基于OWL的拖拉机制动器设计知识表示研究

产品设计知识往往具有多样性、模糊性、动态性、隐含性等特点。本文根据这样的特点,结合本体的基本建模元语将设计知识分为以下五种类别的知识:概念类、属性类、函数类、命题类、实例类,提出一种混合式知识表示方法对拖拉机制动器的设计知识进行表示,使得制动器领域知识的表达更加方便和实用,实现了系列产品知识表达的共享与重用。最后,以整体式定位轴套设计为例,验证了该方法的有效性,提高了产品设计的效率。

起重机起升机构多制动器设计的探讨

在起重机起升机构的每套驱动系统中采用多个制动器,是提高系统安全性的重要手段之一,多制动器的设计有其约束条件,本文重点探讨独立作用的双制动和安全制动器的设计。

曳引机制动器设计问题分析

文章对曳引机制动器的传统设计计算方法提出了质疑，指出传统设计计算方法存在的问题及不合理之处，并阐述了精确的设计计算方法。

钳盘式制动器设计

钳盘式制动器一般用作行车制动器,即对正在运行的车辆进行制动以降低行驶速度或停止行驶的装置。对车辆来说,它是一个极为重要的部件,不但直接影响行车的安全,而且还与整机的机动性和生产率有关。对钳盘式制动系统的设计要求如下: 1.操纵轻便、灵敏。按规定:施于制动踏板上的力应不大于200～250N,踏板行程不大于150～200mm。 2.工作可靠,能为车辆提供足够的制动力。 3.制动性能稳定,摩擦片摩擦系数的变化相对于输出制动力矩的变化小。 4.制动过程平稳。

Model Predictive Controller Design for the Dynamic Positioning System of a Semi-submersible Platform

This paper researches how to apply the advanced control technology of model predictive control （MPC） to the design of the dynamic positioning system （DPS） of a semi-submersible platform. First, a linear low-frequency motion model with three degrees of freedom was established in the context of a semi-submersible platform. Second, a model predictive controller was designed based on a model which took the constraints of the system into account. Third, simulation was carried out to demonstrate the feasibility of the controller. The results show that the model predictive controller has good performance and good at dealing with the constraints or the system.

Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.

Implementation of a new PC based controller for a PUMA robot

This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.

Controller design based on viscoelasticity dynamics model and experiment for flexible drive unit

In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.

Lateral Stability Improvement of Car-Trailer Systems Using Active Trailer Braking Control

An active trailer braking controller to improve the lateral stability of car-trailer systems is presented. The special and complex structures of these types of vehicles exhibit unique unstable motion behavior, such as the trailer swing, jack-knifing and rollover. These unstable motion modes may lead to fatal accidents. The effects of passive mechanical parameters on the stability of car-trailer systems have been thoroughly investigated. Some of the passive parameters, such as the center of gravity of the trailer, may be drastically varied during various operating conditions. Even for an optimal design of a car-trailer system, based on a specific passive parameter set, the lateral stability cannot be guaranteed. In order to improve the lateral stability of car-trailer systems, an active trailer braking controller is designed using the Linear Quadratic Regular （LQR） technique. To derive the controller, a vehicle model with 3 Degrees Of Freedom （DOF） is developed to represent the car-trailer system. A single lane-change maneuver has been simulated to examine the performance of the controller and the numerical results are compared with those of the baseline design. The benchmark investigation indicates that the optimal controller based on the LQR technique can effectively improve the high-speed lateral stability of the car-trailer system.

Design for Two-degree-of-freedom PID Regulator Based on Improved Generalized Extremal Optimization Algorithm

A kind of new design method for two-degree-of-freedom(2DOF)PID regulator was presented,in which,a new global search heuristic--improved generalized extremal optimization(GEO)algorithm is applied to the parameter optimization design of 2DOF PID regulator.The simulated results show that very good dynamic response performance of both command tracking and disturbance rejection characteristics can be achieved simultaneously.At the same time,the comparisons of simulation results with the improved GA,the basic GEO and the improved GEO were given.From the comparisons,it is shown that the improved GEO algorithm is competitive in performance with the GA and basic GEO and is an attractive tool to be used in the design of two-degree-of-freedom PID regulator.

Design of the PLC-based burner Control System

With consideration to the acid gas incinerator burned and the problems identified during its application, renovation program has been proposed. According to the new design, draught burners with automatic control system shall be used to eliminate problems encountered during application of original burner. In addition to implement automatic control of combustion processes, the new system may minimize labor intensity and enhance safety of facilities.

Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships

A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.

Design of Motion Controller Based on Touch Screen

Motion controller plays a dominant role in motion control system. With the progress and improvement of motion control technology, the research and application of open, high-performance, low-cost and universal embedded motion controller becomes the necessity of the market. The major objective of the paper is to establish the basic software and hardware platform of a high-performance, low-cost and universal embedded motion controller and study the application. And the paper proposes the idea of developing a low-cost and economic touchscreen motion controller, which provides valuable reference for the relevant research and development in China.

