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基于期望轨迹非线性补偿的机械臂控制器设计
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作者 崔敏其 李杞仪 陈伟华 《组合机床与自动化加工技术》 北大核心 2013年第11期58-60,共3页
基于期望轨迹非线性补偿方法是一种在机械臂伺服控制律的增加非线性补偿项,用于抵消机械臂动力学的非线性项的一种机械臂控制方法。首先,给出机械臂动力学方程的一般形式及其分析。然后详细介绍基于期望轨迹非线性补偿方法的控制原理,... 基于期望轨迹非线性补偿方法是一种在机械臂伺服控制律的增加非线性补偿项,用于抵消机械臂动力学的非线性项的一种机械臂控制方法。首先,给出机械臂动力学方程的一般形式及其分析。然后详细介绍基于期望轨迹非线性补偿方法的控制原理,并给出其控制律的数学描述以及闭环动力学方程。讨论基于期望轨迹非线性补偿方法控制器的优点,并使用李雅普诺夫方法以及LaSalle定理对控制器的稳定性进行证明。最后,使用基于期望轨迹非线性补偿方法的控制律,对PUMA560型机械臂的前三关节进行正动力学仿真,并给出仿真结果。 展开更多
关键词 机械臂控制器 线性补偿法 动力学分析 工业机器人
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微细电火花三维加工中电极损耗补偿新方法 被引量:16
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作者 李剑忠 栾纪杰 +2 位作者 虞慧岚 张余升 余祖元 《大连理工大学学报》 EI CAS CSCD 北大核心 2011年第4期525-528,共4页
为解决微细电火花三维加工中存在的电极损耗问题,提出了一种使线性补偿法与均匀损耗法相结合的新的补偿方法.加工实验结果表明,使用这一新补偿方法可明显提高三维微细电火花加工的加工效率和底面粗糙度,并且减少电极损耗.与均匀损耗法相... 为解决微细电火花三维加工中存在的电极损耗问题,提出了一种使线性补偿法与均匀损耗法相结合的新的补偿方法.加工实验结果表明,使用这一新补偿方法可明显提高三维微细电火花加工的加工效率和底面粗糙度,并且减少电极损耗.与均匀损耗法相比,电极损耗长度可减少17.8%,表面粗糙度可降低9.9%,材料去除速率可提高10.1%. 展开更多
关键词 三维微细电火花加工 电极损耗 均匀损耗法 线性补偿法
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多通道接收系统的补偿研究
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作者 李晓妮 王大中 冀振元 《长春大学学报》 2007年第12期29-32,共4页
多通道接收系统在通信、雷达等方面得到了非常广泛的应用,而每个通道自身通频带内频率特性的起伏变化及各个通道之间频率特性的不一致性会对信号的传输造成一定的影响。针对多通道接收系统的上述问题人们提出了线性调频信号补偿法来补... 多通道接收系统在通信、雷达等方面得到了非常广泛的应用,而每个通道自身通频带内频率特性的起伏变化及各个通道之间频率特性的不一致性会对信号的传输造成一定的影响。针对多通道接收系统的上述问题人们提出了线性调频信号补偿法来补偿信号的失真,这种方法可以达到补偿的目的,但补偿效果不是很好。为了提高补偿的精度,在本文中提出了扫频信号补偿法。经过仿真计算,验证了这种方法的有效性,并对它的补偿效果和用线性调频信号补偿法的效果进行了对比分析。 展开更多
关键词 多通道系统 扫频信号补偿法 线性调频信号补偿法
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双轴倾角传感器耦合干扰的补偿 被引量:5
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作者 曾瑜 付敬奇 朱晓锦 《仪器仪表学报》 EI CAS CSCD 北大核心 2004年第z3期175-178,共4页
采用电解液双轴倾角传感器进行倾角测量。针对双轴倾角传感器测量角度时引起的耦合干扰,采用了通过查询表的双线性插值和多传感器融合相结合的补偿方法。理论分析和仿真计算表明,采用此方法补偿之后得到的均方差最大为0 .130 0 ,而没有... 采用电解液双轴倾角传感器进行倾角测量。针对双轴倾角传感器测量角度时引起的耦合干扰,采用了通过查询表的双线性插值和多传感器融合相结合的补偿方法。理论分析和仿真计算表明,采用此方法补偿之后得到的均方差最大为0 .130 0 ,而没有补偿的结果最大的均方差为2 .6 0 94 ,表明这种方法是有效的。 展开更多
关键词 倾角传感器 线性插值补偿法 多传感器融合 查询表
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RGB格式数据向BT.656视频标准转换的关键技术 被引量:6
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作者 张倩 胡健生 《液晶与显示》 CAS CSCD 北大核心 2011年第5期640-645,共6页
针对当前多数场合需要将RGB格式图像数据转换成BT.656视频标准的现状,提出了基于FPGA的实现方案,分析了系统的各组成模块和关键技术。利用状态转移机制,产生了BT.656视频标准时序;通过线性循环补偿法,避免了RGB向YUV格式转换的颜色失真... 针对当前多数场合需要将RGB格式图像数据转换成BT.656视频标准的现状,提出了基于FPGA的实现方案,分析了系统的各组成模块和关键技术。利用状态转移机制,产生了BT.656视频标准时序;通过线性循环补偿法,避免了RGB向YUV格式转换的颜色失真现象;使用带有输入输出选择控制功能的FIFO电路,解决了输入输出数据的速率匹配问题。仿真验证结果表明,所提出的方案效果良好,具有广阔的应用前景。 展开更多
关键词 RGB BT.656 状态转移 线性循环补偿法 FIFO
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Backlash Nonlinear Compensation of Servo Systems Using Backpropagation Neural Networks 被引量:2
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作者 何超 徐立新 张宇河 《Journal of Beijing Institute of Technology》 EI CAS 1999年第3期300-305,共6页
Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on s... Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on some weapon tracking servo system, a three layer BPNN was used to off line identify the backlash characteristics, then a nonlinear compensator was designed according to the identification results. Results The simulation results show that the method can effectively get rid of the sustained oscillation(limit cycle) of the system caused by the backlash characteristics, and can improve the system accuracy. Conclusion The method is effective on sloving the problems produced by the backlash characteristics in servo systems, and it can be easily accomplished in engineering. 展开更多
关键词 servo system backlash nonlinear characteristics limit cycle backpropagation neural networks(BPNN) compensation methods
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Thermal Error Compensation for Telescopic Spindle of CNC Machine Tool Based on SIEMENS 840D System 被引量:8
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作者 崔良玉 高卫国 +2 位作者 张大卫 张宏杰 韩林 《Transactions of Tianjin University》 EI CAS 2011年第5期340-343,共4页
In this paper, eddy current sensors and thermocouple sensors were employed to measure the thermal field and thermal deformation of a spindle of a telescopic CNC boring-milling machine tool, respectively. A linear regr... In this paper, eddy current sensors and thermocouple sensors were employed to measure the thermal field and thermal deformation of a spindle of a telescopic CNC boring-milling machine tool, respectively. A linear regression method was proposed to establish the thermal error model. Furthermore, two compensation methods were implemented based on the SIEMENS 840D system by using the feed shaft of z direction and telescopic spindle respectively. Experimental results showed that the thermal error could be reduced by 73.79% when using the second compensation method, and the thermal error could be eliminated by using the two compensation methods effectively. 展开更多
