S5—135U PLC在高速线材生产线飞剪控制系统中的应用

该文概述了高速线材飞剪设备的工艺要求、工艺过程和主要参数,介绍了采用西门子S5—135UPLC的该飞剪控制系统的构成、控制原理、主要功能和应用程序结构。该飞剪控制系统工作稳定,故障率低,维护方便,应用广泛.     

滚筒式飞剪的PLC─APC控制系统

介绍了利用可编程序控制器进行位置自动控制（PLC—APC）系统的构成，给出了剪切的数学模型和控制框图，最后介绍了飞剪剪切参数计算。     

提高飞剪控制系统冬季稳定性的设计

介绍飞剪控制系统的控制原理和系统组成,重点阐述传统飞剪在冬季使用过程中准确性和稳定性降低的一般原因和国丰飞剪控制系统的程序设计经验.     

棒材倍尺飞剪T400控制方案优化

针对热轧棒材倍尺飞剪高速剪切时存在速度滞后并超调,影响产品质量,制约生产线运行速度的问题,对采用T400工艺板控制的热轧棒材倍尺飞剪,从原理上解析速度给定曲线对负载电流的影响,以参数化编程的方式实现控制方案优化。生产运行结果表明,采用优化控制方案,实现了倍尺飞剪高速精确剪切,达到了工艺要求的控制效果。     

GE Rx7i PLC在热连轧带钢生产线飞剪控制系统中的应用

本文主要介绍GE Rx7i PLC在热连轧带钢生产线飞剪定尺剪切控制系统中的应用,分析飞剪剪切控制原理,推导飞剪剪切方程,对提高飞剪的作业率和带钢质量以及下一步升级优化剪切具有较高的参考价值与指导意义.     

起动式飞剪的微型机控制

用微机完成起动式飞剪对高速线材的剪切,可以提高剪切精度,降低废品率,具有很高的经济效益。本文讨论了飞剪微机控制系统的数学模型,提出自动校正砰-砰控制开关参数闭环位置系统的算法,并给出实现该系统的微机硬件和软件结构框图。     

包米勒伺服系统在飞剪机上的应用

本文介绍了包米勒公司的伺服驱动系统以及飞剪控制的关键技术,通过针对飞剪应用开发的功能模块,实现对钢筋进行高速、高精度的定长剪切。     

高线飞剪控制系统

介绍高线飞剪控制系统,该系统采用主轧线S7-400PLC,配置FM458功能模块对飞剪进行逻辑控制、精确剪切、精准定位,从而实现系统的安全可靠运行。     

滚筒式飞剪的PLC—APC控制系统

介绍了利用可编程序控制器进行位置自动控制（ＰＬＣ－ＡＰＣ）系统的构成，给出了剪切的数学模型和控制框图，最后介绍了飞剪剪切参数估计。     

伦茨伺服系统实现"飞剪"控制

介绍了使用德国伦茨公司生产的伺服系统，配合外部相应的开关，人机接口等实现飞剪的控制功能。     

The effect of write current on thermal flying height control sliders with dual heater/insulator elements

The effect of write induced pole tip protrusion on the magnetic spacing of the head/disk interface has to be taken into consideration as flying heights approach the spacing regime of a few nano-meters. Thermal flying height control (TFC) sliders are presently in common use in hard disk drives to control the flying height at the read/write element during drive operations. In this paper the flying characteristics of TFC sliders with dual heater/insulator elements are investigated. Simulation results are shown for situations where the write current is ??on?? and where the write current is ??off??. The effect of design parameters of two heater/insulator elements is studied to optimize the performance of TFC slider.     

双SRM 牵引采煤机功率平衡系统

为解决开关磁阻采煤机双电动机同步牵引时功率输出不平衡的问题,设计了电流交叉耦合控制算法与转速给定调节控制方法相结合的功率平衡控制系统,应用MATLAB／SIMULINK建立了系统的模型,并进行仿真实验。实验证明,当牵引电动机承受大小为额定负载10％的扰动时,加入该系统后两台开关磁阻电动机（SRM）的输出转矩差值比现有的系统降低了7％,同步转速最大降幅减小了3．5％,过渡过程时间减少了1．5s。结果表明,设计的功率平衡控制系统与现有系统相比,不但提高了双SRM的同步精度,而且显著改善了整个牵引调速系统的抗扰动性能。     

A collision-free formation reconfiguration control approach for Unmanned Aerial Vehicles

Formation flying of Unmanned Aerial Vehicles (UAVs) has gained a lot of interest due to its many potential advantages. Flying in formation allows wider sensing coverage area and in effect, this leads to improved surveillance and enhanced situational awareness. Also flying in formation eases coordination and data fusion. This paper presents the control architecture for fixed-wing UAV reconfiguration control using a novel combination of known techniques. The current premise is for the UAVs to assume their final target states within a specified time interval while avoiding collisions with one another or with an obstacle during the process. Some simulations are performed to assess the performance of the reconfiguration control scheme. The effects of the control parameters on the reconfiguration trajectories are also examined.     

