基于有限状态机的煤矿辅助运输转载自动化控制研究

为实现辅助运输过程中转载容器装载和转载工作的少人化、智能化,提出一种采用煤矿辅助运输转载机器人实现容器自动化转载的控制方案。概述煤矿辅助运输转载机器人组成及工作原理,分析机器人转载过程,确定了辅助运输转载自动化需要对单轨吊车、转载机械臂、平板车、锁具的工作时序进行控制,在MATLAB中建立系统状态机,将单轨吊车、转载机械臂、平板车、锁具作为子系统,系统状态机根据用户指令结合当前各子系统的状态,协同控制各个子系统的工作时间和顺序,保证了煤矿辅助运输转载的安全进行;最后在ROS中建立辅助运输转载仿真环境,通过系统状态机控制机械臂进行多次抓取实验,实验结果表明转载容器在20次不同位置抓取实验中,抓取成功率均在80%以上。

大型有限状态机系统中的定时器设计

定时器对于正确实现有限状态机功能有着很重要的作用。在大型系统中,实时操作系统本身提供的定时器功能有一定局限性,一般需要建立独立的定时器任务来为其他任务管理定时器申请。定时器管理包括定时器处理任务和为应用程序提供的编程接口两部分。应用程序通过函数调用操作定时器,通过消息、邮件等方式接收时超通知。定时器处理任务的优先级比较高,而且与编程接口同时操作定时器数据。所以在定时器管理的设计实现中要着重考虑算法和代码效率、可重入性等因素。

从形式化规范自动生成系统级状态机

形式化方法能精确、无二义地描述软件规范,但其可读性、可理解性差以及缺乏有效的自动测试工具.鉴于此,提出一种新的方法将支持面向对象开发的形式化语言所描述的软件规范自动地转化为系统级状态机,从而改善其可读性与可理解性.实际应用表明,这种方法可以提高形式化规范的可读性与可理解性.

基于高速以太网的基金会现场总线系统管理内核状态机的实现

本文基于现场总线基金会提出的高速以太网现场总线这一大型系统,着重介绍了该系统的系统管理内核的主要能,及其系统管理内核状态机的实现。

基于功能安全要求的线控转向系统开发及验证

为提高线控转向(SBW)系统的安全性与可靠性,基于ISO 26262开展了SBW系统设计,将系统的安全目标分配到架构、硬件、软件策略等开发中,设计了冗余机制以满足系统安全要求,并进行了台架和实车测试验证,结果表明:在特定的故障注入状态下,线控转向的路感模拟器和转向执行器的转矩和转角的执行状态满足响应需求,实现了整车的线控转向功能并满足设计要求。

基于嵌入式linux的电脑横机控制系统的研究

文章分析了国内外电脑横机的研究现状和发展趋势,提出了基于嵌入式linux的电脑横机控制系统的设计方案。设计了以上、中、下位机为主体的硬件体系结构,硬件系统的核心单元是ARM和FPGA。软件系统以基于Xenomai的实时linux系统为基础,介绍了软件系统的工作流程,设计了软件系统的状态机,还介绍了软件系统的运动控制及同步技术。最后,提供了该系统织出来的编织实物,预测了电脑横机网络化的发展方向,提出了本系统改进的可能性。

Introduction to Unity of Physics and Biology, Inorganic Life Materials

The unity between physics and biology refers to that the inorganic systems： the Solar System, galaxies and artificial systems have the same structures and functions as the organisms. The development of science and technology is demonstrating the intense unification trends of physics and biology and a holistic science and technology era is about to start. The physics and biology unify on the basis of the four seasons＇ law, which is the most important rule of the universe. Life is defined as the four seasons＇ whole with the structure and process of four seasons. The organism is basically structured into a dual four-season body by state-varying, state-stabilizing and control organizations. Animals, the Solar System and the earth are all the dual four-season bodies. In the unity between physics and biology, the inorganic life materials and inorganic life body can be manufactured artificially.

Status Evaluation of Loose of Jig Bed Based on Fuzzy Inference System

This paper mainly describes that loose of jig bed affects jig's separation effect, and the corresponding fuzzy rules were built. Using the evaluating index of jig's separation effect--imperfection (I) and total misplaced material (Cz), it evaluates status of loose of jig bed by fuzzy inference system. Experimental simulation and applications in practice prove the method's feasibility.

