一种微型仿昆扑翼飞行器扑翼操控机制

提出了一种扑翼操控机制,用于解决微型仿昆扑翼飞行器悬停飞行的飞行动力问题。通过对扑翼运动参数对气动力及空气动力矩的作用进行理论和仿真分析,设计了一种采用可变幅值的周期函数调节扑翼运动的扑打角和旋转角变化的方法,实现对气动力和气动力矩进行独立控制的操控机制。仿真结果验证了此操控机制可以较好地解决仅一对翼的仿昆扑翼飞行器飞行动力问题。

MATHEMATICAL MODEL OF SELF-REPAIRING FLIGHT CONTROL

The most prospective method for certain structural failures and damages that cannot employ redundancy is self-repairing techniques, to ensure especially the maximum flight safety. Based on the characters of self-repairing aircraft, this paper states some basic assumptions of the self-repairing aircraft, and puts forward some special new conceptions concerning the self-repairing aircraft: control input, operating input, command input, repair input and operating and control factor as well as their relationships. Thus it provides a simple and reliable mathematical model structure for the research on the self-repairing control of the aircraft.

Impedance force control for position controlled robotic manipulators under the constraint of unknown environments

A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.

FUZZY ADAPTIVE CONTROL OF FLEXIBLE-LINK ROBOT MANIPULATOR

A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance.

Path tracking control of autonomous agricultural mobile robots

In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.

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.

The Implementation of Decision Support System for Realizing Effective Usability of CNC Operator Knowledge Capturing System

This article describes experimental evaluations of the authors＇ previous studies on the knowledge-based system （KBS） aimed at capturing and managing CNC （Computer Numerical Control） operator knowledge. The proposed KBS follow thinking steps of CNC operators when they assess machining parameters described in the CAM （Computer Aided Manufacturing） file before proceeding to CNC machining processes. Also, the decision support system equipped with expert system （ES） has been proposed to realize efficient knowledge capturing system and effective usability of captured knowledge, and to recommend actions and decisions. From the viewpoint of providing useful information, the KBS should be aware of context or constraints in which the user has to deal with. In this study, the usefulness of DSS （Decision Support System） and ES is experimentally evaluated using real cases. Comparing the results of the testing participants with and without the DSS and ES, the effectiveness and usefulness were demonstrated. In addition, it was shown that the proposed system is also useful to narrow the discrepancies between CAM and CNC operators, focusing on CNC milling operations.

Vibration Analysis and Direct Control of XY Table Automated Assembly Machines

XY table automated assembly machines ensure time saving and quality improving in the electronics industry. Recently, due to the need of higher operation speeds and lighter machines in PCB （Printed Circuit Board） assembly, a challenging problem has arisen which is the table positioning vibration. The high speed with the machine flexibility, make the positioning vibration inevitable although the inner control. The positioning vibration is to be reduced otherwise the machine becomes useless. Firstly, the machine is modeled, the positioning vibration is formulated, and then analyzed. Secondly, using the analysis, three direct control methods are identified to decrease the positioning vibration, they are based on the kinematics, dynamics, and operation of the machine. Thirdly, the methods are examined numerically to evaluate their efficiency. Lastly, the identified methods are discussed to conclude on their application. The results are a real contribution in the vibration control of XY table automated assembly machines, which is classified as industrial knowhow.

Study of a Single-Phase Series Active Power Filter with Hysteresis Control

The paper presents results from a study of a series-connected single-phase APF （active power filter） with a control system based on hysteresis control, both with and without limitation of the maximum switching frequency. The general purpose of the series APF is to eliminate the low order harmonics of the source （grid） voltage. The filter operation at limited and unlimited maximum switching frequency is explained and it is described using building blocks and time diagrams illustrating the tracking down of the reference curve. Waveforms from the computer simulation and waveforms from the experimental tests of the filter are presented also for the two situations. Operations at limited and unlimited maximum switching frequency are compared regarding the quality of the voltage across the load, the complexity of the implementation of the control system, and the electromagnetic compatibility. The investigation proved capability of the series APF to achieve its general purpose using the hysteresis control methods studied （limited and unlimited switching frequency）.