关键词 machine tool thermal error linear regression error compensation
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Evaluation of Shunt Reactive Power Compensation Effect on ATC Using Linear Methods
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作者 Ibraheem Naresh Kumar Yadav 《Journal of Energy and Power Engineering》 2012年第5期784-791,共8页
Most power transfer studies involve contingencies and multi pattern scenarios that often can only be performed in reasonable time with the use of linear methods. In these works, the effect of reactive power flows in l... Most power transfer studies involve contingencies and multi pattern scenarios that often can only be performed in reasonable time with the use of linear methods. In these works, the effect of reactive power flows in line loading is neglected while formulating the problem for ATC (available transfer capability) calculations. This paper presents the determination of shunt reactive power compensation in the presence of FACTS (flexible AC transmission system) devices like: SSSC (static synchronous series compensator) and UPFC (unified power flow controller) for enhancement of power transfer capability of a power system incorporating the reactive power flows in ATC calculations. In doing so, redistribution of power flow takes place and therefore improves ATC of the system. Studies on a sample 5-bus power system model are carried out to illustrate the effect of shunt compensation along with line flow control. 展开更多
关键词 Linear ATC reactive power FACTS devices power flow constraints operating and limiting circles.
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Accurate Reactive Power Controller and Power Factor Correction Using Fuzzy Logic
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作者 Muhammad M.A.S. Mahmoud 《Journal of Energy and Power Engineering》 2013年第6期1163-1171,共9页
This paper presents the use of fuzzy logic technique to control the reactive power of load and hence improve the source power factor. A shunt compensator is proposed, which consists of a voltage controlled reactor by ... This paper presents the use of fuzzy logic technique to control the reactive power of load and hence improve the source power factor. A shunt compensator is proposed, which consists of a voltage controlled reactor by full-wave thyristor bridge in parallel with a capacitor. The proposed voltage control technique composed of two independent fuzzy controllers, primary and secondary. The PFC (primary fuzzy controller) is designed based on linearization method to introduce to the network the nearest value of reactive power (VAR) required to correct the power factor. The SFC (secondary fuzzy controller) is designed to achieve accurate compensation for the required VAR to achieve the pre-set power factor value. Simulations for 15 different practical study cases are presented to evaluate the performance of the controller, and the results show how the designed controller is fast and accurate. Harmonics analyses are carried out up to the 13th harmonic to determine the requirement of harmonics filter. 展开更多
关键词 Power systems reactive power power factor fuzzy logic control.
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Non-reciprocity compensation correction and antenna selection for optical large MIMO system
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作者 陈洁 迟学芬 赵琳琳 《Optoelectronics Letters》 EI 2015年第6期461-465,共5页
This paper exploits an optical large multiple input multiple output(MIMO) system.We first establish the non-reciprocity compensation correction factor to solve the channel non-reciprocity problem.Then we propose an an... This paper exploits an optical large multiple input multiple output(MIMO) system.We first establish the non-reciprocity compensation correction factor to solve the channel non-reciprocity problem.Then we propose an antenna selection algorithm with the goal of realizing maximum energy efficiency(EE) when satisfying the outage EE.The simulation results prove that this non-reciprocity compensation correction factor can compensate beam energy attenuation gap and spatial correlation gap between uplink and downlink effectively,and this antenna selection algorithm can economize the number of transmit antennas and achieve high EE performance.Finally,we apply direct current-biased optical orthogonal frequency division multiplexing(DCO-OFDM) modulation in our system and prove that it can improve the bit error rate(BER) compared with on-off keying(OOK) modulation,so the DCO-OFDM modulation can resist atmospheric turbulence effectively. 展开更多
关键词 MIMO系统 天线选择算法 校正因子 互易性 补偿 光学 OFDM调制 多输入多输出
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