自平衡人形机器人动作控制器的设计

为了解决自平衡人形机器人多关节协调控制问题,提高系统控制品质,借鉴计算机系统结构中的分层结构体系思想,提出了一种新的自平衡人形机器人动作控制器的实现方法,并根据该动作控制器设计出了一种相应的控制方法,可帮助机器人系统较好地实现任务的自组织分配,使机器人的平衡控制达到了很好的效果。

PDM电力仪表在智能建筑中的应用

阐述智能建筑和智能仪表技术的特点,探讨智能电力仪表在智能建筑中的应用,包括OPC集成整体计划、线性马达的传动技术、计算机控制系统、动作控制器插件的应用。

Piezoelectric Vibration Control in Wind Tunnel Tests

In wind tunnel tests,long cantilever stings are usually used to support aerodynamic models.However,this kind of sting support system is prone to vibration problems due to its low damping,which limits the test envelope and affects the data quality.It is shown in many studies that the sting vibration can be effectively reduced by using active sting dampers based on piezoelectric actuators.This paper attempts to review the research progress of piezoelectric vibration control in wind tunnel tests,covering the design of active sting dampers,control methods and wind tunnel applications.First of all,different design schemes of active sting dampers are briefly introduced,along with the vibration damping principle.Then,a comprehensive review of the control methods for active sting dampers is presented,ranging from classic control methods,like PID control algorithm,to various intelligent control methods.Furthermore,the applications of active sting dampers and controllers in different wind tunnels are summarized to evaluate their vibration damping effect.Finally,the remaining problems that need to be solved in the future development of piezoelectric vibration control in wind tunnel tests are discussed.

Iterative Learning Model Predictive Control for a Class of Continuous/Batch Processes

An iterative learning model predictive control （ILMPC） technique is applied to a class of continuous/batch processes. Such processes are characterized by the operations of batch processes generating periodic strong disturbances to the continuous processes and traditional regulatory controllers are unable to eliminate these periodic disturbances. ILMPC integrates the feature of iterative learning control （ILC） handling repetitive signal and the flexibility of model predictive control （MPC）. By on-line monitoring the operation status of batch processes, an event-driven iterative learning algorithm for batch repetitive disturbances is initiated and the soft constraints are adjusted timely as the feasible region is away from the desired operating zone. The results of an industrial application show that the proposed ILMPC method is effective for a class of continuous/batch processes.

Motion Capture for Puppet Control Using Integrated Sensor System

The paper aims to execute puppet without restrictions by controling puppet using robot. We controling puppet in the same way as the present puppet, but we perform this by robot. It offers more advantages and lessen the weak points. It needs various actions and expressions because of the nature of a puppet. The biggest problem which executes this is the ways to create a system. This thesis proposes motion capture of developed method with solution of this problem. So, we create various contents needed by puppet. In this part, developed method means a mixed method on the basis of optical system and magnetic system used mainly for the present method of motion capture. We lessen the weak points of each method and propoe solution of create motion for pupct by offering more advantages. So we solve difficulties of executing puppet and probable probkans when we execute puppet by using robot. The solution of this thesis is proven by applying control of puppet.

Research and Design of Coordinated Control Strategy for Smart Electromechanical Actuator System

In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.

Study on the all position automatic pipeline backing weld machine

As a result of the lower backing weld efficiency, the applying of automatic welding is seriously limited. So a kind of special automatic welder is designed and manufactured for backing weld. This paper introduces the character of the assembled pulse CO2 arc welding machine which has strong penetrability. It specifies the technology of controlling the parameters of all position automatic welding by computer and multi-axis controller. Moreover typical welding procedure parameters are provided. It is proved by examination that the economical and practical equipment and technology are suitable for the long-distance transmission pipeline, and it has a good foreground of spreading and applying.

Research on control technology of elderly-assistant & walking-assistant robot based on tactile-slip sensation

In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is investigated to control the elderly-assistant & walking-assistant robot. First,on the basis of the proposed driving control system program of tactile and slip,a detection system of tactile and slip senses are designed. Based on the tactile and slip feature representation and extraction,an improved classification and recognition method is proposed which combines K-nearest neighbor (KNN) algorithm and K-means algorithm. And then,a robot control system based on TMS320F2812 is designed in this paper,including its hardware and software design. Then,a moving control method including the fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last,by the experimental verification in the walking-assistant robot,the research results show that the tactile and slip senses detection and recognition method is effective,and the whole control system has good feasibility and adaptability.

Automatic Correcting Control Method of RMG Based on Changeable Transducer Connection Form

By analyzing causes, damages and popular solutions for gnawing rail phenomenon of Rail-Mounted Gantry （shorted for RMG）, this article puts forward a kind of automatic correcting control system, the system can change between two transducer connection forms, and as a result, can prevent or decrease gnawing rail problem to a great extent. We present principles of correcting obliquity, sideward displacement of gantry frame and principles of malfunction diagnosis and some important schematic diagrams. The most significant feature of our system is that we can change transducers＇ connection form to respective or cross driving mode according to the extent of obliquity and sideward displacement of gantry frame, which make full use of both modes＇ advantages. As a result, the system not only can minish gnawing rail phenomenon, diagnose causes of gnawing rail and give an corresponding alarm, but also, in cross connection driving mode, has an unique capacity of preventing gnawing rail phenomenon utilizing its own characteristics under cross connection mode and gantry frame＇s rigidity.