Attitude Stabilization of a Novel Flying Robot by Dynamic Compensation

This paper gives details about the controller design that aims to stabilize the novel twinrotor flying robot, Toruk. Toruk is an experimental test bench to study center of gravity steering, effect of the location of the center of gravity, controller design and implementation, etc. Physical components are also briefly discussed in this paper. Attitude dynamics of the system is inherently unstable. It is stabilized by a regulator. In addition, an observer is designed and utilized to estimate the unmeasured states. Thrust force generated by the propulsion unit is estimated by using the identified mathematical model of the unit. An experimental setup is employed to identify the mathematical model that expresses the relation between the applied input voltage to the propulsion unit and thrust produced by the propeller. Mathematical model for the attitude dynamics of Toruk is built. Then controllability and observability analysis are carried out for the system. Dynamic compensator composed of a state observer and a regulator, is designed on the mathematical model. Physical implementation on the system will be performed.

Design of Communication and Control System for Motor based on DSP

The article is designed hardware platform of TMS320F2812 primary control chip based on the motor drive controller outputs and input signal, the use of DSP technology, together with the corresponding peripheral driver circuit, a signal processing circuit and other processing module, the design and realize a piece of printed circuit board to achieve the required functionality. Systems software modules is implement hardware configuration and achieve control strategies in the DSP CCS compiler environment and using C and assembly language. Through CAN controller that comes with the DSP programming, achieved its CAN signal transmission and reception.

Design of fuzzy adaptive washout algorithm based on the novel tilt coordinate

Motion simulator usually appears the phenomenon of false cues and the workspace is limited in the process of washout. The proposed washout algorithm combines fuzzy logic control with the vestibular system to design the tilt coordination fuzzy adaptive filter, in order to minimize the vestibular sensory error below the human perception threshold. Owing to tilt coordination angular velocity limiter, the loss of low-pass acceleration must be compensated by the acceleration transform model. The translational channel decreases the possibility of the workspace beyond limitation and expands the scope of motion platform simulating input acceleration by using third-order filter. The simulation results show that the proposed algorithm can effectively overcome the phase retardation of classical washout algorithm, and then prevent the produce of false cues, decrease the displacement of motion platform simultaneously; in addition, white Gaussian noise simulates large variations in acceleration. The proposed washout algorithm can have maximal extreme value of acceleration and accurate simulating performance in general. It also proves that the proposed washout algorithm has a strong adaptability and reliability, which can effectively improve the dynamic fidelity for motion simulator.

Team-oriented programming for multiple mobile robots

This paper presnts a team-oriented programming method specially designed for multiple mobile robots. The team, which is a typical constitution structure in multi-robot system, forms after the user selects suitable robots, assigns their roles and sets related parameters. Team behavior module are introduced for the team-level behavior description and the temporal chain of these modules, realized by finite state automata, partitions the team tasks into discrete operating states and triggers. A graphical programming tool is designed for the team task description with visual diagrams. The real robots experiment of adaptive formation shows the system＇s usability and effectivity.

AUV Modeling and Motion Control Strategy Design

To provide a suitable model for AUV simulation and control purposes, a general nonlinear dynamic model including a novel thruster hydrodynamics model was derived. Based on the modeling method, the "AUV-XX" simulation platform was established to carry out fundamental tests on its motion characteristics, stability, and controllability. A motion control strategy consisting of both position and speed control in a horizontal plane was designed for different task assignments of underwater vehicles. Combined control of heave and pitch was adopted to compensate for the reduction of vertical tunnel thrusters when the vehicle is moving at a high speed. An improved S-surface controller based on the capacitor plate model was developed with flexible gain selections made possible by different forms of restricting the error and changing the rate of the error. Simulation results show that the derived general mathematical model together with simulation platform can provide a test bed for fundamental tests of motion control. Additionally, the capacitor plate model S-surface control shows a good performance in guiding the vehicle to achieve the desired position and speed with sufficient accuracy.

Coordinated Design of Thyristors Controlled Braking Resistors and Power System Stabilizer for Damping

This paper presents a new concept for damping electro-mechanical oscillations in large turbo generator. The proposed concept is based on coordination between Power System Stabilizer （PSS） and Thyristor Controlled Braking Resistor （TCBR）. This coordination will enhance the stability of the inertial and torsional oscillatory modes. The study is performed on system-I of the second IEEE benchmark for simulation of Sub-Synchronous Oscillations, using eigenvalue analysis and verified by detailed digital simulation. A dynamic fundamental frequency model for TCBR is developed. The pole placement technique is used to design the control system of TCBR and PSS. The shaft torque＇s following a disturbance is computed and analyzed. The obtained results indicate that substantial damping is achieved by the proposed coordination.

Intelligent Tracking Telescope Using Embedded Microcontrollers

This paper presents the design and implementation of the embedded microcontrollers within a telescope control system. The design objectives of the overall system are to automatically find light emitting objects at night within a user specified area, to track a light emitting object for a user specified time given the initial position of the object, and to allow the user access to these functions through a graphical user interface. The embedded system is used to provide a communication link between the graphical user interface and system hardware, to provide angle data processing for a dual axis accelerometer, to provide data processing for an electronic compass, and to provide pulse outputs for the step and direction inputs of three stepper motor drives. This paper will describe the design, implementation, and results of each of these objectives.