Aiming at the difficulty of setting the weight coefficient in the value function of model predictive torque control(MPTC)for permanent magnet synchronous motor(PMSM)driven by three-level inverter,a fine-division model...Aiming at the difficulty of setting the weight coefficient in the value function of model predictive torque control(MPTC)for permanent magnet synchronous motor(PMSM)driven by three-level inverter,a fine-division model predictive flux control(MPFC)method is proposed.First,establish a mathematical model between the motor torque and the stator flux linkage according to the mathematical equations of PMSM.Thus,the control of the motor torque and stator flux linkage in the MPTC is transformed into the control of a single stator flux linkage vector,omitting the cumbersome weight setting process in the traditional MPTC.The midpoint potential control strategy is proposed,which uses the characteristics of redundant small vectors to balance the midpoint potential.After that,a fine-division strategy is proposed,which effectively reduces the number of candidate vectors and the computational burden of the system.Finally,the proposed MPFC is compared with MPTC by simulation.The results show that the proposed fine-division MPFC effectively reduces the system calculation,and has the advantages of simple principle and better dynamic and steady-state control performance.The feasibility of the control strategy is verified.展开更多
Rotation sintering, also known as slush molding, is used to manufacture molded skins, such as dashboards or door interior panels for cars. At present, approximately 80% of such molded skins are manufactured using elec...Rotation sintering, also known as slush molding, is used to manufacture molded skins, such as dashboards or door interior panels for cars. At present, approximately 80% of such molded skins are manufactured using electroforms to achieve the complex free-form surfaces, and surface structures, such as leather graining that the industry demands. The manufacture of these electroforms is, however, time-consuming and expensive. This project aims to replace conventional electroforms with laser-drilled molds. Holes in tool molds should be drilled by using laser radiation as part of an automated process. The system consists of a robot with a fiber-laser beam source. A CAx （computer-aided x） process chain has been developed for this purpose in which the CAD （computer-aided design） data of the tool molds are processed, drill hole fields generated, and a machine-specific RC （robot control） program created. Process-specific fundamentals, such as suitable process windows and process control, have been devised to manufacture holes using fiber laser radiation The advantages of the new laser-drilled tool molds may result in substituting them for conventional electroforms, allowing old markets to be re-entered or additional markets to be created and targeted through new molds or lower costs.展开更多
A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC m...A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.展开更多
Transthyretin(TTR),a plasma protein with a tetramer structure,could form amyloid fibril associated with several human diseases through the dissociation of tetramer and the misfolding of monomer.These amyloidogenesis c...Transthyretin(TTR),a plasma protein with a tetramer structure,could form amyloid fibril associated with several human diseases through the dissociation of tetramer and the misfolding of monomer.These amyloidogenesis can be inhibited by small molecules which bind to the central channel of TTR.A number of small molecules like 2-arylbenzoxazoles(ABZ)analogues are proposed as promising therapeutic strategy to treat amyloidosis.In this work,comparative molecular field analysis(CoMFA)and comparative molecular similarity indices analysis(CoMSIA)three-dimensional quantitative structure-activity relationship(3D-QSAR)and docking studies were performed on series of 2-arylbenzoxazoles(ABZ)and linker-Y analogues to investigate the inhibitory activities of TTR amyloidogenesis at atomic level.Significant correlation coefficients for ABZ series(CoMFA,r2=0.877,q2=0.431;CoMSIA,r2=0.836,q2=0.447)and those for linker-Y series(CoMFA,r2=0.828,q2=0.522;CoMSIA,r2=0.800,q2=0.493)were obtained,and the generated models were validated using test sets.In addition,docking studies on 6 compounds binding to TTR were performed to analyze the forward or reverse binding mode and interactions between molecules and TTR.These results from 3D-QSAR and docking studies have great significance for designing novel TTR amyloidogenesis inhibitors in the future.展开更多
基金National Natural Science Foundation of China(No.51867012)。
文摘Aiming at the difficulty of setting the weight coefficient in the value function of model predictive torque control(MPTC)for permanent magnet synchronous motor(PMSM)driven by three-level inverter,a fine-division model predictive flux control(MPFC)method is proposed.First,establish a mathematical model between the motor torque and the stator flux linkage according to the mathematical equations of PMSM.Thus,the control of the motor torque and stator flux linkage in the MPTC is transformed into the control of a single stator flux linkage vector,omitting the cumbersome weight setting process in the traditional MPTC.The midpoint potential control strategy is proposed,which uses the characteristics of redundant small vectors to balance the midpoint potential.After that,a fine-division strategy is proposed,which effectively reduces the number of candidate vectors and the computational burden of the system.Finally,the proposed MPFC is compared with MPTC by simulation.The results show that the proposed fine-division MPFC effectively reduces the system calculation,and has the advantages of simple principle and better dynamic and steady-state control performance.The feasibility of the control strategy is verified.
文摘Rotation sintering, also known as slush molding, is used to manufacture molded skins, such as dashboards or door interior panels for cars. At present, approximately 80% of such molded skins are manufactured using electroforms to achieve the complex free-form surfaces, and surface structures, such as leather graining that the industry demands. The manufacture of these electroforms is, however, time-consuming and expensive. This project aims to replace conventional electroforms with laser-drilled molds. Holes in tool molds should be drilled by using laser radiation as part of an automated process. The system consists of a robot with a fiber-laser beam source. A CAx （computer-aided x） process chain has been developed for this purpose in which the CAD （computer-aided design） data of the tool molds are processed, drill hole fields generated, and a machine-specific RC （robot control） program created. Process-specific fundamentals, such as suitable process windows and process control, have been devised to manufacture holes using fiber laser radiation The advantages of the new laser-drilled tool molds may result in substituting them for conventional electroforms, allowing old markets to be re-entered or additional markets to be created and targeted through new molds or lower costs.
基金Supported by the National 863 Scheme of China No.863-512-03-02
文摘A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.
基金supported by the National Natural Science Foundation of China(21072018)the Fundamental Research Funds for the Central Universities(ZY1213)the Foundation of State Key Laboratory of Natural and Biomimetic Drugs(K20120202)
文摘Transthyretin(TTR),a plasma protein with a tetramer structure,could form amyloid fibril associated with several human diseases through the dissociation of tetramer and the misfolding of monomer.These amyloidogenesis can be inhibited by small molecules which bind to the central channel of TTR.A number of small molecules like 2-arylbenzoxazoles(ABZ)analogues are proposed as promising therapeutic strategy to treat amyloidosis.In this work,comparative molecular field analysis(CoMFA)and comparative molecular similarity indices analysis(CoMSIA)three-dimensional quantitative structure-activity relationship(3D-QSAR)and docking studies were performed on series of 2-arylbenzoxazoles(ABZ)and linker-Y analogues to investigate the inhibitory activities of TTR amyloidogenesis at atomic level.Significant correlation coefficients for ABZ series(CoMFA,r2=0.877,q2=0.431;CoMSIA,r2=0.836,q2=0.447)and those for linker-Y series(CoMFA,r2=0.828,q2=0.522;CoMSIA,r2=0.800,q2=0.493)were obtained,and the generated models were validated using test sets.In addition,docking studies on 6 compounds binding to TTR were performed to analyze the forward or reverse binding mode and interactions between molecules and TTR.These results from 3D-QSAR and docking studies have great significance for designing novel TTR amyloidogenesis inhibitors in the future.
