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空间目标的圆轨道跟踪法 被引量:3
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作者 张晓祥 吴连大 熊建宁 《天文学报》 CSCD 北大核心 2003年第4期405-415,共11页
给出一种空间目标自动跟踪方法:圆轨道跟踪法.该方法在假设目标轨道为圆轨道的前提下计算目标轨道,而后在轨道平面中外推.和位置跟踪法比较表明:该方法不受空间目标视运动不均匀性的影响,有非常高的跟踪精度.即使采用低帧频CCD(1—2 HZ)... 给出一种空间目标自动跟踪方法:圆轨道跟踪法.该方法在假设目标轨道为圆轨道的前提下计算目标轨道,而后在轨道平面中外推.和位置跟踪法比较表明:该方法不受空间目标视运动不均匀性的影响,有非常高的跟踪精度.即使采用低帧频CCD(1—2 HZ),使用本方法,也能实现对空间目标的高精度跟踪;并能给出目标的多点CCD坐标,实现对空间目标的多点分区采样,提高空间目标的定位精度. 展开更多
关键词 圆轨道跟踪 低帧频 天体力学 轨道计算 位置跟踪法
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一种守恒型间断跟踪法在一维单守恒律方程非凸流上的实现
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作者 胡京亭 茅德康 《应用数学与计算数学学报》 2006年第1期1-9,共9页
本文的第二作者在近几年发展了一种守恒型的间断跟踪法,该跟踪法是以解的守恒性质作为跟踪的机制,而不是象传统的跟踪法利用Rankine-Hugoniot条件来进行跟踪.本文中主要研究将该算法推广至单个守恒律非凸流的情况.利用精确求解Rieman... 本文的第二作者在近几年发展了一种守恒型的间断跟踪法,该跟踪法是以解的守恒性质作为跟踪的机制,而不是象传统的跟踪法利用Rankine-Hugoniot条件来进行跟踪.本文中主要研究将该算法推广至单个守恒律非凸流的情况.利用精确求解Riemann问题,我们很好地处理了非凸流Riemann解的激波和稀疏波的并存结构,既实现了对激波的跟踪,又成功地分辨出稀疏波.第四节的数值例子,显示了满意的数值结果. 展开更多
关键词 网格平均 间断跟踪 间断位置 Riemann问题
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Design and control of integrated pneumatic dexterous robot finger 被引量:8
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作者 王志恒 张立彬 +2 位作者 鲍官军 钱少明 杨庆华 《Journal of Central South University》 SCIE EI CAS 2011年第4期1105-1114,共10页
Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless... Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect. 展开更多
关键词 pneumatic dexterous finger flexible pneumatic actuator (FPA) robot multi-fingered dexterous hand bending joint sidesway joint
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Following Control for a UUV using Temporary Path Generation Guidance 被引量:2
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作者 Zheping Yan Dongnan Chi Jiajia Zhou Yufei Zhao 《Journal of Marine Science and Application》 2012年第2期236-243,共8页
A path following control algorithm for an unmanned underwater vehicle(UUV) using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and or... A path following control algorithm for an unmanned underwater vehicle(UUV) using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and orientation,the path following control in the horizontal plane may yield a poor performance.To deal with the negative effect induced by initial states,a temporary path generation was presented based on the relationship between the original reference path and the vehicle’s initial states.With different relative positions between the vehicle and reference path,including out of straight lines,as well as inside and outside a circle,the related temporary paths guiding the vehicle to the reference path were able to be generated in real time.The vehicle was guided to steer along the temporary path until it reached the tangent point at the reference path,where the controller was designed using the input-output feedback linearization method.Simulation results demonstrated that the proposed algorithm is effective under the three different situations mentioned above. 展开更多
关键词 nonlinear control path following control UUV temporary path generation input-output feedback linearization
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