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设计直立行走式循迹智能车的机械及控制系统;系统选用微控制器MK60为控制核心,利用陀螺仪和加速度传感器,采用互补滤波的方法计算车体的角度和角速度,通过比例微分算法控制智能车车轮的加速度来抵消车模运动倾向,实现智能车直立;单片机通过模拟摄像头进行赛道图像捕捉,采用边沿检测算法识别赛道中心线,计算与设定值的偏差,进而控制左右两个电机产生速度差,完成智能车的转向;经测试,智能车能够在保持直立同时,完成赛道识别,且运行平稳快速。 相似文献
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A slotted orifice has many superiorities over a standard orifice. For single-phase flow measurement, its flow coefficient is insensitive to the upstream velocity profile. For two phase flow measurement, various characteristics of its differential pressure (DP) are stable and closely correlated with the mass flow rate of gas and liquid. The complex relationships between the signal features and the two-phase flow rate are established through the use of a back propagation (BP) neural network. Experiments were carried out in the horizontal tubes with 50ram inner diameter, ooerated with water flow rate in the range of 0.2m^3·h^-1 to 4m3·h^-1, gas flow rate in the range of 100m^3·h^-1 to 1000m^3·h^-1, and pressure at 400kPa and 850kPa respectively, where the temperature is ambient temperature. This article includes the principle of wet gas meter development, the experimental matrix, the signal processing techniques and the achieved results. On the basis of the results it is suggested that the slotted orifice couple with a trained neural network may provide a simple but efficient solution to the wet gas meter development. 相似文献
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耿艳峰 《化工自动化及仪表》2000,27(2):37-39
着重介绍在Windows 95 /NT环境下 ,PC机接口卡接口程序的开发技术 ,该方法已经成功地应用于几个实际的采集控制系统。这种方法实际上也是一种基于“PC PC接口卡”组成小型检测、控制系统的通用设计、开发方法。 相似文献
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简要介绍了某8000t/a玻璃棉生产线的自动控制方案,着重分析该系统比较有特色的几个方面,最后详细说明了生产线常见的故障诊断与处理方法,可供相关的工程技术人员参考、供鉴。 相似文献