A graphic monitoring method for electric power of VVVF hydraulic system

In order to online monitor the running state of variable voltage and variable frequency(VVVF)hydraulic system,this paper presents a graphic monitoring method that fuses the information of variable frequency electric parameters.This paper first analyzes how the voltage and current of the motor stator change with the operation conditions of VVVF hydraulic system.As a result,we draw the relationship between the electric parameters(voltage and current)and power frequency.Then,the signals of the voltage and current are fused as dynamic figures based on the idea of Lissajous figures,and the values of the electric parameters are related to the features of the dynamic figures.Rigorous theoretical analysis establishes the function between the electric power of the variable frequency motor(VFM)and the features of the plotted dynamic figures including area of diagram,area of bounding rectangle,tilt angle,etc.Finally,the effectiveness of the proposed method is verified by two cases,in which the speed of VFM and the load of VVVF hydraulic system are changed.The results show that the increase of the speed of VFM enhances its three-phase electric power,but reduces the tilt angle of the plotted dynamic figures.In addition,as the load of VVVF hydraulic system is increased,the three-phase electric power of VFM and the tilt angle of the plotted dynamic figures are both increased.This paper provides a new way to online monitor the running state of VVVF hydraulic system.

State feedback control for Lurie networked control systems

The problem of the stability analysis and controller design which the network-induced delays and data dropout problems network-induced delays are assumed to be time-varying and bounded, for Lurie networked control systems （NCSs） is investigated, in are simultaneously considered. By considering that the and analyzing the relationship between the delay and its upper bound, employing a Lyapunov-Krasovskii function and an integral inequality approach, an improved stability criterion for NCSs is proposed. Furthermore, the resulting condition is extended to design a less conservative state feedback controller by employing an improved cone complementary linearization （ICCL） algorithm. Numerical examples are provided to show the effectiveness of the method.

Passive control of Permanent Magnet Synchronous Motor chaotic system based on state observer

Passive system theory was applied to propose a new passive control method with nonlinear observer of the Permanent Magnet Synchronous Motor chaotic system. Through constructing a Lyapunov function, the subsystem of the Permanent Magnet Synchronous Motor chaotic system could be proved to be globally stable at the equilibrium point. Then a controller with smooth state feedback is designed so that the Permanent Magnet Synchronous Motor chaotic system can be equivalent to a passive system. To get the state variables of the controller, the nonlinear observer is also studied. It is found that the outputs of the nonlinear observer can approximate the state variables of the Permanent Magnet Synchronous Motor chaotic system if the system’s nonlinear function is a globally Lipschitz function. Simulation results showed that the equivalent passive system of Permanent Magnet Synchronous Motor chaotic system could be globally asymptotically stabilized by smooth state feedback in the observed parameter convergence condition area.

Steady-State Performance Analysis of Brushless DC Propulsion Motor

The brushless DC motor can be used in the marine electric propulsion system for its excellent control characteristics and large thrust. In order to estimate the operating performances of the brushless DC motor for the high-power shipping during the design stage, the steady-state analysis is as important as the dynamic analysis generally. A mathematical model of the brushless DC propulsion motor is established according to the state-space method for the dynamic and steady-state performance analysis. The state-space mathematical model is a set of linear differential equations, so the steady-state currents of the armature windings can be gained directly by the symmetrical boundary conditions and the eigenvalues of the system matrix. The steady-state simulation results are compared with the dynamic ones to validate the correctness of this eigenvector method.

Suboptimal State Feedback H2/H∞ Controller Design with Spectrum Constraint for Discrete-time Stochastic Systems

With the aid of the spectnnn techique, a new concept named-α-stabilizability （0≤α≤1） is intnxhged and its suffident and necessary canditions are also prvposed. Especially, it is identical with the asymptotically mean square stabilizability when α = 1. As an application, the suboptimal state feedback H2/H∞ controller that satisfies the additional Spectrum canstmint via solving a convex optimization problem is delt with.

Service Oriented Approach State of the Art

For many years, computer systems have emerged; they now occupy an important place in our daily lives. The growing needs and ever increasing use of computer systems have made application development more and more complicated, The complexity of these applications poses problems such as reuse, installation, administration and evolution of applications. The development of applications is related to the evolution of paradigms and approaches to developing them. This paper presents different approaches and paradigms of development starting with the procedural approach, coming up for service, through the component and object-oriented approaches. Also, for each of the approaches we determine the advantages and limitations.

