In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
The issue of impulsive control theory for synchronization of the MCK circuit is developed. We propose an impulsive control scheme for the complete synchronization of the MCK circuit including chaotic systems. A suffic...The issue of impulsive control theory for synchronization of the MCK circuit is developed. We propose an impulsive control scheme for the complete synchronization of the MCK circuit including chaotic systems. A sufficient condition for the impulsive control is derived, with an easily calculated maximum impulsive interval. The proposed impulsive control scheme is applied to the MCK circuit and the simulation result demonstrates the effectiveness of the method.展开更多
Long span ultra-high voltage(UHV) transmission lines have serious aeolian vibration problems. To control these vibrations,we improved the energy balance method in the following aspects:the wind power input,the conduct...Long span ultra-high voltage(UHV) transmission lines have serious aeolian vibration problems. To control these vibrations,we improved the energy balance method in the following aspects:the wind power input,the conductor self-damping,and the damper dissipated power. Meanwhile,we built a theoretical mechanical model of β wire dampers and derived energy dissipation calculation formulae. This permits the vibration energy dissipated by β wire dampers can be considered in the energy balance method. Then,we developed a computer program based on the improved energy balance method using Matlab,and analyzed UHV long span ground wires of the Han River long span project in P. R. China. The results show that the combination of β wire dampers and Stockbridge dampers can reduce vibration of UHV long span transmission lines,which provides a reference for research and construction of UHV engineering projects.展开更多
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
基金The project supported by the Major Program of National Natural Science Foundation of China under Grant No. 60271019 and the Doctoral Foundation of the Ministry of Education under Grant No. 20020611007
文摘The issue of impulsive control theory for synchronization of the MCK circuit is developed. We propose an impulsive control scheme for the complete synchronization of the MCK circuit including chaotic systems. A sufficient condition for the impulsive control is derived, with an easily calculated maximum impulsive interval. The proposed impulsive control scheme is applied to the MCK circuit and the simulation result demonstrates the effectiveness of the method.
基金Funded by the Natural Science Foundation of China (No. 50878093).
文摘Long span ultra-high voltage(UHV) transmission lines have serious aeolian vibration problems. To control these vibrations,we improved the energy balance method in the following aspects:the wind power input,the conductor self-damping,and the damper dissipated power. Meanwhile,we built a theoretical mechanical model of β wire dampers and derived energy dissipation calculation formulae. This permits the vibration energy dissipated by β wire dampers can be considered in the energy balance method. Then,we developed a computer program based on the improved energy balance method using Matlab,and analyzed UHV long span ground wires of the Han River long span project in P. R. China. The results show that the combination of β wire dampers and Stockbridge dampers can reduce vibration of UHV long span transmission lines,which provides a reference for research and construction of UHV engineering projects.
