基于SOPC技术的嵌入式数控运动控制器的研究

围绕满足新一代数控系统各种性能要求的目标,文章首先探讨了SOPC技术应用于数控控制领域的发展前景和优势,然后采用了集成有ARM核的FPGA处理芯片,提出了一种基于SOPC技术的嵌入式数控运动控制器的研究方案。初步研究表明,这种方案能很大程度的解决现有数控系统诸如系统开放性、实时性、可剪裁性和重构性差等缺点。

基于SOPC技术嵌入式数控运动控制器研究

围绕满足新一代数控系统各种性能要求的目标,文章首先探讨了SOPC技术应用于数控控制领域的发展前景和优势,然后采用了集成有ARM核的FPGA处理芯片,提出了一种基于SOPC技术的嵌入式数控运动控制器的研究方案。初步研究表明,这种方案能很大程度的解决现有数控系统诸如系统开放性、实时性、可剪裁性和重构性差等缺点。

基于PLC的数控钻床控制器设计与研究

随着智能制造技术和社会经济的不断发展,人们对数控钻床的加工精度提出了更高的要求,实现对加工系统的自动化控制,对于提高加工效率具有重要意义。根据钻床加工需求,利用PLC技术对传统钻床的加工方式进行了改进,设计了一种数控钻床控制器。实践证明,该控制器在保证工件加工精度的同时,大大降低了企业加工成本,具有较强的实用性。

STEP-NC控制器及其刀轨规划方法研究

为实现产品模型数据交换标准—数控程序在传统数控机床上的应用,提出了产品模型数据交换标准—数控程序的刀轨规划方法。首先,概述了产品模型数据交换标准—数控程序控制器的类型及其3大核心功能模块,分析和研究了刀轨规划过程中坐标系转换问题,给出了利用产品模型数据交换标准—数控程序实体索引映射表规划加工特征刀轨的方法和步骤,着重分析了平面和型腔两个加工特征的加工策略,并基于上述方法给出了具体的规划方法流程图。最后,结合一个基于平面、孔和型腔3个加工特征的产品模型数据交换标准—数控程序实例,将所规划出的G代码程序在配备开放式数控系统HITCNC的3轴数控铣床上进行实际加工,实验结果证明,该刀轨规划方法是正确可行的,并具有一定的通用性。

不断突破创新 打破欧英垄断——中达电通隆重推出H4B折床专用控制系统

前不久，中达电通隆重推出了H4B折剪机床专用数控控制器。这款经过中达技术人员近半年精心筹备研发成功的新机器，打破了欧美对该行业的垄断，填补了国产角度输入折弯控制系统的空白。

基于PLCopen数控机械控制器的设计及实现

随着时代的发展,数控机械控制器的应用数量和应用范围越来越大,为了更好地促进技术的提升,文章通过下文对基于PLCopen数控机械控制器的设计及实现的相关内容进行了分析与阐述,进而为有关单位及工作人员提供一定的借鉴作用。

面向分布网络化制造环境的科研与创新教学综合实验平台

以固高公司的柔性自动化生产系统和相关机电产品,构建了面向分布可重构控制的科研与教学实验平台,分析了该平台所支持的单台制造设备控制器、由PLC和CNC组成的制造设备控制器网络、智能可重构机制等,说明了基于所构建平台及科研支撑下的研究型创新实践教学的设计与实施。

