A new prosthetic hand with a fixed thumb and four fingers actuated by Shape Memory Alloy （SMA） type artificial muscle has been developed in this paper. Different from typical geared motor, SMA actuator is lightweigh...A new prosthetic hand with a fixed thumb and four fingers actuated by Shape Memory Alloy （SMA） type artificial muscle has been developed in this paper. Different from typical geared motor, SMA actuator is lightweight and silent, however shows a little short stroke and small attracting force per each unit. In order to achieve enough output force and motion range of each finger, multiple SMA type artificial muscles with special device which facilitates enough length are equipped in the hand. The fundamental properties of the SMA type artificial muscle including output force and electrical response were determined experimentally and considered for the design of hand mechanism. Besides, the structure of each finger and whole system has been designed based on observation of human hand. The electrical hardware to control multiple shape memory alloy type artificial muscles has been also developed. Finally, the usefulness of the prosthetic hand has been investigated through experiments for grasping several types of objects.展开更多
The mathematical model of the modem induction traction motor （TRIM and cutting magnetic circuit traction motor）, supplied with IPM inverter with different control technique is presented in the paper. In electric and...The mathematical model of the modem induction traction motor （TRIM and cutting magnetic circuit traction motor）, supplied with IPM inverter with different control technique is presented in the paper. In electric and hybrid vehicle are applied： FLMC （Fuzzy Logic Mode Control）, SLMC （Sliding Mode Control）, NRMC （Neural Regulator Control）, and Direct Power and Torque Control for Space Vector Modulated inverter （DPTC SVM）. In the special solution of the electric and hybrid vehicle are also applied a Random Switching Frequency Modulation. The control of hybrid vehicle should assure the realization of established transport-assignments in the definite time, at the optimum of energy consumption. One can this realize using. The multi criteria control system. Some results of the computer simulations are presented in the paper. Results of numerical calculation were verified for laboratory model of the electric and hybrid wheel vehicles traction motor.展开更多
空间引力波探测任务测量频段为0.1 m Hz-1 Hz,该频段内的波源信息非常丰富.但受限于引力波微弱的信号强度,需要惯性基准——测试质量的残余加速度噪声水平低于10^(-15)m s^(-2)/Hz^(1/2).惯性传感器作为空间引力波探测核心的载荷之一,...空间引力波探测任务测量频段为0.1 m Hz-1 Hz,该频段内的波源信息非常丰富.但受限于引力波微弱的信号强度,需要惯性基准——测试质量的残余加速度噪声水平低于10^(-15)m s^(-2)/Hz^(1/2).惯性传感器作为空间引力波探测核心的载荷之一,一方面通过一系列的功能设置和灵巧设计来屏蔽外界杂散力对测试质量的影响,另一方面与微推进器构成无拖曳控制系统,利用电容位移传感器的高精度测量以及多自由度驱动控制来维持测试质量在空间中的高精度free-fall运动,从而为激光干涉测量提供超稳惯性基准.为了满足测试质量苛刻的加速度噪声要求惯性传感器在构建过程中,会涉及多种具有不同功能的子系统和关键技术.本文从空间引力波探测背景出发,介绍空间惯性传感器的基本工作原理和设计约束,进而对惯性传感器的相关关键技术进行探讨,并在最后对惯性传感器的应用和研究进行展望.展开更多
The single-shaft parallel hybrid powertrain with the automatic mechanical transmission(AMT)is an efficient hybrid driving system in the hybrid electric bus(HEB),while the electromechanical coupling driving control bec...The single-shaft parallel hybrid powertrain with the automatic mechanical transmission(AMT)is an efficient hybrid driving system in the hybrid electric bus(HEB),while the electromechanical coupling driving control becomes a complicated question to find a transient optimal control method to distribute the power between the engine and the electric machine(EM).This paper proposes an innovative control method to deal with the complicated transient coupling driving process of the electromechanical coupling driving system,considering the accelerating condition and the cruising condition mostly in the city driving cycle of HEB.The EM might be operated at driving mode or generating mode to assist the diesel engine to work in its high-efficiency area.Therefore,the adaptive torque tracking controller has been brought forward to ensure that the EM implements the demand torque as well as compensate the torque fluctuation of diesel engine.The d?q axis mathematical model and back stepping method are employed to deduce the adaptive controller and its adaptive laws.Simulation results demonstrate that the proposed control scheme can make the output torque of two power sources respond rapidly to the demand torque from the powertrain in the given driving condition.The proposed method could be adopted in the real control of HEB to improve the efficiency of the hybrid driving system.展开更多
文摘A new prosthetic hand with a fixed thumb and four fingers actuated by Shape Memory Alloy （SMA） type artificial muscle has been developed in this paper. Different from typical geared motor, SMA actuator is lightweight and silent, however shows a little short stroke and small attracting force per each unit. In order to achieve enough output force and motion range of each finger, multiple SMA type artificial muscles with special device which facilitates enough length are equipped in the hand. The fundamental properties of the SMA type artificial muscle including output force and electrical response were determined experimentally and considered for the design of hand mechanism. Besides, the structure of each finger and whole system has been designed based on observation of human hand. The electrical hardware to control multiple shape memory alloy type artificial muscles has been also developed. Finally, the usefulness of the prosthetic hand has been investigated through experiments for grasping several types of objects.
