【作者】 孙尧；

【导师】 赵国良；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2002， 博士

【摘要】 目前世界各国许多学者都在致力探索非线性控制问题的解决方法。控制系统的非线性控制规律研究是当今自控理论学界重点研究的课题之一。本论文将致力于探索一种新的控制理论及其应用方法，即将突变理论引入到控制系统中，形成突变控制的一些理论方法。并将突变控制机制的研究应用于一些特殊控制场合。 本文从研究系统的突变现象入手，将突变理论引入到系统的分析与控制中，使之与控制理论相结合，并提出一个新的概念——突变控制理论，进而研究突变控制的技术方法及其在人工心脏控制系统和导航系统中的应用。 人工心脏是彻底解决心肌坏死性疾病的主要途径，但是目前世界上还未研究出能够全部植入人体的有效替代原有心脏功能的人工心脏(简称全植入式人工心脏)。可以说，控制将是全植入式人工心脏的关键技术之一，而人工心脏的控制决不是简单的线性控制或常规的非线性控制。因此，本论文所研究的具有突变机制的控制系统将有助于推动全植入式人工心脏的进展。 突变控制模型就是针对具有突变特征非线性系统而提出的，也可以说是从一个全新的角度对某些非线性控制系统解决方案的一种探索。 将突变理论与控制技术相结合，首次提出了突变控制技术的概念。对于具有突变机制的系统进行了较为深入的研究，并给出了突变控制解决方案，以便实现有效控制。突变在于系统状态的突然改变，状态的改变不只是有快、慢之分，更主要是分析其变化的模式和规律。系统突变有其原因(包括内因和外因)，系统突变的内因是系统运行到一定阶段或状态而自然发生的；系统突变的外因是系统在运行时受到外界的干扰而发生的。系统状态发生突变的现象是存在的，但是以往很少对其突变特性进行研究。当系统中的信息在某一阶段呈现突变状态时，根据其突变特点及归属类型引入不同的势函数模型。将势函数方程引入到控制系统的建模，就可以对系统的变化进行定量描述。本论文就是利用突变理论研究控制系统的突变特性，并提出突变控制模型以描述系统状态变化的规律。突变势函数被引入控制系统，首次提出了突变控制模型；设计了突变预测模型，并将其应用于有关控制系统中。 ’ 哈尔滨工程人学博士学位论文 人工心脏的控制既属于工程控制论范畴，也属于主物控制论范畴。在对大量B型超声心动图和ECT图象实验的基础上，建立了人体心脏运动模型，首次设计了全植入式人工心脏控制系统的突变控制模型。突变控制模型的研究是将突变理论引入到控制理论中的重要一步，也可以说是两种理论的结合点，很有可能成为今后研究新的突变控制理论的基础。主于人体心脏运动具有突变性质，所以为了使人工心脏能够逼近真实心脏的运动过程，那么其控制系统中就应具有突变控制模型。因此，对于突变控制模型的研究具有较为重要的理论意义和实际应用价值。 针对舰艇战斗航海需要，将突变控制技术应用到惯性组合导航系统中，首次设计了导航控制系统应急状态突变控制模型，突变故障诊断模型c更多还原

【Abstract】 Now many scholars are all at concentrate on the search of the problem of nonlinear control. The nonlinear control of the control system of the law research is one of the lessons that study nowadays in automatic control theory educational circles. This article will be on the foundation work to search a new control theory and the the application of it. That is apply the catastrophe theory to control system , formulating some theories of catastrophe control. The research will put control mechanism in the some and special control occasion. The catastrophe phenomena would be the entry of the problem that will be settled in this article. It will be taken into the analysis and the control of the system, to combine the catastrophe theory with automatic control theory. So we can propose a new concept that is catastrophe control theory. We try the theory to the control system of total artificial heart.The artificial heart is nowadays more popular in the developed countries such as in the United States, England and so on. They are so concentrated on the availability of artificial heart, it thoroughly clinch the myocardial the critical path of bad dead paroxysm, but the present world is up to now still not bring the prototype that can be all transplanted into the human body to replace function of originally heart(total artificial heart). We can say, and it will be that the key technicality of transplant the artificial heart’s lies on control system, but the artificial heart never is the nonlinear control of the simple distribution control or routine. Control system in thesis which is studied about the control system with the catastrophe mechanism will be beneficial to push the holoenzymes to transplant the quinonoid formula artificial the heart’s progress.The model of catastrophe control system is to aim at to the characteristic of nonlinear system and suggested, as well to be from the solution of some nonlinear control systems of an all new angle paraquinones of such kind search.Combine together the catastrophe theory and control technique, and proposed the technical notion of catastrophe control for the first time. Having done many deep research on the mechanism of catastrophe, giving the solution of the control of catastrophe, to reach the effective control. The catastrophe consists in the much more than only possession of the alteration of the system status alteration, not on the change speed status quick, slow bat batch. The system catastrophe has its own reason (include the inside but also outside). The inside reason happen when system run more naturally, and the outside reason is that outsider interference but occurrence. The phenomena that system status change are very common, butformer few as to it’s the catastrophe characteristic steer the research. The article is a take advantages of catastrophe theory research the catastrophe characteristic, and the law of status change of catastrophe control system. Design catastrophe predication form, apply its model into the appliance which is in the in reference to control system under catastrophe the first time.The control of the artificial heart since is in the category of the engineering control theory, and as well in the category of biological control theory. On the base of having studied with many B mode ultrasound cardiograph}’ and ECT image experimenting, create model of human body heart moving, first time design the model total artificial heart of catastrophe control. Research of the model of catastrophe control introduce the catastrophe theory into the control system theory . it is the first step, and as well to could be the combination of the two theory and it will be the basic study of future catastrophe control theory.Aim at the fleet combat the navigation requirement, will introduce the catastrophe control technique into the integrated navigation system, first time design navigate control system for meeting the need of the navigation of ship, use the model of control under catastrophe theory into integrated navigation. Design the model of catastro更多还原