Advanced Irrigation Engineering： Precision and Precise

Irrigation advances in precision irrigation （PI） or site specific irrigation （SSI） have been considerable in research; however, commercialization lags. SSI/PI has applications when soil texture variability affects soil water holding capacity or when crop yield or biotic stresses （insects or diseases） are spatially variable. SSI/PI uses variable rate application technologies, mainly with center-pivots or lateral-move or linear irrigation machines, to match crop needs or soil water holding constraints. Variable rate applications are achieved by variable nozzle flow rates, pulsing nozzle flows, or multiple nozzles on separate submains. Newer center pivot and linear machines are controlled by on-board microprocessor systems that can be integrated with supervisory control and data acquisition controllers for both communication and control of the variable rate application for specific sets of nozzles or individual nozzles for management zones. Communication for center pivot or linear controllers typically uses radio telemetry, wireless interact links, or cellular telephones. Precision irrigation has limited utility without precise irrigation scheduling （temporally and spatially）. Plant or soil sensors are used to initiate or complete an irrigation event. Automated weather stations provide site information for determining the irrigation requirement using crop models or simpler reference evapotranspiration （ET）, data to be used with crop coefficients. Remote sensing is being used to measure crop water status or crop development from spectral reflectance. Near-surface remote sensing with sensors mounted on moving irrigation systems provide critical spatial integration from point weather networks and feedback on crop ET and irrigation controls in advanced automated systems for SSI/PI.

Hopf Bifurcation Control of a Hyperchaotic Circuit System

This paper is concerned with the Hopf bifurcation control of a new hyperchaotic circuit system. The stability of the hyperchaotie circuit system depends on a selected control parameter is studied, and the critical value of the system parameter at which Hopf bifurcation occurs is investigated. Theoretical analysis give the stability of the Hopf bifurcation. In particular, washout filter aided feedback controllers are designed for delaying the bifurcation point and ensuring the stability of the bifurcated limit cycles. An important feature of the control laws is that they do not result in any change in the set of equilibria. Computer simulation results are presented to confirm the analytical predictions.

Controlled Teleportation of Multi-qudit Quantum Information by Entanglement Swapping

In this paper, we present a scheme for teleporting multi-qudit quantum state, from the sender Alice to the receiver Charlie via many controllers Bobs, whose control parameters are obtained using entanglement swapping of maximally d-dimensional EPR pair. In our scheme, Yang＇s qutrit controlled teleportation protocol [Commun. Theor. Phys. 49 （2008） 338] based on Bell-state entanglement swapping is generalized to the qudit case. The scheme of multi-qudit owns the advantage of having higher code capacity and better security than that of multi-qutrit.

Embedded integrated servo-controllers for intelligent modular actuators

This paper focuses on the development of an embedded integrated servo-controller （EISC） for servomotors. Comprising of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complieated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator （IMA） that is essential to modern manufacturing industries. The development of such an EISC involves two major tasks： first, designing the hardware of a compact-sized and highly compatible EISC, and second, developing the software functions to facilitate its functionalities and capahilities. The developed EISC hence forms an integrated-servo-eontrol module, which determines the capability, functionality, flexibility and responsiveness of these IMAs.

Optimization of block-floating-point realizations for digital controllers with finite-word-length considerations

The closed-loop stability issue of finite-precision realizations was investigated for digital control-lers implemented in block-floating-point format. The controller coefficient perturbation was analyzed resultingfrom using finite word length (FWL) block-floating-point representation scheme. A block-floating-point FWL closed-loop stability measure was derived which considers both the dynamic range and precision. To facilitate the design of optimal finite-precision controller realizations, a computationally tractable block-floating-point FWL closed-loop stability measure was then introduced and the method of computing the value of this measure for a given controller realization was developed. The optimal controller realization is defined as the solution that maximizes the corresponding measure, and a numerical optimization approach was adopted to solve the resulting optimal realization problem. A numerical example was used to illustrate the design procedure and to compare the optimal controller realization with the initial realization.

Modeling of Welding Process by Robotic Vision

Modeling of welding process by robotic vision is basically a theoretical problem, means mainly on physical problem, and also technological problem. To obtain a good model of welding process by robotic vision, theoretical researches are required but also constant experimental researches of several welding processes. Until today researches of welding processes has been based on empirical and detailed experimentation. This paper presents welding process by robotic and automation points of view with application of new technologies. Welding robotic system has been designed with possibility to control and inspect this process. Parameters that should be controlled during the process have been identified to reach desired quality. Figure of control system of welding process by robotic vision is given in this paper.

