工控器技术在TSZ-5泥枪震源上的应用

TSZ-5泥枪震源作为滩浅海油气勘探的新型装备,是地震采集的激发源设备,它主要由驾驶室、动力单元、空压机、泥枪随钻钻机、推进器等组成。本文主要介绍了工控器功能及对泥枪随钻钻机、空压机的控制过程。

基于工控机控制的油压机改造设计

针对机车检修行业中产品批量小自动化成度低,整流装置硅元件压装效率低、压装力矩难以精确控制、压装时压力不均衡、压装数据管理复杂等问题,结合整流元件现场调研实际情况,将现有的MJTY(MSY)型油压机进行自动压装改造。本系统采用了工控技术,主要由工控机控制模块、液压进给驱动模块、电气驱动及控制模块,数据采集模块,通过软件对硅元件压装进行自动压装控制,有效提升压装效率、压装质量及数据参数管理。

An adaptive switching control approach for trajectory tracking of robotic manipulators

In order to design a suitable controller which can achieve accurate trajectory tracking and a good control performance, and guarantee the stability and robustness of a robot system due to external disturbances error and internal parameter variations, an adaptive switching control strategy is proposed. The proposed scheme is designed under the condition of bounded distances and consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theory, it is proved that the proposed scheme can guarantee the tracking performance of the robotic manipulator and is adapted to varying unknown loads. Simulations are carded out on a two-link robotic manipulator, which illustrate the feasibility and validity of the proposed control scheme and the robustness for variational payloads.

A 10GHz LC Voltage-Controlled Oscillator in 0.25μm CMOS

A monolithic 10GHz LC voltage-controlled oscillator （VCO） is implemented in standard 0.25μm CMOS technology. The VCO adopts an optimized symmetric circular inductor with center-tap, an accumulation-mode MOS （A-MOS） varactor in series with a passive metal-isolator-metal capacitor （MIM-CAP） and a tail current source with an LC filter to operate with high-frequency and low-noise resulting in - 103.2dBc/Hz at 1MHz offset from carrier frequency of 10.2GHz and approximately 11.5% tuning range. With a 3.3V supply voltage, the core circuit consumes 9.9mW. The chip area is 0.67mm × 0.58mm.

热电厂除灰系统的改造设计

1．引言 除灰系统是热电厂辅助设备控制系统的重要组成部分。由于现在人们对生活环境要求的提高对对环保的重视，使得除灰控制系统越来越受到关注和重视，促进使其除灰效果和自动化水平得到较大提高。除灰控制系统的任务是及时、高效、清洁的将静电除尘器中的灰送出至灰场。这里我以我们热电厂为例，介绍PLC工控器在控制的作用。

Improvement of machining quality of copper-plated roll mold by controlling temperature variation

Micro prism film used in LCD industry can be manufactured by roll to roll method with copper-plated roll mold. As copper-plated roll mold is getting larger, pitch error is getting severer. The pitch error drops the quality of micro prism film. The main cause of the pitch error was investigated during machining large roll mold whose machined length was 1 200 mm. The temperature of machining system was elevated during machining roll mold, and this elevation induced thermal expansion of the system. The temperature variation around the roll mold also made thermal expansion of the roll mold. The amount of thermal expansion had strong relationship to the amount of pitch error. Therefore, the roll mold was machined after warming-up of machining system and precise temperature controller around copper-plated roll mold was installed, which minimized the temperature variation. Finally, precise micro prism patterns without pitch error were machined on the large roll mold.

A nonlinear model reference adaptive inverse control algorithm with pre-compensator

In this paper, the reduced-order modeling （ROM） technology and its corresponding linear theory are expanded from the linear dynamic system to the nonlinear one, and H∞ control theory is employed in the frequency domain to design some nonlinear system＇ s pre-compensator in some special way. The adaptive model inverse control （AMIC）theory coping with nonlinear system is improved as well. Such is the model reference adaptive inverse control with pre-compensator （PCMRAIC）. The aim of that algorithm is to construct a strategy of control as a whole. As a practical example of the application, the nunlerical simulation has been given on matlab software packages. The numerical result is given. The proposed strategy realizes the linearization control of nonlinear dynamic system. And it carries out a good performance to deal with the nonlinear system.

Market based framework for multiple AUVs cooperation

A“Market” based framework for multiple AUVs team is introduced in this paper.It is a distributed meta-level task allocation framwork. The formulation and the basic concepts of the “Market” such as “goods” and “price” are discussed first, then the basic algorithm of the “auction”. The loosely coupled v-MDTSP tasks are considered as an example of the task allocation mission. A multiple AUV team controller and a detailed algorithm are developed for such applications. The simulation results show that the controller has the advantages such as robustness and low complexity and it can achieve better optimization results than the classical central controller (such as GA) in some tasks. And the comparison of two different local solvers also implies that we should get the reasonable task allocation even not using the high quality algorithm, which can considerably decrease the cooperation computation.

Soft sensor modeling based on Gaussian processes

In order to meet the demand of online optimal running, a novel soft sensor modeling approach based on Gaussian processes was proposed. The approach is moderately simple to implement and use without loss of performance. It is trained by optimizing the hyperparameters using the scaled conjugate gradient algorithm with the squared exponential covariance function employed. Experimental simulations show that the soft sensor modeling approach has the advantage via a real-world example in a refinery. Meanwhile, the method opens new possibilities for application of kernel methods to potential fields.

