基于PMAC的六自由度关节工业机器人码垛控制系统

码垛工艺是制造业中极为普遍的环节,基于PMAC多轴运动控制器的六自由度工业机器人码垛控制系统,是为提高码垛效率、降低传统码垛控制系统成本而设计的。系统以工控机+DSP上下位机硬件结构作为控制系统执行平台,根据六自由度工业机器人结构自行设计正逆运动学算法,并为用户提供参数可配置性,扩宽系统的适用面,增强系统柔性,功能丰富完整。试验结果表明,系统具备工业现场控制工业机器人进行实际码垛工作能力,满足设计目标,具有一定可推广性和实用价值。

Surface Pressure Loading Technology of Ship Structures

A hull structure is prone to local deformation and damage due to the pressure load on the surface.How to simulate surface pressure is an important issue in ship structure test.The loading mode of hydraulic actuator combined with high-pressure flexible bladder was proposed,and the numerical model of the loading device based on flexible bladder was established.The design and analysis method of high-pressure flexible bladder based on aramid-fiber reinforced thermoplastic polyurethane was proposed to break through the surface pressure loading technology of ship structures.The surface pressure loading system based on flexible bladder was developed.The ultimate strength verification test of the box girder under the combined action of bending moment and pressure was carried out to systematically verify the feasibility and applicability of the loading system.The results show that the surface pressure loading technology can be used well for applying uniform pressure to ship structures.Compared with the traditional surface loading methods,the improved device can be applied with horizontal constant pressure load,with rapid response and safe process,and the pressure load is always stable with the increase of the bending moment load during the test.The requirement for uniform loading in the comprehensive strength test of large structural models is satisfied and the accuracy of the test results is improved by this system.

Dynamic Characteristics of Transmission System for the Internal Grinder

The dynamics model of the transmission system of the internal grinder is established on the bases of Riccati transfer matrix. The dynamic characteristics of the internal grinder are obtained by analyzing the relationship between dynamic modal flexibility and modal flexibility, which is used to find out the dangerous model of the transmission system and its weak areas. Then design parameters of weak areas are modified, the new one from the old structure is put forward, and the dynamic characteristics of new ...

Knowledge Discovery in Maintenance Record of FMS Equipment for Diagnosing

To discover the knowledge of fault diagnosis in maintenance record of flexible manufacture system(FMS) equipment. An algorithm (process) was presented, which consists of ① preparatory phase in which some items in maintenance record are selected and decomposed into associated concepts and attributes, and ② discovering and establishing process, in which some possible relationships between the concepts and attributes can be established and knowledge is formulated. The rich diagnosis knowledge in maintenance record was captured through applying the method. An application of the method to the diagnosis system for FMS equipment showed that the approach is correct and effective.

A Modelling Scheme for Flexible Robot Manipulators

Aim To propose a modelling method for flexible manipulators. Methods The improved algorithm and structure of the ANN (artificial neural networks) were used. All of the data used in the process of modelling came from experiments based on a very flexible link which was fixed on a FANUC Robot S-Model 300 in our lab.Results and Conclusion The theoretical analysis and experiment results showed that this modelling scheme is more suitable for flexible systems with characteristics of fast changing dynamics, and also it can be more accurate than others and is more convenient for real-time use.

Intelligent Examination Monitoring and Maintenance for the Safety of Operation of Flexible Manufacturing Systems

Based on the system of electric power supply for flexible manufacturing systems (FMS), a study has been carried out on the intelligent safety examination, monitoring and maintenance of its running environment. On the basis of the specific feature of the power supply network of an FMS, real time monitoring system of the power supply network and the fault diagnostic expert system for the power equipment have been designed. This system can diagnose not only definite fault phenomena, but also fuzzy, uncertain fault phenomena as well. Fault diagnostic knowledge base for the power equipment has been founded hierarchy architecture model and the method of fault tree analysis. Feasibility of this system has been proved by computer simulation.

