机器人化工程机械

所谓机器人化机械是指在传统机械中引入机器人技术，使其具有机器人的功能，也可以称之为智能机器。在工程机械行业，我国的大多数产品都面临着更新换代。机器人技术，即机电液讯一体化技术是提升工程机械技术水平和产品档次的重要手段。由于我国工程机械行业的自主开发能力弱，国外产品进口逐年上升。为了改变这一状况，我国工程机械行业联合科研单位开展了机器人化工程机械的研究，相继研制出智能型喷浆机、凿岩机、压路机、推土机、装载机和摊铺机等多项成果。１先进的机器人技术现代智能机器人通过采用人工智能技术，具有感知和理解周围…     

机器人驱动方式及其在焊接机器人中的应用

驱动系统是机器人系统中重要的组成部分。根据机器人运行的要求和工作环境的不同,选择合适的驱动方式以达到最优的效果。文中主要介绍了机器人的动力能源、驱动方式的研究现状,以及焊接机器人的主要动力能源和驱动方式的应用现状。     

几种建筑机器人概介

建筑机器人技术是一个新的,多学科的领域,被用于改善工作条件、减少事故、提高工效、降低成本以及扩大市场等方面,在促进复杂的建筑施工自动化过程中正发挥日益重要的作用。近十年来,国外已在建筑结构安装、内外装修、核电厂拆除等工程中应用机器人取得了明显的技术经济效果,现已引起国内建筑机械行业的重视。本文概要介绍日本近期研制应用的几个典型机种,以供有关方面参考。钢梁防火层喷涂机器人(SSR-3)是一种可遥控的数控机器人,用     

我国工业机器人的现状及发展趋势

本文通过对工业机器人的技术特点进行阐述,探讨了我国工业机器人技术发展现状以及核心技术,在此基础上对工业机器人的发展前景进行了展望,以期为相关工作起到参考作用。     

基于Arduino的轨迹可控寻迹系统

本文针对现阶段寻迹系统领域的轨迹不可随意变换,对轨迹可控系统进行研究,创新了寻迹机器人和LED地板进行配合,注重使用Arduino开发板对LED地板的轨迹生成,使其能够实现轨迹的随意变换,该轨迹可控系统在现实生活中会有广大的应用空间。     

PJ—5型喷砼机器人运动综合分析

本文运用机器人运动学原理推导了ＰＪ－５型喷砼机器人运动学正、逆问题的解，并提出了求解逆问题姿态参数的空间坐标解法，与矩阵法相比，该法简单，计算量大为减少，消除了很多不必要的矩阵冗余计算。     

建筑工程机器人技术的开发研究

本文扼要介绍了世界建筑工程机器人技术的开发情况和特点,进而对我国建筑工程现况和开发机器人的可行性进行分析,讨论了现阶段在我国开发的途径,方向和主攻方向,提出了首先在装修等工程中进行机器人开发研究的必要性和可行性。     

消防机器人灭火救援应用技术分析

在研究消防机器人发展历史的基础上,对消防机器人在灭火救援中的应用进行了技术分析,这对于消防机器人的进一步推广使用有一定促进作用。     

应用神经元自适应PSD控制变频空调系统的仿真研究

以变频空调系统为研究对象,将自适应控制与神经元PID控制相结合,建立了空调系统的神经元自适应PSD控制模块,并建立了模型,进行了仿真研究。结果表明,与常规PID控制相比,该控制方法具有较强的自适应、自学习、自组织能力和较好的鲁棒性,控制算法简单,容易实现,适合变频空调系统的实时控制。     

Motion Control of Adaptive Truss Structures Using Fuzzy Rules

Abstract: This note describes a design of the fuzzy control system for the kinematic maneuvers of an adaptive system consisting of a truss-type structure with several variable-length members. The deformations of the adaptive modules are coordinatively governed by fuzzy controllers according to the distance signals between the endpoint of the structure and the moving target. In addition, an adaptive gain tuning technique is investigated in this study. The advantages of applying adaptive gain tuning on motion control of adaptive truss structures are presented. The simulation results show that the application to this model is effective and can be easily implemented in the microcomputer.     

Active and Semi‐active Adaptive Control for Undamaged and Damaged Building Structures Under Seismic Load

Abstract: During the lifetime of a structural system, many severe events such as earthquakes and strong winds may impact the system and result in potential damage. To mitigate the structural vibration and damage during these extreme events, control devices such as active and semi‐active devices have received considerable attention because of their attractive characteristics. Active control devices are adaptable to any change and semi‐active devices have the capability of offering the reliability of passive devices and the versatility and adaptability of active devices. In this research, a direct‐adaptive‐control method is used to control the behavior of an undamaged and a damaged structure using semi‐active and active devices. In the adaptive control method, the controlled system is forced to behave like the model system which exhibits the desired behavior. The model of the adaptive control method is defined in a way to optimize the response of the controlled structure. The controller developed using this method can deal with changes that occur in the characteristics of the structure because it can modify its parameters during the control process. A magnetorheological (MR) damper is used as the semi‐active device in this study, whereas a hydraulic actuator is utilized as the active device to control the behavior of the structure. The performance of a three‐story building from the SAC project for the third generation of the control benchmark problem is studied by performing time–history analyses. The structure is subjected to different earthquakes and controlled by the direct adaptive control method. In the analysis of the structure, some stiffness reduction is assumed as a result of potential damage in the first story of the building. Also, the direct adaptive control strategy is used to optimize the response of the undamaged structure and to mitigate the damage impact on the performance of the controlled structure in the presence of noise for output measurements. The results of adaptive control method are compared with those of other control strategies. It is shown that the performance of the three‐story building is improved using the adaptive control method. By assessing the results of different control approaches, it is found that the adaptive control method works more effectively than other methods and semi‐active devices can provide reliable results.     

