双变换UPS中PWM整流器的二次谐波补偿和电容电压分时控制

本文对双变换UPS中双闭环电流跟踪控制的单相半桥PWM整流器进行了分析研究.为了减小输入电流的畸变,提出了稳态二次谐波补偿的算法.该方法可以不减小电压环带宽,同时计算工作量小,易于数字实现.为消除单相半桥整流器电容电压的不平衡,提出了电容电压分时控制的算法.基于TMS320LF2407A型DSP搭建了实验样机,验证了控制方法的正确性,由于采用有源功率因数校正技术,实现了输入电流为与输入电压同相的正弦波,且输出电压稳定.     

临界连续模式功率因数校正器的高频数字控制研究

本文提出了一种无需检测电感电流及其过零点的简单数字控制方案，实现了临界连续模式功率因数校正器的控制。取得了功率开关管的ZVZCS，消除了整流二极管和快恢复二极管的反向恢复带来的损耗，提高了变换器的效率和可靠性；另外，数字控制器克服了模拟IC控制器的开关频率限制问题，消除了输入电流的低频畸变，提高了功率因数；同时，也降低了输入电感的值，降低了成本的同时提高了功率密度。为实现中小功率数字控制功率因数校正器的产品化提供了一个良好的解决方案。     

交流伺服系统转动惯量的辨识及负载转矩观测方法研究

交流伺服系统的工作性能受电机参数及负载扰动的影响很大，有必要对其转动惯量和负载转矩进行在线辨识和观测，并在辨识转动惯量时考虑负载扰动，并据此调整速度PI调节器参数以改善和提高系统的稳态和动态性能。本文提出一种转动惯量辨识的改进方法，用状态观测器对负载转矩进行实时观测，然后再利用模型参考自适应算法对系统的机械参数即系统转动惯量进行辨识。研究了自适应增益对辨识结果的影响。根据转动惯量的在线辨识量，利用最小峰值响应方法对系统速度PI调节器参数进行了自整定。仿真结果验证了算法的有效性。     

Design, analysis and control for an antarctic modular manipulator

Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have a series of problems and unable to meet the requirements of the Antarctic expe- dition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and- disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is serious- ly analyzed, and a new hybrid position/force control method is adopted to make the manipulator per- form better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition.     

基于DSP的DC/DC Boost PFC模块的并联交错控制研究

本文提出了一种简单的PFC模块并联交错数字控制方案.以三个模块并联为例,利用平均电流控制策略,仅用一个控制器实现了DC/DC Boost PFC模块的并联控制,开关频率为120kHz,取得了良好的均流性能,降低了功率开关管的电流应力;同时,使它们的高频开关相位均匀错开120°,实现了电感电流的交错,减小了输入电流的高频纹波,减小了输入EMI滤波器的差模电感.实验结果证明了该控制方案的可行性,为并联的功率因数校正模块的数字控制提供了一个良好的解决方案.     

无负载均衡控制的两余度舵机及其非线性补偿控制

为了提高飞行器的可靠性和安全飞行,对基于无刷直流电机的两余度电动作动器进行了研究,提出采用差动式的运动合成构成机械输出两余度,无需负载均衡控制器便可消除通道间的负载均衡问题,可较为容易地实现两余度运行,同时,系统的局部余度设计可保证当一个通道局部出现故障时,作动器系统工作时仍具有一定的余度性.为了解决低速转矩脉动和补偿机械摩擦与齿隙等带来的非线性问题,提出速度偏置和采用变参数控制器的方法,可取得较好的控制效果.另外,采用PWM信号与转子位置信号结合的方法构成系统故障自检测(BIT)模块,可实现系统的故障上电预检测和在线动态检测.实验结果表明研究的两余度作动器具有较高的稳态精度、稳定性能和可靠性.     

Study on singularity analysis with differential transform method for 3-RRUR parallel robot based on Jacobian matrix

Parallel robot is used in many different fields nowadays,but the singularity of 3-RRUR parallel robot is more complicated,so a method to analyze the singularity of the 3-RRUR parallel robot is very necessary.First,the Jacobian matrix was built based on the differential transform method through the transfer matrixes between the poles.The connection between the position parameters and singularity condition was built through the analysis of the Jacobian matrix.Second,the effect on the singularity from the position parameters was analyzed,and then the singularity condition was confirmed.The effect on the singularity condition from position parameters was displayed by the curved surface charts to provide a basic method for the designing of the parallel robot.With this method,the singularity condition could be got when the length of each link is firmed,so it can be judged that if a group of parameters are appropriate or not,and the method also provides warrant for workspace and path planning of the parallel robot.     

Design and modeling for a kind of humanoid dexterous hand with elastic palm

With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. In this study, a new five-fingered dexterous robot hand is developed. Having flexible palm with 17 degree of freedoms （ DOFs）, the hand can grasp more stably and firm- ly. First, the forward kinematics and inverse kinematics of the fingers and the hand are calculated. Then, the connection between the force exerting on the end effectors and the torque exerting on the joint is set up, laying the foundation for the following control. Finally, through the analysis and sim- ulation of the position, velocity and acceleration, the trajectory planning has a better performance.     

汽车制造用拉弧式电容储能螺柱焊机的研制

本文详细介绍卫种微机控制的新型电容储能螺柱焊机。该机具有可控制的焊接电流波形,能对镀锌薄钢板进行大小两种螺柱的焊接。实测了焊机的输出电压和电流波形,并作了焊接工艺试验。     

双通道伺服控制系统设计

介绍了一种由两套相互独立,可单独运行的无刷直流电动机伺服控制系统通过数据总线和运动合成技术组成的双通道伺服控制系统。建立了无刷直流电动机(BLDCM)的数学模型,并对系统进行了数学仿真和分析。通过实际的实验结果证明,该系统具有成功的控制性能和动态性能。