LOAD FLOW CALCULATION FOR FLEXIBLE AC TRANSMISSION SYSTEMS

In this paper, a synthetic mathematical model of load flow for flexible AC transmission systems (FACTS) with unified power flow controller (UPFC) is presented based on the analysis of basic principle and operation state of UPFC. The model can use the fast P Q decoupled load flow method. Examples of test systems show that the proposed model and method have good convergence. An effective tool is provided by the load flow computer program to analyze the load flow and initial valve calculation of the dynamic state of FACTS.

An Extended Algorithm of Flexibility Analysis in Chemical Engineering Processes

An extended algorithm of flexibility analysis with a local adjusting method for flexibility region of chemical processes, which is based on the active constraint strategy, is proposed, which fully exploits the flexibility region of the process system operation. The hyperrectangular flexibility region determined by the extended algorithm is larger than that calculated by the previous algorithms. The limitation of the proposed algorithm due to imperfect convexity and its corresponding verification measure are also discussed. Both numerical and actual chemical process examples are presented to demonstrate the effectiveness of the new algorithm.

Macroblock-level decoding and deblocking method and its pipeline implementation in H.264 decoder SOC design

This paper presents a macroblock-level (MB-level) decoding and deblocking method for supporting the flexible macroblock ordering (FMO) and arbitrary slice ordering (ASO) bit streams in H.264 decoder and its SOC/ASIC implementation. By searching the slice containing the current macroblock in the bit stream and switching slices correctly, MBs can be decoded in the raster scan order, while the decoding process can immediately begin as long as the slice containing the current MB is available. This architectural modification enables the MB-level decoding and deblocking 3-stage pipeline, and saves about 20% of SDRAM bandwidth. Implementation results showed that the design achieves real-time decoding of 1080HD (1920×1088@30 fps) at a system clock of 166 MHz.

Dynamic model for internally carried air-launched rocket

For rigid-flexible coupling multi-body with variable topology,such as the system of internally carried air-launched or heavy cargo airdrop,in order to construct a dynamic model with unified form,avoid redundancy in the modeling process and make the solution independent,a method based on the equivalent rigidization model was proposed.It divides a system into independent subsystems by cutting off the joints,of which types are changed with the operation process of the system.And models of different subsystems can be constructed via selecting suitable modeling methods.Subsystem models with flexible bodies are on the basis of the equivalent rigidization model which replaces the flexible bodies with the virtual rigid bodies.And the solution for sanction,which is based on the constraints force algorithm(CFA)and vector mechanics,can be independent on the state equations.The internally carried air-launched system was taken as an example for verifying validity and feasibility of the method and theory.The dynamic model of aircraft-rocket-parachute system in the entire phase was constructed.Comparing the modeling method with the others,the modeling process was programmed;and form of the model is unified and simple.The model,method and theory can be used to analyze other similar systems such as heavy cargo airdrop system and capsule parachute recovery system.

The Dynamic Flexibility of Batch Exothermic Reaction System： Take into Account the Effect of the Initial Operational Temperature

It is shown in this article that by changing the initial operation condition of the batch processes, the dynamic performance of the system can be varied largely, especially for the initial operational temperature of the exothermic reaction. The initial operation condition is often ignored in the designing batch processes for flexibility against disturbances or parameter variations. When the initial condition is not rigid as in the case of a batch reactor, where the initial reaction temperature is quite arbitrary, optimization can also be applied to determine the ＂best＂ initial condition to use. Problems for dynamic flexibility analysis of exothermic reaction including initial temperature and process operation can be formulated as dynamic optimization problems. Formulations are derived when the initial conditions are considered or not. When the initial conditions are considered, the initial condition can be transferred into control variables in the first optimal step. The solution of the dynamic optimization is on the basis of Rugge-Kutta integration algorithm and decomposition search algorithm. This method, as illustrated and tested with two highly nonlinear process problems, enables the determination of the optimal level. The dynamic performance is improved by the proposed method in the two exothermic reaction examples.

