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1.
基于CAN总线的运动控制系统的设计   总被引:3,自引:3,他引:5  
为同时实现运动控制系统的开放式通信和分布式控制,将CAN总线应用到系统各组成部分的通信控制中;以PC机为上位机,80C196KC单片机为智能节点的核心,设计了CAN适配卡及各智能节点,进而构成总线式运动控制系统;该系统是一个具有通用性的基于CAN总线的工业测控系统;该系统与传统的控制系统相比更易于改型和扩充,目前已应用于实际工程控制中。  相似文献
2.
PID landing orbit motion controller for an indoor blimp robot   总被引:2,自引:2,他引:0  
Blimp robots are attractive as indoor flying robots because they can float in the air, land safely with low energy, and stay in motion for a long time compared with other flying robots. However, controlling blimp robots is difficult because they have nonlinear characteristics, are influenced by air streams, and can easily be influenced by inertia. Therefore, a robust and adaptive control system is needed for blimp robots. The applied research that has studied the features of indoor flying robots in recent years has prospered. Operating an indoor blimp robot for a long time is difficult because the payload is small, multiple batteries cannot be stacked, and the design of a thruster that gives freedom to the entire blimp robot is difficult. Therefore, an autonomous charge that allows operation for a long time is needed. We have developed a method of landing with orbital control of the charge point that gives autonomy to a blimp robot. The possibility of landing with orbital control is shown. This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005 An erratum to this article is available at .  相似文献
3.
基于H<SUB>∞</SUB>范数优化的干扰观测器的鲁棒设计   总被引:1,自引:1,他引:0       下载免费PDF全文
研究干扰观测器的鲁棒优化设计方法, 应用H范数定义干扰观测器的优化性能评价函数, 把低通滤波器的设计问题转换为H闭环回路成形问题. 通过适当处理相对阶次条件等约束, 把带有约束的回路成形问题转换成无约束的H标准问题, 然后利用H标准问题的求解算法设计滤波器. 此外, 探讨了性能与频率加权函数的关系, 并在此基础上提出了加权函数的选取方法. 实验结果证明该方法设计简单, 且具有最优性和系统性.  相似文献
4.
Interactive animation of parametric models   总被引:1,自引:1,他引:0  
This paper describes a program which allows parametric models of three-dimensional characters and scenes to be interactively controlled for computer animation. The system attempts to span the two most common approaches to animation: language-driven or programmed and visually-driven or interactive. Models are designed in a geometry language which supports vector and matrix arithmetic, transformations and instancing of primitive parts. As a result, constraints and functional dependencies between different parts can be programmed. Control is achieved by parameterizing the model. Subsets of parameters can be connected to different logical input devices, establishing an input mode to control the model's shape. Parameter sets can be stored to form a database of positions. Positions then can be mapped to frames and interpolated to animate the model.  相似文献
5.
自由飞行空间机器人系统的协调运动控制   总被引:1,自引:1,他引:0       下载免费PDF全文
考虑由载体和机械臂组成的空间机器人系统的协调控制问题,提出了一种新的协调 控制策略.该策略首先利用简单的变结构控制器粗略控制载体的运动,进而设计机械臂控制 器以保证手端精确跟踪其期望的运动轨迹.应用该策略分别对手端自由运动和受限运动设计 了相应的控制器,并对两杆平面空间机器人系统进行了仿真,证实了控制策略的有效性.  相似文献
6.
基于Java 3D的空间机器人运动仿真系统*   总被引:1,自引:1,他引:0  
重点阐述了空间机器人仿真系统的体系结构、空间机器人运动分析与仿真建模、机器人避碰原则、空间机器人碰撞检测与避碰的实现、空间机器人仿真系统基于Java 3D的实现.  相似文献
7.
Modifying a command or actuation signal by convolving it with a sequence of impulses is a useful technique for eliminating structural vibration in rest-to-rest motion of mechanical systems. This paper describes an adaptive discrete-time version of this approach where amplitude and timing of impulses are tuned during operation to match the system under control. Solutions giving zero residual vibration are formulated in terms of a quadratic cost function and constructed by iterative operations on measured sets of input–output data. The versatility of the approach is demonstrated by simulated test cases involving (1) amplitude optimization of impulses with fixed timings, (2) timing optimization of impulses with fixed amplitudes and (3) combined timing and amplitude optimization. The approach is model-free and directly applicable to multi-mode systems. Moreover, fast adaptation within a single rest-to-rest maneuver can be achieved.  相似文献
8.
In this paper, perturbation-based extra-insensitive input shapers (PEI-ISs) are proposed to enhance the robustness of the input shaping technique. The extra-insensitive input shaper (EI-IS) has been known to be more robust than the so-called derivative input shapers such as ZVD, ZVDD, and ZVDDD shapers. However, the robustness of the known EI-IS is restricted by the symmetric property in the sensitivity curve. To address this, the PEI-IS is devised by multiplying a series of input shapers in the Laplace domain, of which the impulse times are slightly perturbed from those of the zero vibration (ZV) shaper. For a single-hump case, a closed-form solution to the PEI-IS is provided. For two- and three-hump cases, the approximate solutions are presented. The robustness is evaluated by simulations and assessed by means of the insensitivity. It will be shown that the proposed PEI-IS does improve the robustness and that it can be easily designed.  相似文献
9.
A performance oriented multi-loop approach to the adaptive robust tracking control of one-degree-of-freedom mechanical systems with input saturation, state constraints, parametric uncertainties and input disturbances is presented. The control system contains three loops. In the outer loop, constrained optimization algorithms are developed to generate a replanned trajectory on-line at a low sampling rate so that the converging speed of the overall system response to the desired target is maximized while not causing input saturation and the violation of state constraints. In the inner loop, a constrained adaptive robust control (ARC) law is synthesized and implemented at high sampling rate to achieve the required robust tracking performances with respect to the replanned trajectory even with various types of uncertainties and input saturation. In the middle loop, a set-membership identification (SMI) algorithm is implemented to obtain a tighter estimate of the upper bound of the inertia so that more aggressive replanned trajectory could be used to further improve the overall system response speed. Interaction of the three loops is explicitly characterized by a set of inequalities that the design variables of each loop have to satisfy. It is theoretically shown that the resulting closed-loop system can track feasible desired trajectories with a guaranteed converging time and steady-state tracking accuracy without violating the state constraints. Experiments have been carried out on a linear motor driven industrial positioning system to compare the proposed multi-loop constrained ARC algorithm with some of the traditional control algorithms. Comparative experimental results obtained confirm the superior performance of the proposed algorithm over existing ones.  相似文献
10.
This paper considers motion control for a cooperative system of automated passenger vehicles. It develops a cooperative scheme based on a decentralized planning algorithm which considers the vehicles in an initial open chain configuration. In this scheme the trajectories are intersections-free, and each trajectory is planned independently of the others. To ensure the stabilization of each vehicle in the planned trajectory, a fuzzy closed loop motion control is presented, where, based on the properties of the Fuzzy maps, the Lyapunov’s stability of the motion errors is demonstrated for all the vehicles. Based on the ISO 2631-1 standard, the saturation property of the Fuzzy maps guarantees low values of longitudinal and lateral accelerations, to ensure comfort of the human body during the motion. The validity of this control algorithm is supported by simulation experiments.  相似文献
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