A Discussion on Dynamic Characteristics of Undisturbed Loess by Dynamic Triaxial Test

Based on the dynamic triaxial test system and using the fitted wave of the Wenchuan earthquake and 1 Hz constant amplitude sinusoid,the paper compares the results of tests on undisturbed loess samples under different loads and vibration modes but under same saturated conditions.Results of the comparative experiment show:The stress-strain curves have a similar trend under random seismic loading and constant amplitude sinusoidal loading,but the random seismic loading is more sensitive to failure strength of the undisturbed loess samples under the same stress.

Hazard Model Reliability Analysis Based on a Wind Generator Condition Monitoring System

This paper presents an application of the hazard model reliability analysis on wind generators, based on a condition monitoring system. The hazard model techniques are most widely used in the statistical analysis of the electric machine＇s lifetime data. The model can be utilized to perform appropriate maintenance decision-making based on the evaluation of the mean time to failures that occur on the wind generators due to high temperatures. The knowledge of the condition monitoring system is used to estimate the hazard failure, and survival rates, which allows the preventive maintenance approach to be performed accurately. A case study is presented to demonstrate the adequacy of the proposed method based on the condition monitoring data for two wind turbines. Such data are representative in the generator temperatures with respect to the expended operating hours of the selected wind turbines. In this context, the influence of the generator temperatures on the lifetime of the generators can be determined. The results of the study can be used to develop the predetermined maintenance program, which significantly reduces the maintenance and operation costs.

Complex network theory-based condition recognition of electromechanical system in process industry

In order to recognize the different operating conditions of a distributed and complex electromechanical system in the process industry,this work proposed a novel method of condition recognition by combining complex network theory with phase space reconstruction.First,a condition-space with complete information was reconstructed based on phase space reconstruction,and each condition in the space was transformed into a node of a complex network.Second,the limited penetrable visibility graph method was applied to establish an undirected and un-weighted complex network for the reconstructed condition-space.Finally,the statistical properties of this network were calculated to recognize the different operating conditions.A case study of a real chemical plant was conducted to illustrate the analysis and application processes of the proposed method.The results showed that the method could effectively recognize the different conditions of electromechanical systems.A complex electromechanical system can be studied from the systematic and cyber perspectives,and the relationship between the network structure property and the system condition can also be analyzed by utilizing the proposed method.

Inverse problem for Chaplygin’s nonholonomic systems

Chaplygin’s nonholonomic systems are familiar mechanical systems subject to unintegrable linear constraints, which can be reduced into holonomic nonconservative systems in a subspace of the original state space. The inverse problem of the calculus of variations or Lagrangian inverse problem for such systems is analyzed by making use of a reduction of the systems into new ones with time reparametrization symmetry and a genotopic transformation related with a conformal transformation. It is evident that the Lagrangian inverse problem does not have a direct universality. By meaning of a reduction of Chaplygin’s nonholonomic systems into holonomic, regular, analytic, nonconservative, first-order systems, the systems admit a Birkhoffian representation in a star-shaped neighborhood of a regular point of their variables, which is universal due to the Cauchy-Kovalevski theorem and the converse of the Poincaré lemma.

A New Plan and Coordination Strategy for Robot System Based on State Space

This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the system’s internal and external constraints. Task plan and coordination are then transformed as trajectory solving problem in the state space, by which the realizable conditions for the given task are discussed. If the task is realizable, the optimal strategy for task execution could be investigated and obtained in state space. Otherwise, it could be transformed to be realizable via adjusting the system configuration and/or task constraint, and the transformation condition could also be determined. This contributes to design, plan, and coordination of the robotic tasks. Experiments of the manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method.

State and Output Feedback Finite-time Guaranteed Cost Control of Linear It Stochastic Systems

The problem of guaranteed cost control based on finite-time stability for stochastic system is first investigated in this paper.The motivation of solving this problem arises from an observation that finite/infinite-horizon guaranteed cost control does not consider the transient performance of the closed-loop system,but guaranteed cost control based on finite-time stability involves this practical requirement.In order to explain this problem explicitly,a concept of the stochastic finite-time guaranteed cost control is introduced,and then some new sufficient conditions for the existence of state and output feedback finite-time guaranteed cost controllers are derived,which guarantee finite-time stochastic stability of closed-loop systems and an upper bound of a quadratic cost function.Furthermore,this problem is reduced to a convex optimization problem with matrix inequality constraints and a new solving algorithm is given.Finally,an example is given to illustrate the effectiveness of the proposed method.