烷基化装置在生产运行中的节能优化措施

本文主要介绍了东营市亚通石化有限公司烷基化装置在日常生产运行中针对装置蒸汽使用方面实行的节能减耗措施,并列出措施实施前后的部分对比数据。     

基于三电极体系计时电流法的氯离子检测

采用三电极体系工作原理,提出运用计时电流法测量氯离子浓度的方法,设计了一套基于三电极体系计时电流法的氯离子在线检测系统,通过采集计时电流法中电流的变化,实现对溶液中氯离子浓度的定量检测,根据推导能斯特方程,得到测量不同温度下溶液浓度与温度的公式,同时用标准浓度的氯化钠溶液对测量结果进行标定.实验结果表明,该系统具有稳定性好、精确度高、温度补偿能减小系统的测量偏差等优点.相比于两电极体系,三电极体系能够准确的测得工作电极的电位变化,运用计时电流法能有效提高系统的检测灵敏度,使该检测系统在工业水中氯离子的检测中具有很好的发展前景.     

积分滑模控制及抖振抑制研究用于仿人机器人头部控制

介绍了HIT三自由度仿人机器人头部的机械和电气结构,将积分滑模控制算法应用于头部追踪控制,实现了对闭环系统极点的任意配置,克服了建模不准确、外部干扰等因素的影响,使滑动模态发生在运动初始时刻,并贯穿于整个响应过程。同时提出了一种简单易行的方法切换函数比例法来抑制积分滑模控制的抖振。经与传统的PID加摩擦力补偿控制和基于计算力矩法的滑模变结构控制对比,实验证明了提出的控制方法具有较高的跟踪精度并且抖振较小、抗干扰性较强。     

基于PROFIBUS总线的搬运机器人伺服控制系统

搬运机器人的多自由度特殊结构使其对系统集总控制技术提出了较高要求。本文设计了基于PROFIBUS现场总线的搬运机器人伺服控制系统。介绍了系统的基本组成、工作原理及通讯协议。所设计的搬运机器人具有响应速度快、定位准确、高集成度、高可靠性等优点。     

一种新的机器人动力学仿真分析方法

介绍了一种新研制的4自由度机器人,利用Proe软件建立了机器人的三维模型,得到了用于动力学计算的有关质量属性,借助于Matlab软件的SimMechanics仿真工具箱分析得到了该机器人跟踪圆形轨迹时的关节力矩响应.进而利用三次样条插值的方法,得到了时间一一力矩函数关系式,为以力矩补偿为前馈的控制模式提供了简便的数学模型.     

眼压测量探讨

眼球的内容物作用于眼球壁的作用力称为眼压，就像血管内的压力叫做血压一样。正常的视功能有赖于正常眼压的维持，正常范围的眼压可维持眼球的稳定，保持良好的眼的光系统的光学质量和保证眼内的正常代谢过程。正常人的眼压为10mmHg～21mmHg，正常的眼压取决于眼球内房水的生成和流出两者的动态平衡，生成多少，就流出多少。如果生成过多或流出受阻，两者发生失衡，便会引起眼压增高或降低，就会像自行车车胎打气过足而爆破或车胎漏气一样，都不能行驶。眼压〉24mmHg或〈8mmHg为异常，分别为高眼压和低眼压，在病理下，眼压过高或过低都会不同程度地损害眼的组织和视功能，尤其以眼压过高为甚。因此，眼压是眼科检查项目中重要的一项，其值的高低关系到眼的视功能。在检查时，医生用两手的食指通过上眼睑，轻轻地、交替地触压眼球，感触眼球的波动感，和软硬度，如同用手摁自行车的车胎来判断气是否充足。正常眼压者，触压眼球时有一定的波动感和软硬度，若波动明显而瘪软，为眼压低反之，波动不明显而坚硬者，则为眼压高。此检测法简便，只凭医生两只手指感触，无需任何仪器和设备，但测试结果不甚精确，仅作一般参考，尤其是眼压轻度异常者，难以判断。     

Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.     

Optimal measurement configurations for kinematic calibration of six-DOF serial robot

An optimal measurement pose number searching method was designed to improve the pose selection method. Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one. The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated. The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained. Calibration based on those poses selected by this algorithm can get higher end-effector accuracy, meanwhile consumes less time. An optimal pose set including optimal 25 measurement configurations is found during the simulation. Tracking errors after calibration by using these poses are 1.54, 1.61 and 0.86 mm, and better than those before calibration which are 7.79, 7.62 and 8.29 mm, even better than those calibrated by the random method which are 2.22, 2.35 and 1.69 mm in directions X, Y and Z, respectively.     

基于DSP/FPGA的反步法阻抗控制柔性关节机械臂

针对柔性关节机械臂与环境接触时的柔顺控制问题,提出一种反步法阻抗控制方法,并基于李雅普诺夫稳定性理论证明了控制器的稳定性.该方法是在建立柔性关节机器人模型的基础上,将李雅普诺夫函数选取与控制器设计相结合的一种回归设计方法.它从系统的最低阶次微分方程开始,逐步设计满足要求的虚拟控制,最终设计出真正的控制器.轨迹跟踪和阻抗控制实验结果表明,该方法是有效而可行的.     

海洋环境因素对潜艇悬停操纵影响仿真研究

海水密度变化是影响潜艇悬停稳定的最主要因素之一,因此明确悬停海区密度梯度的情况对潜艇悬停操纵的战术的使用至关重要.以模型潜艇为研究对象,在潜艇悬停运动基本数学模型、海洋环境干扰力模型和悬停水舱注排水控制模型的基础上进行仿真计算,研究悬停海区不同梯度类型和不同密度梯度值对潜艇悬停操纵的影响,分析了海洋环境因素和悬停稳定性之间的逻辑关系,研究结论对提高潜艇指挥员水下悬停机动操纵训练水平提供了有益的参考.