Devicenet总线在智能照明控制方面有着明显优势。本文设计了一个基于Device Net现场总线的智能照明控制器。以协议规范为蓝本,介绍了智能照明控制器的Device Net接口硬件实现方案,系统软件在分析了对象模型的基础上由Keil u Vision4编写...Devicenet总线在智能照明控制方面有着明显优势。本文设计了一个基于Device Net现场总线的智能照明控制器。以协议规范为蓝本,介绍了智能照明控制器的Device Net接口硬件实现方案,系统软件在分析了对象模型的基础上由Keil u Vision4编写,最终实现调节灯光照度的效果。展开更多
This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such ...This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.展开更多
The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple li...The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple linear state feedback controller is designed to synchronize the master chaotic system and the slave chaotic systems with a time- varying communication topology connection. The exponential stability of the closed-loop networked synchronization error system is guaranteed by applying Lyapunov stability theory. The derived novel criteria are in the form of linear matrix inequalities （LMIs）, which are easy to examine and tremendously reduce the computation burden from the feedback matrices. This paper provides an alternative networked secure communication scheme which can be extended conveniently. An illustrative example is given to demonstrate the effectiveness of the proposed networked synchronization method.展开更多
In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons...In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons, a master slave system with different kinematics has been developed. The system permits us to vary the ratio of the position/attitude, to design a master manipulator without considering the kinematics of the slave manipulator, and so on. To overcome the difficulties, a master slave manipulator system with different kinematics is proposed. The master manipulator is force controlled via a force torque sensor in the handle. As to master slave manipulator system with two way force feedback is concerned, the force goes to the actuator from the operator, and come back to the operator from the actuator. The working situation is viewed by the stereo TV supervisory system. The force and vision telepresence are thus achieved. In order to ensure the maneuverability, direct drive DC motors and PWM servo units are adopted to improve the response speed. It can provide force response in a wide range. A lot of experiments were performed with the master slave manipulator system force telepresence to study the force response under restricted environment. By two force sensors, the force position bilateral force response system effectively decreases the affection of friction and inertia force, and increases the authenticity of bilateral force response. When the slave manipulator arm is encountered with soft object(sponge), in the experiments, the operator can clearly have the fine feeling as if he himself is contacted with the object.展开更多
In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardwar...In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.展开更多
A microwave power-combining system composed of two Panasonic 2M244-M1 magnetrons based on master–slave injection-locking is demonstrated in this paper. The principle of master–slave injection-locking and the locking...A microwave power-combining system composed of two Panasonic 2M244-M1 magnetrons based on master–slave injection-locking is demonstrated in this paper. The principle of master–slave injection-locking and the locking condition are theoretical analyzed. Experimental results are consistent with the theoretical analysis and the experimental combined efficiency is higher than 96%. Compared with the external-injection-locked system, the power-combining based on the master–slave injection-locking magnetron is superior by taking out the external solid-state driver and the real-time phase control system. Thus, this power-combining system has great potential for obtaining a high efficiency, high stability, low cost, and high power microwave source.展开更多
基金supported by the Key Project of Chinese Ministry of Education(108037)the National Natural Science Foundation of China(10402008 and 50535010)
文摘This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.
基金supported by the National Natural Science Foundation of China (Grant Nos. 60904046, 60972164, 60974071, and 60804006)the Special Fund for Basic Scientific Research of Central Colleges, Northeastern University, China (Grant No. 090604005)+2 种基金the Science and Technology Program of Shenyang (Grant No. F11-264-1-70)the Program for Liaoning Excellent Talents in University (Grant No. LJQ2011137)the Program for Liaoning Innovative Research Team in University (Grant No. LT2011019)
文摘The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple linear state feedback controller is designed to synchronize the master chaotic system and the slave chaotic systems with a time- varying communication topology connection. The exponential stability of the closed-loop networked synchronization error system is guaranteed by applying Lyapunov stability theory. The derived novel criteria are in the form of linear matrix inequalities （LMIs）, which are easy to examine and tremendously reduce the computation burden from the feedback matrices. This paper provides an alternative networked secure communication scheme which can be extended conveniently. An illustrative example is given to demonstrate the effectiveness of the proposed networked synchronization method.
文摘In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons, a master slave system with different kinematics has been developed. The system permits us to vary the ratio of the position/attitude, to design a master manipulator without considering the kinematics of the slave manipulator, and so on. To overcome the difficulties, a master slave manipulator system with different kinematics is proposed. The master manipulator is force controlled via a force torque sensor in the handle. As to master slave manipulator system with two way force feedback is concerned, the force goes to the actuator from the operator, and come back to the operator from the actuator. The working situation is viewed by the stereo TV supervisory system. The force and vision telepresence are thus achieved. In order to ensure the maneuverability, direct drive DC motors and PWM servo units are adopted to improve the response speed. It can provide force response in a wide range. A lot of experiments were performed with the master slave manipulator system force telepresence to study the force response under restricted environment. By two force sensors, the force position bilateral force response system effectively decreases the affection of friction and inertia force, and increases the authenticity of bilateral force response. When the slave manipulator arm is encountered with soft object(sponge), in the experiments, the operator can clearly have the fine feeling as if he himself is contacted with the object.
文摘In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.
基金Project supported by the National Basic Research Program of China(Grant No.2013CB328902)the National Natural Science Foundation of China(Grant No.61501311)
文摘A microwave power-combining system composed of two Panasonic 2M244-M1 magnetrons based on master–slave injection-locking is demonstrated in this paper. The principle of master–slave injection-locking and the locking condition are theoretical analyzed. Experimental results are consistent with the theoretical analysis and the experimental combined efficiency is higher than 96%. Compared with the external-injection-locked system, the power-combining based on the master–slave injection-locking magnetron is superior by taking out the external solid-state driver and the real-time phase control system. Thus, this power-combining system has great potential for obtaining a high efficiency, high stability, low cost, and high power microwave source.
