浅谈机电控制中的高精度步进角度控制器的设计与实现

步进角度控制器在整个机电控制中有着重要作用,其控制精准程度直接影响着整个机械的作业效率与品质。对此,本文将从步进角度控制器的组成部分出发,通过实验设定好相关参数,模拟构建相应的约束参数。同时设定好相应的传递函数,引入自适应调整设备进行误差补偿,减少相应的误差,并构建出自适应的误差补偿方式,提高机电控制精度。

自动驾驶汽车的线控转向控制系统

基于传统汽车电动助力转向系统的基本结构,文中设计转向角度控制器模块和扭矩控制器模块,实现线控转向控制系统,以用于自动驾驶汽车的自动转向控制。其中转向角度控制器硬件使用STM32F4系列单片机,主要用于实时计算出转向扭矩值,实现转向角度的闭环控制;扭矩控制器模块主要由STM32单片机和扭矩信号生成电路构成,用于检测扭矩传感器输入及模拟扭矩传感器输出。分别设计转向角度控制器软件和扭矩控制器软件,最后在某轿车上部署测试,车辆的转向角度控制快速精准,实现了自动驾驶车辆平台的转向控制功能。

激光陀螺光路稳定技术的研究

为了稳定激光陀螺的光路,在陀螺控制系统中增设了角度控制。提供了一种分时控制系统,实现对角度控制器的各控制组件的分别控制和动态控制。实验结果表明,激光陀螺加上角度控制后,光强均值增大,均方差减小,曲线平坦,尤其在高低温情况下,角度控制能够改善陀螺掉光严重和无光的状态,使陀螺在任何温变下光强变化不超过15%,提高了陀螺耐高低温冲击的能力。

表单提交对象化-Struts

在b s结构中可以完全实现逻辑和界面的分离 ,而它们之间的数据交流只有一个途径 :表单提交。实现表单提交的对象化一直是很多程序员的愿望。本文将通过对struts的介绍来展示其基本工作原理 ,阐述如何用struts实现表单提交对象化。

Application and testing of a vertical angle control for a boom-type road header

Automatic profiling control using a boom-type roadheader requires an understanding of horizontal and vertical swing angles of the cutting boom. In this study the vertical angle of the cutting boom is discussed. First, a vertical swing detection model for the cutting boom is established. Then, a kinematic analysis of the vertical swing mechanism is made and formulae describing the geometrical relationship between the vertical swing of the cutting boom and the telescopic length of vertical hydraulic lift cylinders and vertical swing angle of the boom are presented. Various factors such as complexity of the calculation model, the difficulty of installing the sensor and the cost are compared for two methods. Finally, directly measuring the vertical swing angle of the cutting boom with a tilt sensor is decided to be the more simple and effective method. The detection sensitivity and the vertical cutting error of a tilt sensor are studied. Vibration tests on an EBZ160 roadheader were performed in a coal mine. The characteristic vibration frequencies are analyzed. A design of a vibration isolation mount for the tilt sensor is presented. It makes the detection device work more reliably under conditions where vibration is present and lays a foundation for the implementation of an automatic roadhead cutter. A tilt sensor is installed on an EBZ160 and an EBZ200, and experiments have been done in a coal mine. The re- suits show that the experimental result is favorable and achieves the goal of automatic control of the vertical swing of the cutting boom.

Angle Control of a Pneumatically Driven Musculoskeletal Model Based on Coordination of Agonist-Antagonist Muscle

In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.

提高冲床顶停位置控制精度的技术

随着啤酒行业的发展,国内高速易拉罐生产线开始不断增多,这种高速啤酒灌装线对铝制M拉罐的产品质量的要求也更高。制罐企业冲压设备也朝着更安全、稳定、控制精度更高方向发展。传统的冲床运行停止位置信号是靠光电传感器感应的形式来实现的,实际上由于电气元器件信号延迟等原因,且在冲床内部由于油雾、铝粉等杂质的影响,很容易造成光电传感器误信号等问题,这种电气控制的设计逐渐就无法满足冲床高速、精准控制和稳定运行的要求。本文以某厂为例,探讨建立一种冲床冲头运行位置实时跟踪、信号编码以及反馈控制的闭环控制系统,来实现冲床设备在不同运行速度下,冲头最终停止在目标区域范围内的目的,保护冲床模具不受损害,满足冲床高速、安全、稳定的精准控制要求。