Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.     

L波段低噪声放大器的分析与设计

利用Advanced Design System（ADS）完成了L波段低噪声放大器（LNA）的设计。分析了实际电路可能产生的非连续性、寄生参数效应等因素对电路各个性能指标的影响,并针对这些因素利用ADS进行了电磁仿真计算,最后给出了放大器的仿真结果和最终电路及测试结果。采用ATF-35143器件设计,达到了预定的技术指标,工作频率1.21GHz,增益G大于14dB,噪声系数NF小于0.5 dB,输入1dB压缩点大于5dbm。     

发电机误上电保护中逻辑电路应用及测试方法

发电机误上电保护是发电机变压器组保护中逻辑判据较为复杂的一种保护类型,在测试过程中有一定的难度。本文通过对发电机误上电保护的调试和检测,总结出实用的逻辑电路并提供相应的测试方法。对有类似微机保护装置的发电厂、变电站、电力职业院校及电力培训中心也有一定借鉴意义。     

OFDM快速频偏估计方法

提出一种基于前导符号为L等分结构的OFDM快速频偏估计的新方法,该方法只需一个OFDM符号作为前导符号,数据开销较小.接收端先用相关求相角的方法完成细频偏估计,再对经过细频偏补偿后的前导数据进行符号重构,然后对重构符号采用L点FFT运算,通过寻找频域信号峰值,对剩余频偏进行估计,从而完成粗频偏估计.为进一步降低系统的计算开销,采用了多级判决方式.计算机仿真表明,该方案具有计算复杂度低,估计性能较高的优点.     

Alkaline treatment kinetics of calcium phosphate by piezoelectric quartz crystal impedance

Calcium phosphate film was prepared by electrochemical deposition technology. Subsequently, the alkaline treatment process of calcium phosphate film in 0.1 mol/L NaOH solution was monitored on real time by the piezoelectric quartz crystal impedance (PQCI) technique. The variations of morphology and composition for the alkaline treatment products were characterized by scanning electron microscopy (SEM), Fourier transform infrared (FT-IR) and X-ray diffraction (XRD), respectively. The dynamic variations of calcium phosphate can be characterized by the change of equivalent circuit parameters. The results show that the forming process of hydroxyapatite (HA) is composed of three stages: (1) acidic calcium phosphate dissolution; (2) phase transformation; and (3) HA formation. Furthermore, the correlative kinetic equations and parameters are obtained by fitting the static capacitance (C _s)—time curves. Foundation item: Project(2005CB623901) supported by the Major State Basic Research and Development Program of China     

各向异性介质涂覆曲面导体目标的散射

由于各向异性介质电磁参数为张量形式,使得各向异性介质涂覆导体目标的电磁散射建模和精确计算相当复杂和困难.引入高阶张量阻抗边界条件,可以大大简化建模过程,提高计算效率.论文针对各向异性介质涂覆曲面导体目标,采用基于平面近似的高阶张量阻抗边界条件,将一维二阶张量阻抗边界条件应用于柱面涂覆目标,二维二阶张量阻抗边界条件应用于三维曲面涂覆目标上,建立二者的高阶张量阻抗边界条件解.设计算例仿真,并与精确解/矩量法解比较.通过仿真,研究了各向异性介质涂覆目标电尺寸、涂覆厚度以及目标形状对高阶张量阻抗边界条件解的精度的影响.     

柔性注压锚杆锚固段阻抗摩擦应力分布规律模拟研究

针对柔性注压锚杆解析及实验比较困难,采用有限元方法,模拟研究其锚固段阻抗摩擦应力的分布规律。数值模拟显示:沿锚杆环向呈近似正弦或余弦函数的循环分布形态;沿锚杆轴向应力分布可划分成波浪段、平台段以及突降段3个阶段。柔性注压锚杆锚固段最大阻抗摩擦应力沿轴向分布近似是均匀的,可实现真正的全长锚固。     

考虑桩-土相互作用的粘弹性土中管桩的纵向动力阻抗分析

在考虑三维波动的条件下,利用分离变量法求解了管桩桩周和桩芯粘弹性土层的竖向振动,对粘弹性土层中弹性端承摩擦管桩与土层的耦合振动问题进行了研究,得到了粘弹性土层中管桩的复刚度和桩顶导纳.讨论了桩周土和桩芯土剪切模量比、粘滞阻尼系数比和管桩内外半径比对管桩竖向动力阻抗的影响.     

对SEL-351A继电器方向元件的认识

通过对SEL-351A的零（负）序方向元件分别在接地方向、相间故障方向及三相短路故障方向的理论分析,结合电测试数据阐述了对SEL-351A继电器方向元件的认识。     

储层预测中有关测井参数的分析及应用

根据研究区56口井,笔者对岩心、自然伽马、自然电位、声波时差、密度、中子等钻井、测井资料进行多种统计和交会分析,研究速度、密度、波阻抗、孔隙度与深度、岩性,波阻抗与孔隙度等的关系,分析储层物性特征,并作相关交会图,建立规律关系式。经比较得出利用波阻抗进行下一步的反演工作会比较合理。根据砂岩孔隙度与波阻抗之间的函数关系,可以利用砂岩波阻抗估算砂岩孔隙度。为下一步储层预测研究提供良好的基础资料。