The Modeling Strategies for Open Software Architecture of Robot Controller

Although the modeling technologies for open robot controllers have been discussed widely, not much literature is devoted to the actual general modeling principles and strategies. The reason is that many researches focus on specific application fields. This paper accommodates for this lacuna and provides some general modeling principles and strategies. At last, the actual new modeling method Hierarchical Object Oriented Petri net (HOONet) which has been proved to be an effective modeling methodology, is used to illustrate the modeling strategies.

Modeling and controlling of a flexible hydraulic manipulator

A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the nonlinear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy.

Learning control of nonhonolomic robot based on support vector machine

A learning controller of nonhonolomic robot in real-time based on support vector machine(SVM)is presented.The controller includes two parts:one is kinematic controller based on nonlinear law,and the other is dynamic controller based on SVM.The kinematic controller is aimed to provide desired velocity which can make the steering system stable.The dynamic controller is aimed to transform the desired velocity to control torque.The parameters of the dynamic system of the robot are estimated through SVM learning algorithm according to the training data of sliding windows in real time.The proposed controller can adapt to the changes in the robot model and uncertainties in the environment.Compared with artificial neural network(ANN)controller,SVM controller can converge to the reference trajectory more quickly and the tracking error is smaller.The simulation results verify the effectiveness of the method proposed.

Dynamic Velocity Feed-Forward Compensation Control with RBF-NN System Identification for Industrial Robots

A dynamic velocity feed-forward compensation （RBF-NN） dynamic model identification was presented for control （DVFCC） approach with RBF neural network the adaptive trajectory tracking of industrial robots. The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model. The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accu- racy. The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can con- vert torque signal into velocity in the standard industrial controller. Then, the need for a torque control interface was avoided in the real-time dynamic control of industrial robot. The simulations and experiments were carried out on a gas cutting manipulator. The results show that the proposed control approach can reduce steady-state error, suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space, especially under high- speed condition.

CAx Process Chain for Automated Laser Drilling of Tool Molds

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.

Design of Industrial Robotic Controller Based on DSP

This paper describes the design of industrial robot controller based on the DSP technology. Robotic real time control is realized by PC and DSP motion control card and this method improves the performance of robotic controller. Finally this paper gives some experiment results and conclusion.

Application of foam technology for dust control in underground coal mine

In order to effectively control the dust in the underground coal mine,this study proposes and develops a new technology for dust control by foam,and briefly demonstrates the advantage of the foam technology for dust control,such as the good isolation performance,large contact area,high wetting ability,strong adhesion and so on.Besides,the details of the technology are introduced,including the foam agent,foam generator,and foam production process.Then the paper studies the relationship between the foaming agent concentration and liquid surface tension,and explains the principle of the foam generator.The technology is applied in heading face.The application results show that the foam has a remarkable effect on dust control in underground coal mines.

Design and Simulation of Single Neuron Adaptive PID Controller

The purpose of this paper is to design a neuron adaptive PID controller based on the theory of intelligent control of the extens- ive research on the characteristics of neuronss, neurons and PID controller. Artificial neurons have the adaptive, parallel processing, selflearning learning, and mare fault-tolerant characteristics. When the artificial neurons are used to control the process, the syste^n will enabled to en-sure that the accused has strong anti-interference capability and ro. bustness.

ANN Based Performance Analysis of UPFC in Power Flow Control

The Unified Power Flow Controller （UPFC） is one of the most versatile Flexible AC Transmission Systems （FACTS） devices that has unique capability of independently controlling the real and reactive power flows, in addition to regulate the system bus voltage. This paper presents performance analysis of Unified Power Flow Controller based on two axis theory. Based on this analysis, a new Artificial Neural Network （ANN） based controller has been proposed to improve the system performance. The controller rules are structured depending upon the relationship between series inserted voltage and the desired changes in real/reactive power flow in the power system. The effects of different controllers along with parameters of series transformer and transmission line have been investigated through developed control block model in SIMULINK tool box of MATLAB. The effectiveness of the proposed scheme is demonstrated by case studies.

Development of an Emulator for the Plasma Process Control

This work aims at developing an automatic system for the control of the APS （air plasma spraying） plasma process in which some instability phenomena are present. APS is a versatile technique to produce coatings of powder material at high deposition rates. Using this technique, powder particles are injected into a plasma jet, where they are melted and accelerated towards a substrate. The coating microstructures and properties depend strongly on the characteristics of the plasma jet, which can be controlled by the adjustment of the process parameters. However, the imeractions among the spray variables, render optimization and control of this process are quite complex. Understanding relationships between coating properties and process parameters is mandatory to optimize the process technique and the product quality. We are interested in this work to build an on-line control model for the APS process based on the elements of artificial intelligence and to build an emulator that replicates the dynamic behavior of the process as closely as possible.

Commissioning Status of NSLS-II Vacuum Control System

The NSLS-II （National Synchrotron Light Source II） is a state-of-the-art 3 GeV third generation light source currently under integrated testing and commissioning at Brook_haven National Laboratory. The vacuum systems are monitored by vacuum gauges and ion pump current. The gate valves are controlled by PLC （programmable logic controllers） using voting scheme. EPICS （Experimental Physics and Industrial Control System） application codes provide the high level monitoring and control through the input-output controllers. This paper will discuss the commissioning status of the various aspects of vacuum control system.