欧姆龙伺服控制器在多伺服枕式包装机中的应用

随着电气自动化程度的提高,以前需要依靠机械凸轮来实现的飞剪控制,现在可以使用运动控制器加伺服系统来实现,本文首先简要介绍枕式包装机的工艺及其自动化程度的发展,随后着重介绍OMRON的FQM1运动控制器结合伺服系统在枕包机中的方案实例。     

具有2DOF铰接式躯干的仿猎豹四足奔跑机器人

为了探索脊柱运动对腿运动的增强机理,设计了具有2自由度铰接式躯干的仿猎豹四足奔跑机器人。对带腾空相的跳跃（bound）步态奔跑运动的力学过程进行描述,采用阻尼型弹性负载倒立摆（D-SLIP）模型建立了四足机器人动力学模型。依据猎豹的奔跑运动模式,对四足机器人脊柱关节与腿关节的耦合运动进行了轨迹规划。提出一种改进的粒子群优化（PSO）算法,解决了机器人脊柱关节驱动机构尺寸和运动轨迹控制参数之间目标互斥的嵌套优化问题。对四足机器人跳跃奔跑运动进行动力学仿真,结果表明：脊柱与腿的协调运动可以增大奔跑步幅,使机器人产生腾空相,从而提高机器人的奔跑速度。     

Use of HF Doppler radars for the investigation of the wind-current relationship

The theoretical behaviour of the near-surface wind-driven currents is strongly dependent upon the models used to describe the mixed surface layer (especially the kinematic viscosity profile). This paper investigates measurements of ocean currents by HF Doppler radars in order to shed some light on this problem. It is found that the relative directions of the wind and current velocities and the variation of the current speed with respect to radar frequency (i.e. with respect to depth) are the most sensitive parameters to analyse for discriminating among the various models. The results of a preliminary experiment which was conducted in the western Mediterranean during the autumn of 1981 are presented. In this experiment the current was measured on 8 consecutive days at two radar frequencies corresponding to integration depths of 1 and 2 m, respectively. A special study shows that the near-surface current is only weakly influenced by the proximity of the coast (the measurements were obtained between 10 and 34km offshore). Because of the shortness of the experiment analysis of the wind-current relation does not provide the required accuracy whereas analysis of the current shear, which can process simultaneously the data obtained in nine different sea cells, gives a significant result supporting models with small shears (like Ekman's model with a constant kinematic viscosity profile). Some future improvements are briefly discussed.     

基于双目视觉的飞行目标落地速度测量方法研究

为了测量飞行目标落地速度,采用放置在落弹点区域附近的凝视等待式双目视觉摄像机,高速摄影交汇测量飞行目标的落地速度。根据不同时刻质心的空间三维坐标,用最小二乘法对目标航迹进行拟合,建立了目标三维空间轨迹的多项式函数,对多项式函数求导得到目标的飞行速度。实验与理论分析表明：采用的速度测量方法测量误差小于2％,测量方法正确、可靠,为飞行目标的速度测量提供了一条新的便捷可靠的途径。     

Adaptive pole placement pitch angle control of a flapping-wing flying robot

An adaptive pole placement control scheme for the adaptive pitch angle control of a bird-like flapping-wing flying robot is designed and implemented. The salient aims of this work are notably twofold: first, since the dynamics of bird-like flapping-wing robots are still not well understood and hence obfuscate the process of deriving a high-fidelity aerodynamical model, we instead elect to designate the system identification component of the control scheme to provide real-time estimates of the low level robot parameters. Input and output data are collated during flight and the recursive least squares method is applied to obtain real-time parameter estimates. Estimated parameters are subsequently used in designing the control law using adaptive pole placement via the polynomial method where we prescribe the desired closed-loop characteristic equation. Secondly, even if the dynamics of the robot varies over time, it is accounted by the adaptive controller without any need to perform tuning since proportional gain values are spontaneously generated. Numerical simulations are first used to assist the design and validate the correct operation of the control scheme. It is then implemented on a real bird-like flapping-wing flying robot; experimental results obtained exhibit close congruence with simulation results.     

Brandt-Lin神经网络算法改进及应用于直流拖动

随着电力电子技术,微电子技术和新型电机控制理论的快速发展,无刷直流电动机(BLDCM)得以迅速推广。BLDCM不仅保持了直流电动机的动静态调速性能,而且避免了有刷结构带来的固有缺陷,具有体积小、效率高、控制简单等优点。无刷直流调速系统快速性、稳定性和鲁棒性的好坏成为决定电机性能的重要指标。介绍一种将神经网络控制方法应用于一个要求更快更精确的BLDCM控制系统以提高动态响应和鲁棒性。神经网络自适应控制算法的使用,使得参数整定无需繁琐的手动过程,能够根据系统工况变化自动辨识被控参数、自动整定控制器参数,便于显著提高控制精度,减少调节时间,使控制过程具有较高的控制品质。神经网络自适应控制算法采用Brandt-Lin算法,并且对激活函数、学习速率做了一些改进,提高了控制速度及精度。在此算法中还加入了一个非线性函数提高了此神经网络的在高阶系统中的适应性。     

Robust speed control of induction motors using position and currentmeasurements

A nonlinear robust output feedback control is designed for a sixth-order model of an induction motor. The control uses only measurement of the rotor position and stator currents. It contains two observers, a second-order observer to estimate the rotor flux from the stator current and a third-order high-gain observer to estimate the rotor speed and acceleration from its position. The control is robust to uncertainties in the rotor and stator resistances, and a bounded time-varying load torque. It guarantees that the speed tracking error can be made arbitrarily small by choice of certain design parameters. Moreover, when the speed reference and load torque are constant, it ensures asymptotic regulation. Simulation results agree well with the analysis