Small unmanned helicopter's attitude controller by an on-line adaptive fuzzy control system

Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and there are random disturbances,the conventional control methods with unchanged parameters are often unworkable.An on-line adaptive fuzzy control system(AFCS)was designed,in a way that does not depend on a process model of the plant or its approximation in the form of a Jacobian matrix.Neither is it necessary to know the desired response at each instant of time.AFCS implement a simultaneous on-line tuning of fuzzy rules and output scale of fuzzy control system.The two cascade controller design with an inner(attitude controller)and outer controller(navigation controller)of the small unmanned helicopter was proposed.At last,an attitude controller based on AFCS was implemented.The flight experiment showed that the proposed fuzzy logic controller provides quicker response,smaller overshoot,higher precision,robustness and adaptive ability.It satisfies the needs of autonomous flight.

Design of in-line multipoint initiation control system

In order to improve the power of initiating explosive warheads, besides exploring new type of high explosive, multipoint initiation technology becomes the research focus. With research on electronic safety and arming devices （ESADs）, pulse power devices and slapper detonators, a hardware control circuit was designed for multipoint initiation control system based on complex programmable logic device （ CPLD ）. In addition, a real-time monitoring interface based on virtual instru- ments technology was designed by the prevailing software of Laboratory Virtual Instrument Engineer- ing Workbench （LabVIEW）. It provides users a real-time status of the hardware circuit system. Mo- reover, a series of experiments were done on the software and hardware platform. The results show that the signals transmission, collection, analysis and display can be realized reliably through a serial port line. It is verified that using a serial bus controller for multiple initiators is reasonable. Successful design of the platform will play an important foundation for the theory and engineering of the fu- ture weapon system. Surely, it will become one of the development directions for intelligent initia- tion system.

The new control system of HLS linac and transport line

The new linac and transport line control system of Hefei Light Source (HLS) is a distributed control sys- tem based on EPICS (Experimental Physics and Industrial Control System). Industrial PC (IPC) is widely used as not only Input/Output Controller (IOC) but also device controller. Besides industrial PC, PLC and microcontroller are also used as device controllers. The software for industrial PC based device controller is developed based on VxWorks real-time operating system. The software for PLC and microcontroller are written with ladder software package and assemble language, respectively. PC with Linux and SUN workstation with Solaris are used as operator interfaces (OPI). High level control is made up of some EPICS tools and Tcl/Tk scripts.

The Study of Fuzzy Line Control for Multiple Intersections

The line control for multiple intersections is a hot spot in the area of transportation. According to the principle of system analysis and coordination, a method about fuzzy line control for multiple intersections is proposed. The system is made of two control units, one is the basic control unit for every single intersection, and the other is used for the function of coordination.

Hand-eye-vision based control for an inspection robot's autonomous line grasping

In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.

Evaluation matrix with the speed feature based on double inspiriting control lines

Methods of the comprehensive evaluation have been studied for many years. However, the change speed of evaluated objects was rarely considered by the existing evaluation methods. An evaluation matrix is proposed to remedy this deficiency. Firstly, the change speed state （CSS） of the evaluated objects is analyzed based on double inspiriting control lines （DICLs）, and a matrix of the CSS is constructed. Then, 72 elements in the matrix are analyzed, and formulas describing each CSS are given. The efficiency of the proposed evaluation matrix is proved when the CSS merges with the change speed trend （CST） in the dynamic comprehensive evaluation. Finally, a computing example shows that the proposed evaluation matrix is feasible in the dynamic comprehensive evaluation with the speed feature.

Data Logging and Control of a Remote Inverter Using LoRa and Power Line Communication

For decades, the power system was highly centralized. With the growing integration of distributed generations into the system, there is a necessity for bi-directional communication methods to monitor and control the remote assets. The primary objective of this paper is to develop a communication link for monitoring and controlling a grid-connected inverter in a remote location. Furthermore, the paper presents developments that have been incorporated to improve the communication link. The literature survey indicates that LoRa is superior compared to other technologies, but has some security and reliability issues. This paper also presents an encryption algorithm to improve the security of the LoRa link. Local data storage added to the system before transmitting data increases the system reliability. A display at the transmission end is added to improve the user-friendliness of the communication link. A Powerline Communication link is parallelly added to the LoRa link to improve the reliability. Finally, tests are conducted with an actual inverter and the results are presented. The tests show that the developed communication link has improved security and reliability, while its open nature makes it highly scalable and adaptable for employment in other smart grid applications.

