串级PID算法在滚球控制系统中的应用

针对传统滚球控制系统控制精度不高、控制速度较慢的特点,设计了一款运行速度快、定位精度高、机械结构稳定的滚球控制系统。该系统由STM32控制器、OV7670摄像头模块、6221MG数字舵机、触摸屏模块、电源模块及亚克力板等组成。摄像头采集小球实时位置信息,采用内环速度PID及外环位置PD算法组成的串级PID算法,系统将当前小球位置信息与设定位置相比较,计算出理想PWM占空比,驱动舵机控制平板摆动,使小球按指定方式运动。经测定,该系统控制效果良好。与单环PID控制系统相比,具有控制精度较高,控制时间更短的优势,且具有较强的抗干扰性和鲁棒性。

校园低影响开发雨水系统应用案例研究

基于海绵城市建设要求及为保障校园的排水能力及绿化用水要求,设计了以自然净化、生态处置和循环净化为关键技术的校园低影响开发雨水系统方案,介绍了校园不同功能用地采用的低影响开发雨水系统典型工程措施。该案例综合解决了校园水安全、水资源、水环境及水生态问题,实现了很好的经济效益和环境效益,能够为校园低影响开发雨水系统的设计提供借鉴。

Mine pressure regularity of working across over roadway and control effect analysis

Analyzed roof rock layer structure and rock layer thickness of -550 level west main roadway and proposed that the stability of calcareous rock layer was the premise of mining successfully. According to different roof condition and rock pillar size of main roadway, different reinforcement plans were used to strengthen the stability of rock layer. By studying the influence rule and influence scope of dynamic pressure of main roadway wall rock because of fully mechanized coal face extracting, that the size of rock pillar was the key of affecting wall rock distorting was proposed. Scientific basis was provided for determining the size of reasonable rock pillar, selecting reasonable extracting support plan and reinforcement measures under different wall rock conditions.