To avoid the machine problems of excessive axial force, complex process flow and frequent tool changing during robotic drilling holes, a new hole-making technology (i.e., helical milling hole) was introduced for desig...To avoid the machine problems of excessive axial force, complex process flow and frequent tool changing during robotic drilling holes, a new hole-making technology (i.e., helical milling hole) was introduced for designing a new robotic helical milling hole system, which could further improve robotic hole-making ability in airplane digital assembly. After analysis on the characteristics of helical milling hole, advantages and limitations of two typical robotic helical milling hole systems were summarized. Then, vector model of helical milling hole movement was built on vector analysis method. Finally, surface roughness calculation formula was deduced according to the movement principle of helical milling hole, then the influence of main technological parameters on surface roughness was analyzed. Analysis shows that theoretical surface roughness of hole becomes poor with the increase of tool speed ratio and revolution radius. Meanwhile, the roughness decreases according to the increase of tool teeth number. The research contributes greatly to the construction of roughness prediction model in helical milling hole.展开更多
An adaptive object tracking algorithm based on particle filtering and a modified Gradient Vector Flow (GVF) Snake is proposed for tracking moving and deforming objects. The original contours of objects are obtained by...An adaptive object tracking algorithm based on particle filtering and a modified Gradient Vector Flow (GVF) Snake is proposed for tracking moving and deforming objects. The original contours of objects are obtained by using the background differencing method,and the true contours of objects can be converged by means of the powerful searching ability of a modified GVF-Snake. Finally,an Energetic Particle Filtering (EPF) algorithm is obtained by combining particle filtering and a modified GVF-Snake,and by using K-means and the EPF algorithm,multiple objects can be tracked. The proposed tracking tactic for partially occluded objects can effectively improve its anti-occlusion ability. Experiments show that this algorithm can obtain better tracking effect even though the tracked object is occluded.展开更多
The vector control algorithm based on vector space decomposition （VSD） transformation method has a more flexible control freedom, which can control the fundamental and harmonic subspace separately. To this end, a cu...The vector control algorithm based on vector space decomposition （VSD） transformation method has a more flexible control freedom, which can control the fundamental and harmonic subspace separately. To this end, a current vector decoupling control algorithm for six-phase permanent magnet synchronous motor （PMSM） is designed. Using the proposed synchronous rotating coordinate transformation matrix, the fundamental and harmonic components in d-q subspace are changed into direct current （DC） component, only using the traditional proportional integral （PI） controller can meet the non-static difference adjustment, and the controller parameter design method is given by employing intemal model principle. In addition, in order to remove the 5th and 7th harmonic components of stator current, the current PI controller parallel with resonant controller is employed in x-y subspace to realize the specific harmonic component compensation. Simulation results verify the effectiveness of current decoupling vector controller.展开更多
The indirect vector controlled IM （induction motor） drive involves decoupling of the stator current into torque and flux producing components. This paper proposes the implementation of a fuzzy logic control scheme a...The indirect vector controlled IM （induction motor） drive involves decoupling of the stator current into torque and flux producing components. This paper proposes the implementation of a fuzzy logic control scheme applied to a two d-q current components model of an induction motor. An intelligent based on fuzzy logic controller is developed with the help of knowledge rule base for efficient control. The performance of fuzzy logic controller is compared with that of the proportional integral controller in terms of the settling time and dynamic response to sudden load changes. The harmonic pattern of the output current is evaluated for both fixed gain proportional integral controller and the fuzzy logic based controller. The performance of the IM drive has been analyzed under steady state and transient conditions. Simulation results of both the controllers are presented for comparison.展开更多
基金Foundation item： Projects（50975141, 51005118） supported by the National Natural Science Foundation of China Projects（20091652018, 2010352005） supported by Aviation Science Fund of China Project（YKJ11-001） supported by Key Program of Nanjing College of Information Technology Institute, China
文摘To avoid the machine problems of excessive axial force, complex process flow and frequent tool changing during robotic drilling holes, a new hole-making technology (i.e., helical milling hole) was introduced for designing a new robotic helical milling hole system, which could further improve robotic hole-making ability in airplane digital assembly. After analysis on the characteristics of helical milling hole, advantages and limitations of two typical robotic helical milling hole systems were summarized. Then, vector model of helical milling hole movement was built on vector analysis method. Finally, surface roughness calculation formula was deduced according to the movement principle of helical milling hole, then the influence of main technological parameters on surface roughness was analyzed. Analysis shows that theoretical surface roughness of hole becomes poor with the increase of tool speed ratio and revolution radius. Meanwhile, the roughness decreases according to the increase of tool teeth number. The research contributes greatly to the construction of roughness prediction model in helical milling hole.
基金Supported by the Significant Term of Science and Technology Research in Ministry of Education (No. 205060)Open Research Fund of National Mobile Communications Research Laboratory,Southeast University (N200911)+2 种基金Significant Basic Research of Jiangsu Province Colleges and Universities Natural Science Projects (07 KJA51006)Research Fund of Nanjing College of Traffic Vocational Technology (JY0903)Huawei Science and Technology Fund
文摘An adaptive object tracking algorithm based on particle filtering and a modified Gradient Vector Flow (GVF) Snake is proposed for tracking moving and deforming objects. The original contours of objects are obtained by using the background differencing method,and the true contours of objects can be converged by means of the powerful searching ability of a modified GVF-Snake. Finally,an Energetic Particle Filtering (EPF) algorithm is obtained by combining particle filtering and a modified GVF-Snake,and by using K-means and the EPF algorithm,multiple objects can be tracked. The proposed tracking tactic for partially occluded objects can effectively improve its anti-occlusion ability. Experiments show that this algorithm can obtain better tracking effect even though the tracked object is occluded.
基金Project(51507188)supported by the National Natural Science Foundation of China
文摘The vector control algorithm based on vector space decomposition （VSD） transformation method has a more flexible control freedom, which can control the fundamental and harmonic subspace separately. To this end, a current vector decoupling control algorithm for six-phase permanent magnet synchronous motor （PMSM） is designed. Using the proposed synchronous rotating coordinate transformation matrix, the fundamental and harmonic components in d-q subspace are changed into direct current （DC） component, only using the traditional proportional integral （PI） controller can meet the non-static difference adjustment, and the controller parameter design method is given by employing intemal model principle. In addition, in order to remove the 5th and 7th harmonic components of stator current, the current PI controller parallel with resonant controller is employed in x-y subspace to realize the specific harmonic component compensation. Simulation results verify the effectiveness of current decoupling vector controller.
文摘The indirect vector controlled IM （induction motor） drive involves decoupling of the stator current into torque and flux producing components. This paper proposes the implementation of a fuzzy logic control scheme applied to a two d-q current components model of an induction motor. An intelligent based on fuzzy logic controller is developed with the help of knowledge rule base for efficient control. The performance of fuzzy logic controller is compared with that of the proportional integral controller in terms of the settling time and dynamic response to sudden load changes. The harmonic pattern of the output current is evaluated for both fixed gain proportional integral controller and the fuzzy logic based controller. The performance of the IM drive has been analyzed under steady state and transient conditions. Simulation results of both the controllers are presented for comparison.