涡旋盘热模锻自动化生产线及智能检测控制系统设计

针对汽车空调压缩机涡旋盘成形难度大、缺陷多、依赖人工调整参数等问题,结合锻造行业的智能化发展需求,分析涡旋盘锻造工艺,设计涡旋盘自动化生产线、全流程在线检测控制系统,为热模锻智能检测提供参考。

茶叶智能化拼配匀堆除杂生产线控制系统设计

为提高红茶生产工艺水平和产能,通过变频器、PLC、触摸屏及IPC的电气集成,搭建了一套茶叶生产线分布式控制系统,完成了PLC控制程序、现场控制级触摸屏HMI和IPC监控软件的设计,实现了红茶生产线的全过程自动控制、实时数据采集、生产工艺参数设置、历史数据查询及故障自动报警等功能。该系统具有红茶生产线设备的管控一体化功能,满足了现场生产信息可视化监控的要求,智能化程度高,整体技术水平先进。

叠合板钢筋网片柔性生产线控制系统研究

针对当前叠合板钢筋网片生产过程中调试效率低的问题,提出了一套适用于装配式建筑领域的叠合板钢筋网片柔性生产线,通过灵活调整网片间距,实现网片柔性化生产。为解决叠合板钢筋网片柔性生产线中的控制器分配问题,建立了安装空间、网络传输距离与制造成本相结合的多目标优化模型,运用增强精英保留的多目标遗传算法对模型进行求解。计算结果表明:优化后的方案可以有效降低成本,保证网络传输,为设计一套安装便利、传输稳定及低成本的生产线控制系统提供了理论依据。

选煤厂生产线调度最优决策专家系统设计

为提升选煤工艺的运行效率、创造更多的企业效益,设计了一种生产线调度最优决策专家系统。采用多种终端等组件,构建网络连接子系统。采用传感器、采集器等不同设备,构建实时监测子系统。结合上位机与调度决策模块,组成移动调度子系统。以可编程逻辑控制器(PLC)控制程序与调度最优决策方案制定程序作为技术支持,根据最优决策的目标函数模型与约束条件,生成最优调度决策方案。试验结果表明,应用所设计系统,每吨煤炭的最长加工时间最小化至17.69 s,且用于调度的时间仅为17.13 s。由此证明:所设计系统运行速度较快;给出的决策方案完全符合调度目标;煤炭调度时间和加工时间均较短。该系统可行性与实时性优势显著。该设计能为企业创造较好的实践价值与经济效益。

机械加工智能制造生产线控制系统的设计与实现

目前,我国的制造业正朝着智能化、高端化的方向转型,智能制造生产线已经成为企业研究的重点。但是,通过分析发现,部分中小型制造企业在设备、零件加工过程中,存在生产成本较高、智能化程度较低的问题,给企业发展带来一定的负面影响。基于此,文章以加工组合件为例,设计一种基于以太网工业协议(Ethernet Industrial Protocol,Ethernet/IP)的智能制造生产线控制系统。该控制系统在实际运作过程中能够通过程序自动化控制各个生产线,后期操控较为简单,具有较高的性价比,可在机械加工制造业中获得良好的应用效果。

“三全育人”理念指导下热工控制系统试验与维护课程思政的教学设计与实施

对当前高职院校热工控制系统试验与维护课程的教学现状及问题进行分析。提出了以“厚德强技乐业、电力点亮人生”为思政主线的课程思政总体设计思路,从课程思政教学目标、教学体系、教学方法、教学实施、教学评价5个方面对高职院校热工控制系统试验与维护课程思政教学进行了改革探索。实践结果表明,热工控制系统试验与维护课程思政教学改革取得了良好效果,学生的电力报国情怀培育得以强化,人才培养质量显著提高,毕业生获就业单位广泛好评。

