The mathematical models of electro-hydraulic speed control system using series of pipesis presented. The principle of pipe effection on dynamics of the system is developed. Computersimulation and physical experiment a...The mathematical models of electro-hydraulic speed control system using series of pipesis presented. The principle of pipe effection on dynamics of the system is developed. Computersimulation and physical experiment are also carried out. The experimental results show that a rightchoosing of serial pipe for electro-hydraulic system enables the dynamic response of the system tobe improved effectively.展开更多
针对采用控制器局域网络(CAN:Controller Area Network)总线的自动操舵系统和采用串口通讯的航海导航设备之间通讯的不匹配问题,设计了一种基于Cortex-M3嵌入式平台的通信转换模块,实现了串口与CAN总线数据的双向转换功能。同时对传统CA...针对采用控制器局域网络(CAN:Controller Area Network)总线的自动操舵系统和采用串口通讯的航海导航设备之间通讯的不匹配问题,设计了一种基于Cortex-M3嵌入式平台的通信转换模块,实现了串口与CAN总线数据的双向转换功能。同时对传统CAN收发器CTM1050存在的信号稳定性不足、波特率精准度低等问题,提出并实现了一种硬件电路的替代方案,提高了数据通讯的时效性和稳定性。基于CAN2.0B扩展帧,设计了自动操舵系统内部CAN总线协议。该协议可根据报文信息优先级分配标识帧,保证了总线数据的有序传输。实验结果表明,该通讯模块功能使用正常且通讯效果良好,具有一定通用性,可在多种需要转换的设备系统上推广使用。展开更多
针对具备Andriod和Windows双系统的电子设备在使用通用串行总线(Universal Serial Bus,USB)接口与外设通信时出现的需重新插拔USB外设、切换后USB设备不识别率偏高等问题,通过对电路进行分析和设计优化,提出一种电源管理电路的参数取值...针对具备Andriod和Windows双系统的电子设备在使用通用串行总线(Universal Serial Bus,USB)接口与外设通信时出现的需重新插拔USB外设、切换后USB设备不识别率偏高等问题,通过对电路进行分析和设计优化,提出一种电源管理电路的参数取值计算方法。采用VL817、TUSB522P及FSUSB74芯片设计3路智能USB 3.0电路方案,通过HUB硬复位重置、D+/D-、SSTX/SSRX信号通道复用输入输出(Input Output,IO)控制以及时序控制USB设备切换顺序的方法,提高系统的抗干扰能力。实测数据显示,应用该电路系统后运行稳定,系统切换时USB外设的识别成功率显著高于同类产品,契合大规模产业化设计及应用需求。展开更多
近年来,广播电视技术转型向网际互连协议(Internet Protocol,IP)化发展的进程逐渐加快,基于IP架构的电视技术系统必将取代传统串行数字接口(Serial Digital Interface,SDI)架构,成为未来电视技术的发展方向。对以互联网协议网关(Interne...近年来,广播电视技术转型向网际互连协议(Internet Protocol,IP)化发展的进程逐渐加快,基于IP架构的电视技术系统必将取代传统串行数字接口(Serial Digital Interface,SDI)架构,成为未来电视技术的发展方向。对以互联网协议网关(Internet Protocol Gateway,IPG)作为关键设备搭建“SDI+IP”混合架构系统的设计方案进行深入分析,阐述电视技术系统从SDI向IP技术转型过程中尽可能实现平稳过渡的思路。展开更多
In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and ac...In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.展开更多
Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical dr...Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical drive control systems affect the performance of the control system seriously. Up to now, there is not a simple and practical method for choosing regulator parameters, which are usually determined by repeated and continual readjustment. This method is low efficient, and the parameters got are not always optimal. A method for on-line adjusting the parameters of PI regulator in the electrical drive control system by computer program is introduced in this paper. The function of adjusting PI parameters of the electrical drive control system is realized by PC program written by VC++ and controlling program written by assemble language and by the communication between PC and DSP completed by the control MSCOMM in VC++6.0. The method as mentioned above which is applied for an all-electrical tank gun control system under development is proved very available, a better performance might be obtained for the all-electrical tank gun control system easily.展开更多
文摘The mathematical models of electro-hydraulic speed control system using series of pipesis presented. The principle of pipe effection on dynamics of the system is developed. Computersimulation and physical experiment are also carried out. The experimental results show that a rightchoosing of serial pipe for electro-hydraulic system enables the dynamic response of the system tobe improved effectively.
文摘针对采用控制器局域网络(CAN:Controller Area Network)总线的自动操舵系统和采用串口通讯的航海导航设备之间通讯的不匹配问题,设计了一种基于Cortex-M3嵌入式平台的通信转换模块,实现了串口与CAN总线数据的双向转换功能。同时对传统CAN收发器CTM1050存在的信号稳定性不足、波特率精准度低等问题,提出并实现了一种硬件电路的替代方案,提高了数据通讯的时效性和稳定性。基于CAN2.0B扩展帧,设计了自动操舵系统内部CAN总线协议。该协议可根据报文信息优先级分配标识帧,保证了总线数据的有序传输。实验结果表明,该通讯模块功能使用正常且通讯效果良好,具有一定通用性,可在多种需要转换的设备系统上推广使用。
文摘针对具备Andriod和Windows双系统的电子设备在使用通用串行总线(Universal Serial Bus,USB)接口与外设通信时出现的需重新插拔USB外设、切换后USB设备不识别率偏高等问题,通过对电路进行分析和设计优化,提出一种电源管理电路的参数取值计算方法。采用VL817、TUSB522P及FSUSB74芯片设计3路智能USB 3.0电路方案,通过HUB硬复位重置、D+/D-、SSTX/SSRX信号通道复用输入输出(Input Output,IO)控制以及时序控制USB设备切换顺序的方法,提高系统的抗干扰能力。实测数据显示,应用该电路系统后运行稳定,系统切换时USB外设的识别成功率显著高于同类产品,契合大规模产业化设计及应用需求。
基金Project(81473694)supported by the National Natural Science Foundation of ChinaProject(2016A1027)supported by the major Project of Zhongshan City,ChinaProject(2016FZFC007)supported by the Intelligent Equipment and Technology of Automation Research and Development Platform,China
文摘In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.
文摘Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical drive control systems affect the performance of the control system seriously. Up to now, there is not a simple and practical method for choosing regulator parameters, which are usually determined by repeated and continual readjustment. This method is low efficient, and the parameters got are not always optimal. A method for on-line adjusting the parameters of PI regulator in the electrical drive control system by computer program is introduced in this paper. The function of adjusting PI parameters of the electrical drive control system is realized by PC program written by VC++ and controlling program written by assemble language and by the communication between PC and DSP completed by the control MSCOMM in VC++6.0. The method as mentioned above which is applied for an all-electrical tank gun control system under development is proved very available, a better performance might be obtained for the all-electrical tank gun control system easily.
