44台燃气发电机组并联运行的电站技术应用经验分享

这是一个正在安全运行的真实案例,44台燃气发电机组并联运行。本电站应用目前最先进的多机分级并联控制技术、can通讯技术和微电脑集中控制等诸多新技术,这是国产并联核心器件首次用在大型电站上,数量之多、规模之大、都创造了国产控制系统的先河,此系统在恶劣的沙漠地区稳定可靠的连续运行,具有里程碑式的意义,可供同行借鉴。此系统的核心采用众智科技的HGM9510、HGM9580控制器,因为控制器技术先进、功能完善、高度集成、可靠稳定,整个控制系统简洁明了、可靠性高、可维护性好、可根据实际发电需求无限扩展,可以广泛应用于分布式商用电站,比如油田钻井平台、天然气压缩泵站、大型群众集会保电、突发应急救灾发电。

Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.

Hybrid position/force control strategy and experiment of the six-cable driven parallel manipulator for the forty-meter aperture radio telescope

This paper mainly analyzes a hybrid position/force control strategy and experiment of a six-cable driven parallel manipulator for a forty-meter aperture radio telescope. Through the establishments of a kinematic model, a catenary model and a cable-force characteristics model, a basic method is presented based on preventing the pseudo-drag problem of a flexible cable and realizing the hybrid position/force control for a six-cable driven parallel manipulator, and a hybrid position/force control system is developed. Some specific experiments in two typical velocities for astronomical observations are carried out. Experimental results show that the tracking accuracy is related to the speed of the movement. The desired tracking accuracy of the support system is achieved through an effective hybrid position/force control strategy, the cable forces are controlled effectively, and the pseudo-drag problem of flexible cable is solved. This study establishes the foundation of achieving the harmonious movement of the six-cable driven parallel manipulator, A-B rotating platform and the Stewart fine tuninz olatform.

Modeling and motion control simulation of tendon based parallel manipulator translation mechanism for sensor based high value waste processing

A novel sorting system based on one degree of freedom (DOF) tendon based parallel manipulator (TBPM) for high value waste processing was presented and designed. In order to control the motion of loads, nonlinear state feed forward control algorithm in the tendon length coordinate was used. Considering the system redundancy and actuation behavior, algorithms of optimal tension distribution and forward kinematics were designed. Then, the simulation experiments of motion control were implemented. The results demonstrate that the proposed TBPM translation system performs robust capacities. It can transfer the loads 1 m away within 1.5 s. With further optimization, the translation duration can be further reduced to be about 1 s and the optimized translation is followed with 43.59 m/s2 maximum acceleration. The translation errors at the aim position remain below 0.4 mm.

The Design of a Motion Control System for a Parallel Robot with Image Positioning

A motion control system for a parallel robot with image positioning was implemented in this paper. The system is composed of a machine vision device, a delta robot and a linear stage, and the concerned hardware, software and working methods were developed completely and verified successfully. During the phase of machine vision, the image of object was captured by camera, and then the process of smoothing filter, threshold algorithm and edge detection, was applied so as to obtain the edges of image. Finally, DV-GHT （Displacement Vector Generalized Hough Transformation） algorithm was used to recognize the center of multiple and arbitrary 2-D shapes objects. After the center of objects was recognized, the objects were delivered to the workspace of a delta robot by a motorized stage. Through the coordinate transformation between the camera and the robot system, the information of center can be converted to control commands for every working motors. Following, the delta robot picks up objects to the specified position sequentially by the trajectory planning and tracking controls. The software of C＋＋/CLI is used to achieve the phase of motion controls and the program of DV-GHT is used to detect and conduct the positions for four different characteristics of the objects simultaneously so as to indicate the delta robot to classify the objects successfully.