial neural network[J]. Food Control, 2012,26(2):512-524
[48]肖增博,雷虎民.导弹制导的协同控制方法[J].航空兵器,2012,(1)：18～24
[49]张礼兵,游有鹏,吴婷.数控位置伺服系统控制策略研究[J].中国机械工程,2012,23(14)：1693～1697
[50]孙铸,韩华.基于自适应模糊PID控制的太阳光跟踪伺服系统[J].物联网技术,2012,(9)：76～78
[51]梁军龙，模糊PID控制在伺服控制器中的应用[J].电子世界,2012，(9)：54～56
[52]胡大军.基于模糊控制的舰载光电跟踪伺服系统设计[D].武汉工程大学,2012
[53]霍龙,乐贵高,马大为等.防空多管火箭炮位置控制器的模糊滑模设计[J].弹箭与制导学报,2012,32(2)：123～126
[54]霍龙,乐贵高,马大为等.自适应模糊滑模在位置伺服系统中的应用[J].火力与指挥控制,2012,37(9)：137～140
[55]郭亚军,王晓锋,马大为.自适应模糊滑模控制在火箭炮祸合系统中的应用[J].南京理工大学学报,2012,36(4)：618～623
[56]霍龙,某多管火箭炮操瞄控制系统设计与研究[D].南京理工大学,2012
[57]李光,刘领化.柔性负载电液位置伺服系统的轨迹规划[J].中国机械工程,2012,23(16)：1943～1946
[58]申永.数控位置跟踪中非线性PID位置控制器的研究[D].山东理工大学,2012
[59]崔皆凡,邢丰,赵楠等.基于模糊控制器的改进耦合多电机同步控制[J].微电机,2011,44(3)：37～39
[60]彭思齐,戴瑜兴,蒋近.LED多线切割机同步控制系统研制[J].中国机械工程,2012,23(2)：131～134
[61]贾善斌,刘志奇,侯云辉等.多级液压缸同步控制精度研究[J].液压气动与密封,2012,(8)：64～68
[62]曾洪勇.基于模糊PID闭式液压系统双卷扬同步控制研究[D].大连理工大学,2012
[63]王庆明,孙怡.基于模糊PID控制的直流电机同步控制系统[J].2012,29(5)：493-496
[64]孙怡.基于模糊PID控制的多电机同步控制系统的研究[D].华东理工大学,2012
[65]左岗永.水压双缸同步系统模糊PID控制的研究[D].兰州理工大学,2011
[66]W. Ren. On consensus algorithms for double-integrator dynamics[J]. IEEE Transactions on Automatic Control,2008,53(6):1503-1509
[67]Lin, J. and Morse, AS and Anderson, BDO, The multi-agent rendezvous problem[J]. Part1: The synchronous case, SIAM Journal on Control and Optimization,2007,46(6):2096-2119
[68]Lin, J. and Morse, AS and Anderson, BDO, The multi-agent rendezvous problem[J]. Part2: The asynchronous case, SIAM Journal on Control and Optimization,2007,46(6):2120-2147
[69]R. Olfati-Saber, Flocking for Multi-Agent Dynamic Systems:Algorithms and Theory [J]. IEEE Transactions on Automatic Control,2005
[70]H. Su, X. Wang and Z. Lin, Flocking of multi-agents with a virtual leader[J]. IEEE Transactions on Automatic Control,2009,54(2):293-307
[71]Jing Han, Ming Li, Lei Guo. Soft control on collective behavior of a group of autonomous agents by a shill agent [J]. Journal of Systems Science and Complexity,2006,19(1):54-62
[72]潘福臣,陈雪波,李琳.群集模型的软控制研究[J].科学技术与工程,2009,(17)：4905-4909
[73]Michael M. Zavlanos, Ali Jadbabaie and George J. Pappas. Flocking while Preserving Network Connectivity[C], Proceedings of the 46th IEEF CDC,2007:12-14
[74]H. Su, X. Wang and G. Chen, A connectivity-preserving flocking algorithm for multi-agent systems based only on position measurements[J]. International Journal of Control, 2009,82(7):1334-1343
[75]Vito T. On the Evolution of Self-Organizing Behaviors in a Swarm of Autonomous Robots[D]. Universite Libre de Bruxelles,2006
[76]Tanner H. G. Flocking with obstacle avoidance in switching networks of interconnected vehicles[C]. Proceedings of the 2004 IEEE ICRA,2004:3006-3011
[77]H. Tanner, A Jadbabaie and G, Pappas. Flocking in Fixed and Switching Networks[J]. IEEE Transactions on Automatic Control,2007,52(5):863-868
[78]Olfati-Saber R. Flocking for multi-agent dynamic systems:algorithms and theory[J]. IEEE Transactions on Automatic Control,2006,51(3):401-420
[79]Wang L., Shi H., Chu T. G. Flocking control of groups of mobile autonomous agents via local feedback[C]. Proceedings of the 2005 IEEE ISIC,2005:441-446
[80]俞敏.连续平压心得[OL]. http://blog.sina.cn/jiechengyu,2012,10,07
[81]王国超.影响中密度纤维板热压质量的主要因素[J].林业科技研究,2001,15(6)：32～34
[82]G. Brmhall. Mathematical model for lumber drying Principles involved [J]. Wood science and Technology,1979,12(1):15-21
[83]保昆雁.中密度纤维板热压工艺的研究[D].东北林业大学,2006
[84]Antonelli. Kinematic Control of Platoons of Autonomous Vehicles [J]. IEEE Transaction on Robotics,2006,22(6):166-169
[85]高隆昌.系统学原理[M].北京：科学出版社,2010
[86]Hermann Harken. Information and Self-Organization:a macroscopic approach to complex systems[M], Springer,3. Auflage 2006
[87]吴振顺.液压控制系统[M].北京：高等教育出版社,2008
[88]李友善,李军.模糊控制理论及其在过程控制中的应用[M].北京：国防工业出版社,1993
[89]诸静.模糊控制理论与系统原理.[M]北京：机械工业出版社,2008
[90]梁霄,张均东,李巍.水下机器人T-S型模糊神经网络控制[J].电机与控制学报,2010,(7)：99～104
[91]张艳杰,徐丙垠,熊立新等.一种基于SRD模糊控制的风力机模拟器[J].电机与控制学报,2011,(1)：38～43
[92]武俊峰,工世明.一种基于模糊控制的两步法预测控制方法[J].电机与控制学报,2010,(7)：75～80
[93]陈家伟,陈杰,陈冉等.变速风力发电机组自适应模糊控制技术[J].中国电机工程学报,2011,21：93～101
[94]连朝阳,张京军,史丽红等.基于模糊控制的三自由度并联机器人的联合仿真[J].机床与液压,2011,9：122～125
[95]工峰.柔性关节机器人的参数辨识及模糊控制研究[D].北京邮电大学,2012
[96]曹石.基于模糊控制的工程车辆四参数换挡控制器研究[D].山东大学,2012
[97]周建军,张漫,汪懋华等.基于模糊控制的农用车辆路线跟踪[J].农业机械学报,2009,(4)：151～156
[98]贾艳艳.丛于遗传算法的变频空调器模糊控制的研究[D].东北大学,2011
[99]罗杰.基于模糊控制智能灌溉控制系统研究[D].吉林大学,2011
[100]张伟,何勇,裘正军.基于无线传感网络与模糊控制的精细灌溉系统设计[J].农业工程学报,2009,S2：7-12
[101]武曲.基于2DF的人造板热压电液伺服系统伪微分反馈控制研究[D].东北林业大学,2010