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针对磁吸附轮式双面擦窗机器人(WCWR)进行动力学建模。分析其在匀速运动情况下,不发生倾覆和不同程度打滑情况下所需最小磁力,并对最小磁力与机器人航向角建模,研究磁力与位姿关系。引入车辆动力学理论,对单个驱动轮进行受力分析,并研究车轮打滑现象,同时引入滑转率概念,由此建立滑转率、航向角与车轮扭矩关系式,并进行建模仿真,以此来研究与设计驱动系统。从而为磁吸附轮式擦窗机器人(WCWR)在打滑情况下的设计提供理论基础。并以此理论为基础选择合适磁力与扭矩进行设计与实验检测理论准确性。 相似文献
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对汽轮机高速转子叶片的加工工艺进行了分析,针对加工变形问题,建立铣削力学模型,应用有限元分析软件A N SY S进行变形分析,得出加工工艺参数和铣削变形量的关系,优化了铣削工艺参数。 相似文献
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New sigma point filtering algorithms, including the unscented Kalman filter (UKF) and the divided difference filter (DDF),
are designed to solve the nonlinear filtering problem under the condition of correlated noises. Based on the minimum mean
square error estimation theory, the nonlinear optimal predictive and correction recursive formulas under the hypothesis that
the input noise is correlated with the measurement noise are derived and can be described in a unified framework. Then, UKF
and DDF with correlated noises are proposed on the basis of approximation of the posterior mean and covariance in the unified
framework by using unscented transformation and second order Stirling’s interpolation. The proposed UKF and DDF with correlated
noises break through the limitation that input noise and measurement noise must be assumed to be uncorrelated in standard
UKF and DDF. Two simulation examples show the effectiveness and feasibility of new algorithms for dealing with nonlinear filtering
issue with correlated noises. 相似文献
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