基于传感器和现场总线技术的轴承压装线自动控制系统

轴承压装线自动控制能够减少压装力,设计基于传感器和现场总线技术的轴承压装线自动控制系统。在系统硬件部分,重点设计控制器及周边电路、传感器与CAN总线控制器。在系统软件部分,计算压装力及过盈量,将PID控制方法应用到轴承压装线控制中,实现轴承压装线自动控制。实验结果表明,此次研究的传感器和现场总线技术的轴承压装线自动控制系统控制后压装力为400 kN左右,满足规定需求,同时,减少了偏移量与磨损情况,满足方法设计需求。

基于PLCSIM Advanced和Simulink的自动化生产线仿真实训平台设计

为解决自动化生产线实训线下课程实验硬件套数不足、实验时长和场地受限等问题,提升教学质量,设计了一种基于PLCSIM Advanced和Simulink的自动化生产线仿真实训平台。该仿真平台以实训设备为依托,使用Simulink搭建被控对象仿真模型,在PLCSIM Advanced仿真控制器中编写控制算法,通过应用程序接口(application programming interface,API)通信实现对象模型与控制器间数据的实时交换和仿真。以纸张张力控制设备为例,介绍了仿真实训平台搭建和实施过程。实践教学表明,该仿真平台提高了自动化生产线实训课程的教学成效,激发了学生实践学习的兴趣,提升了学生发现、解决复杂工程问题的能力,让学生深刻体会到团队合作和有效沟通的重要性。

基于Node-red的云端智能生产线控制系统设计与实现

针对传统生产线在刚性生产过程中面临的成本过高、远程实施难、兼容性低等关键问题,基于目前中小企业的技术基础相对薄弱,无法将云计算平台、数据存储和处理等设备及技术运用到实际生产中的现状,本文利用西门子S7-1200 PLC作为核心控制器,基于Node-red平台设计了成本低、兼容性高的云端智能生产线监控系统,便于实现对于生产线的监视和控制,提高生产效率与产品质量。现场运行表明,该系统运行稳定,满足智能生产线的设计要求,同时具备部署成本低、兼容性高的突出优势。

船舶管子柔性产线控制系统设计与实现

随着先进制造技术不断提升迭代以及产品质量追溯管控要求,船舶管子制造也由传统粗放的生产模式不断向自动化生产模式演变,众多船厂逐步实现并推广,以便消除制造效率与焊接质量等方面的瓶颈。为了提高产线自动化水平,应不断优化和改进相应产线控制系统。结合现场实际调研需求,梳理管子自动化产线制造工艺,并从系统功能、数据库设计、系统集成等方面进行研究与实现,以满足管子自动化产线任务接收,对具有限定条件的柔性管加工生产线精细化管理。通过任务的合并标序,完成无序上料到有序生产的能力建设。通过全周期的监控并控制自动化产线,实现安全、有序、高效的无人化生产。

柴油机智能检修流水线控制系统分析研究

风冷柴油发电机组适合于铁路客车车下悬挂,为车上空调、照明等电气系统提供电源。柴油发电机组检修环节高度流程化,针对检修作业流程,以流程图像素点为依托,结合高度流程化检修工艺,将检修流程图“按钮化”,直观显示各项作业流程状态,填写检修过程信息,自动生成检修台账,保障检修质量,作业各关键环节可追溯;针对物料信息繁杂,使用物联网技术,将物料编号化,通过扫描物料条型码信息,将物料进行打包,实现辆份制施修,物料信息可追溯,将检修过程、物料信息可视化。对试验数据统计、物料消耗追溯、故障统计分析、阶段性验收等环节,采用数字化、无纸化的串口通信,深度学习的神经网络、人机交互等技术,进行一站式任务派发,提高作业效率、降低生产成本,实现各项生产环节闭环管理。

基于机械加工的智能制造生产线控制系统设计

为保证机械加工质量和效率,降低机械加工成本,本文应用工业互联网、智能传感器等现代化技术,基于机械加工存在的问题,设计一种新型、先进的智能制造生产线控制系统。首先,介绍系统设计关键技术;其次,根据系统性能需求分析,完成系统架构设计;最后,分别设计加工区、分拣搬运区、组件装配区、成品搬运区、中控区五大模块。本文所设计的基于机械加工的智能制造生产线控制系统具有功能强大、实用性强、性价比高、经济效益显著等特点,符合预期设计标准和要求。