Optimal non-fragile controller realization algorithm and application to control problems

To reduce the fragility encountered in controller implementation, which is a measure of extent to describe small perturbations in controller parameters caused by rounding-off errors or component tolerances, and keep the system stability and performance, approaches of weighted eigenvalue sensitivity and stability radii comparison were used for computation and reduction of controller fragility. An algorithm has been derived for the efficient reduction of controller fragility, which used eigenstructure decomposition to obtain the suboptimal solution. The algorithm was tested for different control problems through reducing their fragility by a large margin. Different canonical forms were analyzed for fragility, including controllable canonical form, observable canonical form, modal canonical form, balanced realization and optimal (non-fragile) form. Different realizations were implemented through C language Matlab EXecutable (CMEX) S-function discrete state space block. Double precision calculations were performed. Open and closed loop controller realizations were compared with simulink state space (optimal) block. Results of comparison indicate that the optimal non-fragile controller realization shows better results both in open loop and closed loop realization.

Digitally Controlled Boost PFC Converters Operating with Large Scale Load Fluctuations

When boost power factor correction(PFC) circuit works with large scale load fluctuations, it is easy to cause a higher total harmonic distortion and a lower power factor because of traditional controllers and inductor current mode. To solve this problem, this paper proposes a PFC control system, which can operate with load fluctuations up to 1 000 W by using duty cycle feed-forward control theory to achieve smooth switching mode. The duty cycles in the next period of the control system are pre-estimated in the current cycle, which enhances the speeds of AD samplers and switching frequency, and reduces the cost and volume of the equipment to some extent. Introductions of system decoupling and feed-forward of input-voltage greatly improve the system performance. Both theoretical simulation and experimental results prove the advantage of the proposed scheme.

Fuzzy Sliding Mode Control for a Discrete Servo System

A discrete fuzzy sliding mode variable structure controller was studied and designed for a class of electro-hydraulic servo system by means of the combination of sliding mode control theory and fuzzy control theory. Designed based on the exponential reaching law, paratmter e of conventional sliding mode controller is the key factor of system chattering, and is ~onal to it as well. In view of this, fuzzy control theory was introduced into the design to ensure the real- time adjusting of parameter e. Sinmlation results show that the sys tem chattering is eliminated perfectly, and the dynamic performance of the control system is improved effectively.

Robust Adaptive Control of PVTOL System via Minimum Projection Method

＂Dynamic extension＂ is commonly used for stabilization of the planar vertical take off and landing （PVTOL） system. Most controllers designed by the method are based on ＂dynamic＂ control Lyapunov functions （CLFs）. We design a C^∞ differentiable ＂static＂ CLF for the PVTOL system by dynamic extension and minimum projection method. Then we propose an inverse optimal controller based on the static CLF that attains a gain margin. We design an adaptive control input and show the robustness of the controller by computer simulation.

DSP ＆ FPGA-based control architecture for a highly integrated robot hand with enhanced impedance performance

A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.

Optimal Control for an Uncertain Parameters, Second Order Plant with the Use of Discrete Controller

In the paper the proposition of a discrete, robust, minimal energetic P servo controller for second order plant is presented. The plant under consideration is described with the use of a state space equation and a transfer function with interval parameters. The considered model describes for example an oriented PV （photovoltaic） system. As a controller a P （proportional） controller was applied. It is very simple and their application in the situation we deal with assures the suitable control performance. The controller is going to be implemented at digital platform. To construct the control system a cost function proposed by the authors was applied. It describes both the energy consumption and the sample time of controller. The proposed cost function is a function of plant parameters, describing the dynamics of the plant and controller parameters： proportional gain and sample time. For the cost function a simple geometric interpretation can be given： for fixed plant parameters and varying controller parameters it is a surface in the Ra plane. This fact can be applied to assign of optimal controller. Theoretical results were depicted by a numerical example.