Strategy for Synthesis of Flexible Heat Exchanger Networks Embedded with System Reliability Analysis

System reliability can produce a strong influence on the performance of the heat exchanger network(HEN).In this paper,an optimization method with system reliability analysis for flexible HEN by genetic/simulated annealing algorithms(GA/SA) is presented.Initial flexible arrangements of HEN is received by pseudo-temperature enthalpy diagram.For determining system reliability of HEN,the connections of heat exchangers(HEXs) and independent subsystems in the HEN are analyzed by the connection sequence matrix(CSM),and the system reliability is measured by the independent subsystem including maximum number of HEXs in the HEN.As for the HEN that did not meet system reliability,HEN decoupling is applied and the independent subsystems in the HEN are changed by removing decoupling HEX,and thus the system reliability is elevated.After that,heat duty redistribution based on the relevant elements of the heat load loops and HEX areas are optimized in GA/SA.Then,the favorable network configuration,which matches both the most economical cost and system reliability criterion,is located.Moreover,particular features belonging to suitable decoupling HEX are extracted from calculations.Corresponding numerical example is presented to verify that the proposed strategy is effective to formulate optimal flexible HEN with system reliability measurement.

A Study on the Monitoring System for the FMS

Introduces a new monitoring method in FMS explicated in some detail by means of the MSF(Monitoring System of FMS)under development by the au- thors.In order to push FMS technology forword,enhance machining flexibility and the flexibility of human operaters and equipment in a FMS,the authors have made some breakthroughs in traditional ways of single item,unit monitoring and self-han- dling,and suggested the idea of integrated inspection and put the MSF into more practicability.The working status of FMS can be monitored on the CRT of a micro- computer of the MSF,system troubles will be shown with icons,by the flash of the system characteristic symbol or by alarming,and so on.This explores a new way for FMS inspection in a wholly integrated manner.

ANN Based Performance Analysis of UPFC in Power Flow Control

The Unified Power Flow Controller （UPFC） is one of the most versatile Flexible AC Transmission Systems （FACTS） devices that has unique capability of independently controlling the real and reactive power flows, in addition to regulate the system bus voltage. This paper presents performance analysis of Unified Power Flow Controller based on two axis theory. Based on this analysis, a new Artificial Neural Network （ANN） based controller has been proposed to improve the system performance. The controller rules are structured depending upon the relationship between series inserted voltage and the desired changes in real/reactive power flow in the power system. The effects of different controllers along with parameters of series transformer and transmission line have been investigated through developed control block model in SIMULINK tool box of MATLAB. The effectiveness of the proposed scheme is demonstrated by case studies.

Component-based Control Software Design for Flexible Manufacturing System

A new method that designs and implements the component-based distributed & hierarchical flexible manufacturing control software is described with a component concept in this paper. The proposed method takes aim at improving the flexibility and reliability of the control system. On the basis of describing the concepts of component-based software and the distributed object technology, the architecture of the component-based software of the control system is suggested with the Common Object Request Broker Architecture (CORBA). And then, we propose a design method for component-based distributed & hierarchical flexible manufacturing control system. Finally, to verify the software design method, a prototype flexible manufacturing control system software has been implemented in Orbix 2.3c, VC + + 6. 0 and has been tested in connection with the physical flexible manufacturing shop at the WuXi Professional Institute.

