基于Matlab的制芯机器人夹持器稳定性研究与分析

由于铸造厂制芯机器人的工作环境恶劣,机器人抓取砂芯的稳定性较差,时常出现掉砂芯、夹伤砂芯的问题。针对上述问题建立以夹持器、气压、机械振动的系统数学模型,采用高阶系统极点在[s]平面的分布法来判定该系统的稳定性。在确保高阶系统极点值不变的情况下,通过改变系统的零点值来观察零点值对系统稳定性、振荡衰减时间的影响。用Matlab的pzmap和impulse函数分别对系统的零点、极点分布和零点值的不同对系统响应进行仿真,运用仿真结果与现场试验进行优化参数,结果表明采用一种刚度与柔度各为1/2的夹持器对制芯机器人的稳定性具有较好优化效果。     

Cu, Cr and As distribution in soils adjacent to CCA-treated utility poles in Eastern Blacksea Region of Turkey

In this study, the main objective was to asses the distribution of Cu, Cr, and As in soils adjacent to CCA-treated utility poles in Eastern Blacksea Region of Turkey (Trabzon, Rize and Artvin ) and determine the influence of soil composition.

Surface (0–5 cm) and subsurface soil samples (30–40 cm) were collected near CCA-treated utility poles and control soil samples away from CCA-treated utility poles were also collected. Water holding capacity, pH and mechanical properties of soil samples were determined for both depth levels.

Results showed that Cu, Cr and As concentration in soil samples taken from all three cities in 0–5 cm depth was higher than soil samples taken from 30–40 cm depth. Cu, Cr and As concentrations were much higher in soil samples taken from city of Rize     

Constructing hyperchaotic systems at will

Over the last two decades, chaotification has received increasing attention from various communities of science and engineering. This paper aims at developing a unified chaotification framework for generating desired higher‐dimensional dissipative hyperchaotic systems by using a single‐parameter controller. The main idea is to use a block diagonal matrix in the design of the nominal system, so as to construct a desired hyperchaotic system. Specifically, the proposed scheme is to assign desired closed‐loop poles to the controlled system, allocating the corresponding numbers of eigenvalues with positive real parts at two types of saddle‐focus equilibria. For the non‐degenerate case, the number of positive Lyapunov exponents of the controlled system is given by the largest number of positive Lyapunov exponents of the desired hyperchaotic system. Two representative examples are given to illustrate and verify the proposed design method. Finally, the digital signal processor is employed to implement the above 10‐dimensional hyperchaotic systems, and the experimental observation is also given. Copyright © 2015 John Wiley & Sons, Ltd.     

Oscillation based test method of parameterization of open loop op amp and its authentication

The analytical design of differential amplifiers, the building blocks of an op-amp, requires an elegant, handy and computationally simple experimental method of measuring the d.c.super-gain of these blocks. This paper presents such an oscillation based test (OBT) by putting the Op.Amp. under test in the close loop of state variable filter. The oscillation frequency of the linearized system directly yields the d.c. open loop gain, the dominant pole and the second order non-dominant pole of test Op.Amp. The d.c. open loop gain of DUT is further authenticated by a novel method of frequency domain analysis using a super attenuator. The authentication is positive with 95 percent confidence level (ɛ, 0 percent, 9.64 percent) thereby establishing the validity of OBT method.     

永磁直线同步电机解析分析及有限元验证

针对永磁直线同步电动机具有边端效应、气隙不均匀、气隙磁场分布复杂、永久磁极几何尺寸难以确定的问题,给出了单段永磁直线同步电动机气隙磁场的二维解析分析,讨论了电机的各主要尺寸参数对气隙磁场和性能的影响,提出了永久磁极的设计原则和计算公式,分析了考虑饱和影响、计及边端效应时分段式永磁直线同步电动机的非线性、不对称、变化的自...     

汽车发电机爪极闭式一火两锻成形工艺研究

在对汽车发电机爪极零件结构分析的基础上,提出了基于结构拆分的爪极闭式一火两锻成形工艺和对应的模具,该工艺先径向墩挤成形出爪极基座部分,然后再反挤出爪齿和中间凸台.利用Deform- 3D建立了工艺过程的热力耦合有限元分析模型,并得到了成形过程中坯料形状变化、材料流动和成形载荷等情况.结果表明:该工艺能够获得齿形充填完好...     

太平湾电站变电站水泥杆裂缝分析及加固

太平湾电站变电站载重水泥杆中下部产生裂缝,其原因有纵向压力过大、温度应力、骨料的安定性、混凝土碳化和碱骨料反应等。利用碳素纤维片弹性模量大、比重小、疲劳强度高、耐久性好、耐磨损、抗腐蚀的性能进行加固,以使构架稳固,确保电厂安全发供电。     

磁阻式旋转变压器极槽配合研究

磁阻式旋转变压器主要用于伺服控制系统中,针对极槽配合方式选择的问题,将信号绕组极对数引入到正弦绕组匝数计算中,推导出磁阻式旋转变压器定子齿数、信号绕组极对数和转子极对数之间的配合关系,并通过有限元仿真和样机试验验证了极槽配合方式的可行性。由极槽配合方法,信号绕组的极对等于转子极同一个定子可以与不同     

输出函数在多输入多输出非线性控制系统设计中的重要作用

针对多输入多输出系统研究了输出函数在非线性控制设计中的作用,指出输出函数在非线性控制设计中的一个重要功能是对闭环系统进行极点配置,并提出了一个对非线性控制系统具有一定普适性的输出函数形式。讨论了通过将输出函数选取为多状态量的线性组合形式来实现对系统闭环极点进行配置的方法。在多输入多输出系统中,针对凝汽式汽轮发电机给出应用实例。举例中讨论了通过将输出函数选取为发电机端电压Uf、转子角速度ω、转子角加速度ω、输出有功Pe等状态量的线性组合来设计出具有多性能指标的非线性控制律,以改善系统的动、静态性能。仿真结果表明所提出的控制律不仅能明显地提高发电机的动态稳定性,而且能准确地将发电机的端电压Uf和输出有功Pe控制在其给定值上运行,不会因受扰而发生偏移。这表明所提出的控制律能很好地协调系统的动、静态性能。     

电火花线切割加工中极间间隙击穿规律的研究

针对电火花线切割加工中极间放电过程难以控制的问题,系统分析了击穿与极间距离、击穿与脉冲电压持续时间、击穿与杂质、击穿与液体介质温度等关系,总结出了电火花线切割加工中电极间隙击穿的一般规律,从而为更好地控制电火花线切割加工中极间放电过程提供了理论依据。