小型自治水下机器人运动控制系统研究

以主推加舵控制的小型自治水下机器人为研究对象,建立了水下机器人的数学模型并进行了分析.根据机器人结构的特点,对模型进行了必要的简化.设计了机器人的运动控制系统.通过湖试验正控制器的性能.     

氢能源汽车车载气动减压阀出口温度特性研究

研究了氢能源汽车输氢系统二级高压气动减压阀出口的气体温度特性.建立了减压阀开口系统的热力学模型,利用MATLAB软件分析了氢气绝热节流过程中的制冷和制热转换曲线和等焓曲线.分析结果表明,工作介质不同,减压阀出口温度相差很大;氢能源汽车以氢气作为工作介质的减压阀出口温度随着入口压力升高而升高.     

Extended model predictive control scheme for smooth path following of autonomous vehicles

This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.     

氢能源汽车车载超高压气动减压阀的机理与特性分析

分析了车载超高压气动减压阀的工作机理、基本特性及其影响因素．气动减压阀阀芯与阀套在结构上形成压力反馈腔,将负载压力反馈给弹簧,稳定出口压力．分析结果表明：阀内流道的等效阻尼长度和压力反馈腔体积是影响阀出口压力的重要因素．流道等效阻尼越小,阀口关闭越快,出口压力波动越小;压力反馈腔体积越大,其压力缓冲作用越明显,出口压力波动越小,但延迟时间越长．     

Cooperative path planning of multiple autonomous underwater vehicles operating in dynamic ocean environment

This paper presents a two-stage cooperative path planner for multiple autonomous underwater vehicles operating in dynamic environment. In case of static environment, global Legendre pseudospectral method is employed for collision-free paths of vehicles for the purpose of minimum time consumption and simultaneous arrival. Moreover, in order to keep the multiple autonomous underwater vehicles safe from collisions on the path segments connecting two adjacent control nodes, an adaptive intermediate knots insertion algorithm is introduced. In the on-line planning stage, the local re-planning strategy aims at avoiding collisions with unexpected dynamic obstacles by two consecutive avoidance maneuvers, and the differential flatness property of autonomous underwater vehicle is utilized, which can help the vehicles react fast enough to avoid moving obstacles.     

Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design

This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L₂ norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method.     

车载高压气动减压阀压力场与速度场研究

分析了氢能源汽车输氢系统的70 MPa两级气动减压过程,取得了两级减压阀各阀腔内部的压力场和速度场分布规律.研究结果表明:两级气动减压阀组的阀腔压力分布可分为上游压力区、中间压力区和下游压力区;第一级减压阀和第二级减压阀的阀口处气体均为超音速流动状态,2个减压阀出口的封闭直角区域均存在低速涡流现象.可以通过计算流体动力学(CFD)方法得到流场分布的数据,为车载减压阀组和锥形阀芯的形状与结构设计提供理论依据.     

新型气动实验台的设计与开发

设计开发了一种新型教学用气动实验台，该气动实验台可采用全气动控制方式、继电器控制方式以及PLC控制方式。文中详细介绍了采用三种控制方式的气动实验台的工作原理度其特点。     

气动扣丝成型机的研制与开发

为提高扣丝生产的效率,降低工人的劳动强度,研制开发了一套扣丝成型设备,重点介绍了扣丝成型机的结构组成、工作原理及PLC气动控制系统.该设备可在无人参与的情况下,实现三线同时进丝、成型、下料,相比原有设备生产效率提高了(5-6)倍,并节省大量人力资源,帮助企业取得很大的经济效益.     

一种新型气动挡板的研制与应用

气动挡板作为轧钢机械重要附属设备，由二位五通双电控滑阀、气源处理三联体、截止阀、气缸、挡板、镀锌管等组成，氮气为气动挡板介质，它的研制与应用极大地减少了设备故障，提高了生产效率。     

Implementation of a Kalman filter in positioning for autonomous vehicles, and its sensitivity to the process parameters

Modern autonomous vehicles are using more than one method for performing the positioning task. The most common positioning methods for indoor vehicles are odometry for relative positioning and triangulation for absolute positioning. In many cases a Kalman filter is required to merge the data from the positioning systems and determines the vehicle position based on error analysis of the measurements and calculation procedures. A Kalman filter is particularly advantageous for on-the-fly positioning, which is performed while the vehicle is in motion. This paper presents the implementation of a Kalman filter in ROBI — an AGV for material handling in a manufacturing environment. The performance of the filter in estimating the position of the AGV and the effect of motion parameters (speed, path curvature, beacon layout etc.) on filter accuracy are shown.     

