Adaptive super-twisting fractional-order nonsingular terminal sliding mode control of cable-driven manipulators

This paper proposes a novel adaptive super-twisting fractional-order nonsingular terminal sliding mode (AST–FONTSM) control scheme using time delay estimation (TDE) for the cable-driven manipulators. The designed control scheme utilizes TDE to obtain the estimation of system dynamics, and therefore no system dynamic model information will be required. Afterwards, AST and FONTSM schemes are applied to ensure good control performance in both reaching and sliding mode phases. Due to the adoption of AST scheme, good robustness and high control precision are obtained in the reaching phase, while the boundary information of the lumped uncertainties will be no longer required. Thanks to the utilization of FONTSM error dynamics, fast convergence and accurate tracking and strong robustness can be simultaneously ensured in the sliding mode phase. Corresponding comparative simulation and experimental results demonstrate the effectiveness and superiorities of our proposed method over the existing control methods.     

三维增材鞋面印花机对位平台的冗余驱动控制策略

针对自动鞋面印花机在进行对版时定位精度低,影响鞋面印刷质量的问题,提出了基于冗余驱动的印花机对位平台。在原有的三轴并联机构对位平台的基础上通过增加1个Y轴,有效地提高了对位平台Y向的刚度和承载能力,从而提高了印花机对位平台的定位精度。由于冗余驱动机构运动过程中存在机构运动耦合,利用几何法进行解耦,提出了基于电子凸轮的控制策略。同时提出了对机构换向间隙补偿的控制策略,进一步提高对位平台的定位精度,保证了鞋面的印刷质量。经过实验验证,改进后的印花机对位平台Y向定位精度提高了85.7%,Z向旋转定位精度提高了72.9%,X向和Y向换向间隙分别提高了50% 和75%,Z向旋转换向间隙提高了42.86%。     

基于冗余字典的联合稀疏同步迭代硬阈值算法

为了改进基于压缩感知(CS)的欠Nyquist采样系统在冗余字典条件下信号重构的效果,研究了基于ε-闭包的分块联合稀疏模型的同步迭代硬阈值(SIHT)算法。分析了采样系统基于多测量向量(MMV)的CS合成模型,提出了ε-闭包的分块相干性和约束等距特性(RIP)概念;在迭代过程中根据冗余字典分块相干性,对更新支撑集进行优选从而完成算法改进;给出了迭代收敛常数,并分析了改进型算法的收敛特性。仿真实验结果表明,相比传统算法,改进型算法在采样系统足够的通道数条件下重构成功率可达到100%,噪声抑制能力能够提高7 dB~9 dB,总运算时间可以降低至少37.9%,信号重构收敛速度更快。     

Design and analysis of a class of redundant collaborative manipulators with 2D large rotational angles

The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational angles. In order to construct 2D rotational degrees of freedom (DOFs), a platform with 2D revolute joints is proposed first. Based on the constraint screw theory, the feasible limbs that can be connected in the platform are synthesized. In order to provide constant rotational axis for the platform, a class of redundant limbs are designed. A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion. The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform. The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed. The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.     

冗余驱动闭链弓形五连杆动力学建模与优化

研究了冗余驱动闭链弓形五连杆动态翻滚过程中驱动力矩协调分配的问题。建立了闭链弓形五连杆运动学分析模型，分别对驱动杆件和约束杆件的速度、加速度进行分析，得到各杆件的加速度矩阵和角加速度矩阵，进而得到各杆件的合力及力矩，从而获得该机构的牛顿-欧拉动力学方程。采用伪逆法对各驱动力矩进行协调分配,使瞬时驱动力矩2范数最小。给定机构动态翻滚过程的关节轨迹，分别计算非冗余驱动和冗余驱动方式下的驱动力矩，计算结果表明，冗余驱动方式可以显著减小最大瞬时驱动力矩。     

一种“KooN”结构的马尔可夫简并建模和简化计算的方法

IEC61508等标准提出了几种计算安全仪表系统需求时平均失效概率的方法,但是,对于具有冗余配置的复杂系统,随着组件数量的增加,系统的中间状态数量快速增长,用户难以构建马尔可夫模型,即便借助计算机来建模运算也较为耗时。提出了一种同型“K oo N”简并状态的马尔可夫建模的通用方法,首先是根据降级状态进行判断,将符合条件的状态进行简并,然后对标记为危险失效状态的概率进行计算。通过严格的理论推导,该简并状态方法可以在不损失精度的前提下简化马尔可夫建模。     

燃气热水器的可靠性设计

提出了使用交流电源的燃气热水器应进行的电气安全、接地、硬件和软件等方面的可靠性设计。     

基于光纤网络的分布式励磁控制系统

本文介绍了一种基于光纤网络的分布式励磁控制系统,其智能功率柜在励磁调节器退出运行后可以通过自身通信状态和预置优先级选出替代的在线控制设备。本文提出了一种阳极电压运行方式供智能功率柜独立运行时使用。现场试验验证了智能功率柜切换逻辑的可靠性,也证明了阳极电压运行方式的实用性。     

基于匹配追踪稀疏分解的电能质量扰动检测

根据基于冗余字典的匹配追踪(MP)信号分解思想,提出一种电能质量扰动信号的参数检测与特征波形提取方法。在MP算法的每次迭代中,首先采用快速傅里叶变换(FFT)搜索能量最大的频率成分,然后采用基于离散Gabor原子中心区域的简化内积计算方法获得扰动参数的估计值,并以该估计值作为初始解,采用BFGS算法做局部搜索,进而获得精确匹配参数,并结合基于递归的内积计算确定扰动的起止时刻,最后根据电力信号扰动波形特点,设计合成字典,确定与扰动成分最匹配的波形。对单一和混合电能质量扰动信号的分解实验表明,该方法可以实现扰动参数的快速精确检测,进而有效提取扰动特征波形,并具有较好的抗噪性能。