Structural Dynamic Optimization for Flexible Beam of Helicopter Rotor Based on GA

As one of the most important steps in the design of bearing-less rotor systems,the design of flexible beam has received much research attention.Because of the very complex working environment of helicopter,the flexible beam should satisfy both the strength and dynamic requirements.However,traditional optimization research focused only on either the strength or dynamical characteristics.To sufficiently improve the performance of the flexible beam,both aspects must be considered.This paper proposes a two-stage optimization method based on the Hamilton variational principle:Variational asymptotic beam section analysis(VABS)program and genetic algorithm(GA).Consequently,a two-part analysis model based on the Hamilton variational principle and VABS is established to calculate section characteristics and structural dynamics characteristics,respectively.Subsequently,the two parts are combined to establish a two-stage optimization process and search with GA to obtain the best dynamic characteristics combinations.Based on the primary optimization results,the section characteristics of the flexible beam are further optimized using GA.The optimization results show that the torsional stiffness decreases by 36.1%compared with the full 0°laying scheme without optimization and the dynamic requirements are achieved.The natural frequencies of flapping and torsion meet the requirements(0.5 away from the passing frequencies of the blade,0.25 away from the excitation force frequency,and the flapping and torsion frequencies keep a corresponding distance).The results indicate that the optimization method can significantly improve the performance of the flexible beam.

Complete geometric nonlinear formulation for rigid-flexible coupling dynamics

A complete geometric nonlinear formulation for rigid-flexible coupling dynamics of a flexible beam undergoing large overall motion was proposed based on virtual work principle, in which all the high-order terms related to coupling deformation were included in dynamic equations. Simulation examples of the flexible beam with prescribed rotation and free rotation were investigated. Numerical results show that the use of the first-order approximation coupling (FOAC) model may lead to a significant error when the flexible beam experiences large deformation or large deformation velocity. However, the correct solutions can always be obtained by using the present complete model. The difference in essence between this model and the FOAC model is revealed. These coupling high-order terms, which are ignored in FOAC model, have a remarkable effect on the dynamic behavior of the flexible body. Therefore, these terms should be included for the rigid-flexible dynamic modeling and analysis of flexible body undergoing motions with high speed.

Active control of structural vibration by piezoelectric stack actuators

This paper presents a general analytical model of flexible isolation system for application to the installation of high-speed machines and lightweight structures. Piezoelectric stack actuators are employed in the model to achieve vibration control of flexible structures, and dynamic characteristics are also investigated. Mobility technique is used to derive the governing equations of the system. The power flow transmitted into the foundation is solved and considered as a cost function to achieve optimal control of vibration isolation. Some numerical simulations revealed that the analytical model is effective as piezoelectric stack actuators can achieve substantial vibration attenuation by selecting proper value of the input voltage.

Investment decision optimization for delayed product differentiation based on queuing theory

To balance inventory cost with diverse demand,an optimal investment decision on necessary process improvement for delayed product differentiation is studied. A two-stage flexible manufacturing system is modeled as a continuous time Markov chain. The first production stage manufactures semifinished products based on a make-to-stock policy. The second production stage customizes semi-finished products from the first production stage on a make-to-order policy. Various performance measures for this flexible manufacturing system are evaluated by using matrix geometric methods. An optimization model to determine the level of investment on process improvement that minimizes the manufacturer ’s total cost is established. The results show that,a higher investment level can reduce both the expected customer order fulfillment delay and the expected semi-finished products inventory. When the initial order penetration point is 0. 4,the manufacturer ’s total cost is reduced by 15. 89% through process investment. In addition, the optimal investment level increases with the increase in the unit time cost of customer order fulfillment delay,and decreases with the increase in the product value and the initial order penetration point.

Simultaneous scheduling of machines and automated guided vehicles in flexible manufacturing systems using genetic algorithms

The problem of simultaneous scheduling of machines and vehicles in flexible manufacturing system (FMS) was addressed.A spreadsheet based genetic algorithm (GA) approach was presented to solve the problem.A domain independent general purpose GA was used,which was an add-in to the spreadsheet software.An adaptation of the propritary GA software was demonstrated to the problem of minimizing the total completion time or makespan for simultaneous scheduling of machines and vehicles in flexible manufacturing systems.Computational results are presented for a benchmark with 82 test problems,which have been constructed by other researchers.The achieved results are comparable to the previous approaches.The proposed approach can be also applied to other problems or objective functions without changing the GA routine or the spreadsheet model.