壳体类零件气动铆压装配机床设计开发

为了实现壳体类零件需要从圆周或周边进行铆压装配的工艺要求,创新设计了新颖的机械执行结构,开发制造了一种新型的气动铆压装配机床。根据机床工艺流程,采用基于PLC和文本编辑器的控制方式,实现了机床的自动化。该机床为铆压装配机床的设计开发提供了新的思路和方法。     

气动肌肉与气缸的特性对比研究

将气动肌肉和气缸在工作原理、使用方式与驱动特性等方面进行了对比研究,分析表明气动肌肉在柔顺性、动态特性和应用灵活性等方面相比气缸都具有一定的优势,因此更适用于一些特殊的应用场合,为气动肌肉的应用提供了经验和借鉴.     

Further analysis of pneumatic ball gauge calibration data; development of quadratic equations

In earlier papers it was shown that an apparent pressure dependence of effective area of pneumatic ball gauges could be ascribed to non-constancy of effective area as conventionally defined. The relationship between P, the pressure measured at the gauge and F, the force due to load of weights on the ball, was generally better represented by an equation of the form P=a+bF derived from linear least squares analysis of calibration data. It is the objective of the present paper to investigate whether the addition of a quadratic term, cF², would improve the agreement of calculated values of P with known calibration values. Calibration data collected for 8-ball gauges were analyzed using analysis of variance (ANOVA) to infer the significance of the quadratic term. For 7 of 8 gauges, a quadratic term significantly improved agreement between calculated and calibration values of P.     

嵌入液压与气动图形菜单的CAD二次开发

从“常用液压与气动元（辅）件图形符号库（GB／T786．1—1993）”入手,通过对“CAD2002”进行图象菜单及下拉式菜单的开发,设计出了快速绘制液压原理图的集成CAD绘图环境,很好地满足了液压原理图绘制中对常用液压泵、各类阀和其他液压与气动图形符号的需求。     

基于SolidWorks平台开发气压机工装夹具设计系统

基于SolidWorks2006为支撑软件,采用VB语言,Access数据库针对气压机工装夹具进行设计.建立了气压机工装夹具设计系统.该系统有工装夹具信息处理模块、三维参数化设计模块、夹具工艺过程模块、夹具性能评价模块、动画演示等功能,具有扩充性和开放性的特点.     

多功能全气控气动系统教学实验台设计

设计以工业常用气控系统的行程程序控制,时间控制为主的全气控方式的教学实验台。培养学生设计、安装、调度气压控制系统的性能,为为创新设计创造良好的环境,也为科学研究和工程设计提供实验装置。     

气动机械手控制回路设计

介绍一种全气动控制机械手的控制回路,克服了信号-动作(X-D)状态图法、卡诺图图解法等较繁琐的缺点.     

Prospects on the development of the Angara rocket and space complex

The development of a launch vehicle on the basis of the universal rocket module is considered. The advantages of using the modular scheme for developing the Angara rocket and space complex are discussed. Improving the Angara rocket and space complex in terms of increasing the payload mass by the possible use of an oxygen-hydrogen upper stage is examined.     

Object oriented modelling and development of a dispatching algorithm for automated guided vehicles

The main problem for an automated guided vehicle (AGV) dispatching system is to assign vehicles to transport demands which optimise some predetermined objectives of a manufacturing shop. This paper presents a framework for an AGV dispatching system based on an object oriented approach using the unified modelling language (UML), and the development of a dispatching algorithm to facilitate a human controller to dispatch efficiently a fleet of AGVs in response to calls from any shop floor (or machine) operator. The main reason for this work is to model an AGV dispatching system as well as to develop a dispatching algorithm which can record details of the AGV position and movement and ensure their allocation of new orders. The provision of both immediate and pre-booked orders for an AGV is also incorporated in the proposed AGVs dispatching system. The underlying AGV dispatching system and algorithm are capable of dispatching a vehicle automatically to handle a call at the required time. In order to overcome difficulties associated with tackling immediate orders, pre-booked orders, and processing of information related to AGVs, a comprehensive dispatching algorithm is developed which aims to minimise lateness, traveling time and distance of empty vehicles in a simulated job-shop scenario. The effectiveness of the proposed framework for an AGV dispatching system is shown through a test problem.