文摘The mathematical model of the modem induction traction motor （TRIM and cutting magnetic circuit traction motor）, supplied with IPM inverter with different control technique is presented in the paper. In electric and hybrid vehicle are applied： FLMC （Fuzzy Logic Mode Control）, SLMC （Sliding Mode Control）, NRMC （Neural Regulator Control）, and Direct Power and Torque Control for Space Vector Modulated inverter （DPTC SVM）. In the special solution of the electric and hybrid vehicle are also applied a Random Switching Frequency Modulation. The control of hybrid vehicle should assure the realization of established transport-assignments in the definite time, at the optimum of energy consumption. One can this realize using. The multi criteria control system. Some results of the computer simulations are presented in the paper. Results of numerical calculation were verified for laboratory model of the electric and hybrid wheel vehicles traction motor.
文摘空间引力波探测任务测量频段为0.1 m Hz-1 Hz,该频段内的波源信息非常丰富.但受限于引力波微弱的信号强度,需要惯性基准——测试质量的残余加速度噪声水平低于10^(-15)m s^(-2)/Hz^(1/2).惯性传感器作为空间引力波探测核心的载荷之一,一方面通过一系列的功能设置和灵巧设计来屏蔽外界杂散力对测试质量的影响,另一方面与微推进器构成无拖曳控制系统,利用电容位移传感器的高精度测量以及多自由度驱动控制来维持测试质量在空间中的高精度free-fall运动,从而为激光干涉测量提供超稳惯性基准.为了满足测试质量苛刻的加速度噪声要求惯性传感器在构建过程中,会涉及多种具有不同功能的子系统和关键技术.本文从空间引力波探测背景出发,介绍空间惯性传感器的基本工作原理和设计约束,进而对惯性传感器的相关关键技术进行探讨,并在最后对惯性传感器的应用和研究进行展望.
基金supported by the National Natural Science Foundation of China(Grant No.51275557)the National Science-technology Support Plan Projects of China(Grant No.2013BAG14B01)
文摘The single-shaft parallel hybrid powertrain with the automatic mechanical transmission(AMT)is an efficient hybrid driving system in the hybrid electric bus(HEB),while the electromechanical coupling driving control becomes a complicated question to find a transient optimal control method to distribute the power between the engine and the electric machine(EM).This paper proposes an innovative control method to deal with the complicated transient coupling driving process of the electromechanical coupling driving system,considering the accelerating condition and the cruising condition mostly in the city driving cycle of HEB.The EM might be operated at driving mode or generating mode to assist the diesel engine to work in its high-efficiency area.Therefore,the adaptive torque tracking controller has been brought forward to ensure that the EM implements the demand torque as well as compensate the torque fluctuation of diesel engine.The d?q axis mathematical model and back stepping method are employed to deduce the adaptive controller and its adaptive laws.Simulation results demonstrate that the proposed control scheme can make the output torque of two power sources respond rapidly to the demand torque from the powertrain in the given driving condition.The proposed method could be adopted in the real control of HEB to improve the efficiency of the hybrid driving system.
