This paper presents the application of dual-number matrix to the formulation of Jacobian equations of robot with redundancy, the analytical technique that is based on the dual-number matrices, a 3 × 3 matrix with...This paper presents the application of dual-number matrix to the formulation of Jacobian equations of robot with redundancy, the analytical technique that is based on the dual-number matrices, a 3 × 3 matrix with dualnumber elements, and the dual-number transformation method. Dual-number matrices make possible a concise representation of joint parameters. In particular, the method can effectively be used for direct determination of Jacobian matrices. It is shown that the proposed procedure contributes a simplified approach to the formulation of robotic kinematics, dynamics and control system modelling.展开更多
Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulat...Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators. Although methods based on the distance function have been demonstrated simple and efficient, different collision avoidance points can usually produce completely different results and even failure. The paper discussed the choices of collision avoidance points and proposed a novel method for the choosing of those points. The method is testified by simulation results of two redundant planar manipulators.展开更多
With the progress of the railway technology, the railway transportation is becoming more efficient, intelligent and faster. High speed trains, as a major part of the railway transportation, are engaged with passenger&...With the progress of the railway technology, the railway transportation is becoming more efficient, intelligent and faster. High speed trains, as a major part of the railway transportation, are engaged with passenger's safety, and therefore the reliability issue is very important in such vital systems. In this paper, a dependable speed controller core based on FPGA has been developed for high speed trains. To improve the reliability and mitigate single upset faults on basic speed controller, this paper proposes a new effective method which is based on hardware redundancy. In the proposed Hybrid Dual Duplex Redundancy(HDDR) method, the original controller is quadruplicated and correct values are voted through the comparator and error detection unit. We have analyzed the proposed system with Reliability, Availability, Mean time to failure and Security(RAMS) theory in order to evaluate the effectiveness of proposed scheme. Theoretical analysis shows that the Mean Time To Failure(MTTF) of the proposed system is 2.5 times better than the traditional Triple Modular Redundancy(TMR). Furthermore, the fault injection experimental results reveal that the capability of tolerating Single Event Upsets(SEUs) in the proposed method increases up to 7.5 times with respect to a regular speed controller.展开更多
为满足发动机控制系统中燃油调节器的高可靠性和安全性要求,配套的燃调数字控制器除具备常规的燃调闭环控制能力外,更需具备自恢复能力。详细介绍了控制器的每个余度中各个组成部分的功能,同时阐述了控制器自恢复功能对燃油调节器可靠...为满足发动机控制系统中燃油调节器的高可靠性和安全性要求,配套的燃调数字控制器除具备常规的燃调闭环控制能力外,更需具备自恢复能力。详细介绍了控制器的每个余度中各个组成部分的功能,同时阐述了控制器自恢复功能对燃油调节器可靠运行的重要性。设计了一种以数字信号处理器(Digital Signal Processor,DSP)为核心,结合数字电源监控、外部看门狗和主控切换逻辑等硬件电路的自恢复双余度燃调控制器。与传统的双余度燃调控制器相比,所设计的控制器具有结构简单、成本较低、自恢复等优点。控制器样机测试结果表明了设计方案具有可行性和可靠性,具有良好的工程应用前景。展开更多
针对当前集成了不同厂家几套子系统的一些燃驱压缩机组控制系统结构复杂、维护成本高等问题,应用基于Mark VIe控制平台来升级改造该系统。以某改造项目为例,应用双冗余Mark VIe控制系统架构,Mark VIe SIL3模件作为紧急停机和火气保护系...针对当前集成了不同厂家几套子系统的一些燃驱压缩机组控制系统结构复杂、维护成本高等问题,应用基于Mark VIe控制平台来升级改造该系统。以某改造项目为例,应用双冗余Mark VIe控制系统架构,Mark VIe SIL3模件作为紧急停机和火气保护系统的硬件,同时采用Mark VIe ControlST统一软件平台。结果表明:新控制系统采用了一体化硬件、软件设计,提高了机组控制系统的安全可靠性,有利于日常运行维护,而且新系统具有在线监测功能,有助于系统故障排查。展开更多
文摘This paper presents the application of dual-number matrix to the formulation of Jacobian equations of robot with redundancy, the analytical technique that is based on the dual-number matrices, a 3 × 3 matrix with dualnumber elements, and the dual-number transformation method. Dual-number matrices make possible a concise representation of joint parameters. In particular, the method can effectively be used for direct determination of Jacobian matrices. It is shown that the proposed procedure contributes a simplified approach to the formulation of robotic kinematics, dynamics and control system modelling.
文摘Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators. Although methods based on the distance function have been demonstrated simple and efficient, different collision avoidance points can usually produce completely different results and even failure. The paper discussed the choices of collision avoidance points and proposed a novel method for the choosing of those points. The method is testified by simulation results of two redundant planar manipulators.
文摘With the progress of the railway technology, the railway transportation is becoming more efficient, intelligent and faster. High speed trains, as a major part of the railway transportation, are engaged with passenger's safety, and therefore the reliability issue is very important in such vital systems. In this paper, a dependable speed controller core based on FPGA has been developed for high speed trains. To improve the reliability and mitigate single upset faults on basic speed controller, this paper proposes a new effective method which is based on hardware redundancy. In the proposed Hybrid Dual Duplex Redundancy(HDDR) method, the original controller is quadruplicated and correct values are voted through the comparator and error detection unit. We have analyzed the proposed system with Reliability, Availability, Mean time to failure and Security(RAMS) theory in order to evaluate the effectiveness of proposed scheme. Theoretical analysis shows that the Mean Time To Failure(MTTF) of the proposed system is 2.5 times better than the traditional Triple Modular Redundancy(TMR). Furthermore, the fault injection experimental results reveal that the capability of tolerating Single Event Upsets(SEUs) in the proposed method increases up to 7.5 times with respect to a regular speed controller.
文摘为满足发动机控制系统中燃油调节器的高可靠性和安全性要求,配套的燃调数字控制器除具备常规的燃调闭环控制能力外,更需具备自恢复能力。详细介绍了控制器的每个余度中各个组成部分的功能,同时阐述了控制器自恢复功能对燃油调节器可靠运行的重要性。设计了一种以数字信号处理器(Digital Signal Processor,DSP)为核心,结合数字电源监控、外部看门狗和主控切换逻辑等硬件电路的自恢复双余度燃调控制器。与传统的双余度燃调控制器相比,所设计的控制器具有结构简单、成本较低、自恢复等优点。控制器样机测试结果表明了设计方案具有可行性和可靠性,具有良好的工程应用前景。
文摘针对当前集成了不同厂家几套子系统的一些燃驱压缩机组控制系统结构复杂、维护成本高等问题,应用基于Mark VIe控制平台来升级改造该系统。以某改造项目为例,应用双冗余Mark VIe控制系统架构,Mark VIe SIL3模件作为紧急停机和火气保护系统的硬件,同时采用Mark VIe ControlST统一软件平台。结果表明:新控制系统采用了一体化硬件、软件设计,提高了机组控制系统的安全可靠性,有利于日常运行维护,而且新系统具有在线监测功能,有助于系统故障排查。