Fuzzy自适应协调决策控制器的特性研究

本文针对一般模糊控制器在算法及其结构上存在的问题,提出模糊自适应协调决策控制算法(FACDC)。它模仿智能控制,采用分级递阶结构形式,通过一协调级来协调模糊控制与自适应PI控制,使得两者有机地结合起来,充分发挥两者的优点。由于本文采用的自适应算法是一种参考模型模糊自适应算法,因此避免了一般自适应算法的复杂性。     

自适应模糊PID控制器的研究

除了开／关控制,常规PID控制器是HVAC系统现场控制中应用最为广泛最基本的控制器,但对于非线性、时变的系统,常规的PID控制则很难达到满意的控制效果。本文提出了自适应模糊PID控制器模型,可以根据系统误差和误差变化率不断对PID控制器的输出进行在线调整。以某空调房间温度控制系统为研究对象,对自适应模糊PID控制器和常规PID控制器进行了对比。计算结果表明,自适应模糊PID控制器具有良好的动、静态性能,并且鲁棒性较强。     

Adaptive Neural Control Design For a Class of Nonlinear Time-delay Systems

This paper proposes an indirect adaptive neural control scheme for a class of nonlinear systems with time delays. Based on the backstepping technique and Lyapunov – Krasovskii functional method are combined to construct the indirect adaptive neural controller. The proposed indirect adaptive neural controller guarantees that the state variables converge to a small neighborhood of the origin and all the signals of the closedloop system are bounded. Finally, an example is used to show the effectiveness of the proposed control strategy.     

基于自适应RBF神经网络算法的建筑结构递阶分散控制研究

针对建筑结构振动控制的递阶分散控制问题进行研究。首先,通过设置全局控制器消除子系统间的关联耦合;在此基础上,结合Lyapunov稳定性理论和RBF神经网络理论设计了仅依赖于子系统位移和速度响应反馈信息的自适应控制律,并利用差分进化（DE）算法对自适应RBF神经网络局部子控制器相关参数进行优化,建立了适用于建筑结构振动控制的自适应RBF神经网络递阶分散控制（ARBFHDC）算法。对ASCE 9层Benchmark模型进行递阶分散控制设计、优化及仿真分析。结果表明,不同地震激励下,基于ARBFHDC算法设计的递阶分散控制较传统集中控制而言有更好的控制效果,且能保障各子系统作动器处于最大功效工作状态。     

自适应控制在连续刚构桥的应用

以主跨为235m的高墩大跨连续刚构桥为工程背景,从理论上对设计参数进行了敏感性分析,得出在施工过程中的主要影响参数,并将自适应控制系统用于施工监控中,实践证明,自适应控制系统在该桥的线形控制上是成功的。     

Adaptive control of base-isolated structures against near-field earthquakes using variable friction dampers

This paper investigates the effectiveness of two adaptive control strategies for modulating the control force of variable friction dampers (VFDs) that are employed as semi-active devices in combination with laminated rubber bearings for the seismic protection of buildings. The first controller developed in this study is an adaptive fuzzy neural controller (AFNC). It consists of a direct fuzzy controller with self-tuning scaling factors based on neural networks. A simple neural network is implemented to adjust the input and output scaling factors such that the fuzzy controller effectively determines the command voltage of the damper according to current level of ground motion. A multi-objective genetic algorithm is used to learn the shape of the activation functions of the network. The second controller is based on the simple adaptive control (SAC) method, which is a type of direct adaptive control approach. The objective of the SAC method is to make the plant, the controlled system, track the behavior of the structure with the optimum performance. Here, SAC methodology is employed to obtain the required control force which results in the optimum performance of the structure. For comparison purposes, an optimal linear quadratic Gaussian (LQG) controller is also developed and considered in the simulations together with maximum passive operation of the friction damper. The results reveal that the developed adaptive controllers can successfully improve the seismic response of base-isolated buildings against various types of earthquake.     

Impact of adaptive comfort criteria and heat waves on optimal building thermal mass control

This article investigates building thermal mass control of commercial buildings to reduce utility costs with a particular emphasis on the individual impacts of both adaptive comfort criteria and of heat waves. Recent changes in international standards on thermal comfort for indoor environments allow for adaptation to the weather development as manifested in comfort criteria prEN 15251.2005 and NPR-CR 1752.2005 relative to the non-adaptive comfort criterion ISO 7730.2003. Furthermore, since extreme weather patterns tend to occur more frequently, even in moderate climate zones, it is of interest how a building's passive thermal storage inventory responds to prolonged heat waves. The individual and compounded effects of adaptive comfort criteria and heat waves on the conventional and optimal operation of a prototypical office building are investigated for the particularly hot month of August 2003 in Freiburg, Germany. It is found that operating commercial buildings using adaptive comfort criteria strongly reduces total cooling loads and associated building systems energy consumption under conventional and building thermal mass control. In the case of conventional control, total operating cost reductions follow the cooling loads reductions closely. Conversely, the use of adaptive comfort criteria under optimal building thermal mass control leads to both lower and slightly higher absolute operating costs compared to the optimal costs for the non-adaptive ISO 7730. While heat waves strongly affect the peak cooling loads under both conventional and optimal building thermal mass control, total cooling loads, building energy consumption and costs are only weakly affected for both control modes. Passive cooling under cost-optimal control, while achieving significant total cost reductions of up to 13%, is associated with total energy penalties on the order of 1–3% relative to conventional nighttime setup control. Thus, building thermal mass control defends its cost saving potential under optimal control in the presence of adaptive comfort criteria and heat waves.