Human-cable collision detection with a cable-driven parallel robot

This paper deals with human-cable collision detection with a Cable-Driven Parallel Robot (CDPR) and a control strategy to safely release the tension in the cable in contact with a human operator. The main purpose of this work is to contribute to the development of safety solutions allowing collaborative work between human and robot with CDPRs in production tasks. Using a geometric model of cable deformations under an external collision, a direct relationship is established between the initial cable tension, the collision force and the increase in cable tension. This relationship is validated experimentally with an ad-hoc test bench. Collision force levels are set to admissible values in order to prevent harm for human operators. A collision detection is then implemented on the 8-cable suspended CDPR CRAFT prototype using this method, continuously comparing the cable tensions measured by sensors with admissible cable tension increases. Using these results, an approach aiming at releasing a collided cable so as to minimize risks for operators and the environment of the robot is proposed with an adaptive control scheme, based on a progressive cable tension management once a collision is detected. This cable tension management is simulated and represented in the null space of CDPR wrench matrix. Feasibility domain of this tension management and alternative solutions outside of it are also discussed. This work contributes to the safety of collaborative CDPRs by determining a direct relationship between collision force and cable tensions in the event of a collision and by introducing a collision detection method.     

铰支式桅杆底座绝缘子置换技术研究

本文基于 ANSYS 静力学分析方法，采用位移约束法、纤绳张力温度补偿法等，对铰支式桅杆底座绝缘子远距离置换进行了模拟分析计算，解决了静力分析中移动结构的刚度矩阵畸变、分析求解发散的问题，利用静力学分析模拟了桅杆底座绝缘子远距离置换的运动分析过程， 为工程实施提供了理论分析依据。     

Calibration of geometric parameters and error compensation of non-geometric parameters for cable-driven parallel robots

Accuracy is an important performance indicator that affects the research and industrial application of cable-driven parallel robots (CDPRs). The error sources of CDPRs include geometric parameters (GPs) and non-geometric parameters (NGPs). Typically, GPs can be calibrated by external measurement devices whose position is dependent on coordinate system parameters. To improve the calibration accuracy and robustness, an iterative calibration method is proposed to calibrate the coordinate system parameters and GPs, and the asymptotic convergence is proven. Moreover, considering the tight coupling and non-linearity of NGPs, we design an artificial neural network to compensate for the residual position errors caused by NGPs. Based on the hierarchical genetic algorithm, a synchronization optimization algorithm is developed to improve the approximate accuracy and generalization to residual position errors of unknown trajectories. With theoretical initial parameters, experiments for the calibration of GPs and error compensation of NGPs were performed on a 3-DOFs CDPR. Finally, the average position error of the end-effector is reduced to 1.3 mm and the maximum error is 1.9 mm.     

Fast finite-time tracking control for a 3-DOF cable-driven parallel robot by adding a power integrator✰

Cable-driven parallel robots (CDPRs) usually suffer from kinematic and dynamic uncertainties, which makes it difficult for traditional trajectory tracking control algorithms to achieve high precision, fast response time, and robustness. In this study, we present a novel fast finite-time tracking control (FFTTC) algorithm which solves this problem to a large extent. Specifically, we firstly used a function of exponential errors with fractional power combined with API technique, to deal with the key difficulty of the convergence rate degradation which exists in traditional finite-time tracking control (TFTTC) when system states are far from the equilibrium point. Simultaneously, the API technique was used to avoid the problem of the explosion of complexity. To facilitate algorithm evaluation, the finite-time stability of the close system consisting of the proposed FFTTC algorithm and the CDPRs was proved mathematically and the settling time was estimated correspondingly. The trajectory tracking experiments were performed on a 3-DOF CDPR driven by 4 cables. Simulation and experimental results show that the proposed FFTTC algorithm can cope with external disturbances, variable load, and inaccurate model parameters. The comparison experiment indicates that the proposed FFTTC algorithm is superior to the model predictive control and TFTTC algorithms in precision, response speed and robustness.     

Robust PID control of fully-constrained cable driven parallel robots

In this paper dynamic analysis and robust PID control of fully-constrained cable driven parallel manipulators are studied in detail. Since in this class of manipulators cables should remain in tension for all maneuvers in their workspace, feedback control of such robots becomes more challenging than that of conventional parallel robots. In this paper, structured and unstructured uncertainties in dynamics of the robot are considered and a robust PID controller is proposed for the cable robot. To ensure that all cables remain in tension internal force concept is used in the proposed PID control algorithm. Then, robust stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov direct method and it is shown that by suitable selection of the PID controller gains, the closed-loop system would be robustly stable. Finally, the effectiveness of the proposed PID algorithm is examined through experiments on a planar cable driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.     

Adaptive robust control of fully-constrained cable driven parallel robots

In this paper, adaptive robust control (ARC) of fully-constrained cable driven parallel robots is studied in detail. Since kinematic and dynamic models of the robot are partly structurally unknown in practice, in this paper an adaptive robust sliding mode controller is proposed based on the adaptation of the upper bound of the uncertainties. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The proposed controller not only keeps all cables under tension for the whole workspace of the robot, it is chattering-free, computationally simple and it does not require measurement of the end-effector acceleration. The stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov second method and it is shown that the tracking error will remain uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control algorithm is examined through some experiments on a planar cable driven parallel robot and it is shown that the proposed controller is able to provide suitable tracking performance in practice.     

一种基于双目PTZ相机的主从跟踪方法

借鉴变色龙视觉的高度独立性、对称性、全局性与选择性兼顾等特点,该文提出一种基于双PTZ (Pan-Tilt-Zoom)相机的主从跟踪方法。由于两个相机的对称性和参数可变性、可控性,这种方法相对于静止加主动相机的主从跟踪系统,可以增大监控范围;相对于多静止加主动相机的系统,可减小硬件开销;相对于全向加主动相机的系统,更有利于信息融合。该文设计了基于球面坐标模型的主从控制方法,可方便实现两相机在任意pan-tilt-zoom参数下的主从模式跟踪,实现对目标的多尺度视觉关注。在室外场景中进行的多组实验验证了所提方法的有效性。     

基于切换线性系统的DC-DC变换器的输出能控性研究

将DC-DC变换器视为一类混杂动态系统——切换线性系统,尝试在DC-DC变换器控制系统研究中引入切换线性系统的概念,基于系统模型研究DC-DC变换器的输出能控性这一基本控制特性,为各种控制策略在DC-DC变换器中的应用奠定理论基础.研究分为三个部分:(1)引入切换线性系统,并以基本的DC-DC变换器为例,建立变换器的切换线性系统模型;(2)给出切换线性系统输出能控性的定义以及充要条件;(3)分析基本DC-DC变换器的输出能控性,并以Buck变换器为例进行仿真分析和验证验证.本文的研究还表明,分析方法也适应于其它功率变换器,甚至所有开关变换电路的输出能控性研究.     

Meeting the Fiber Optic Challenge with Vibratory Cable Plows

To date, much of the installed direct buried fiber optic cable has been placed by large crawler-mounted plows. However, in many areas, such as along highway rights-of-way and other routes with numerous road crossings, smaller-sized rubber-tired machines would be advantageous. Four-wheel drive vibratory cable plows have been utilized extensively by the telecommunications industry when installing copper cable, but there has been a general concern about vibration potentially damaging fiber optic cable. In order to overcome these fears, a test program was conducted in cooperation with a major cable manufacturer. Tests showed that tension required to feed fiber optic cable through a vibrated fixed-feed tube blade was much less than for isolated and static feed tubes. Operations stretching the limits of good installation practices, such as cable bend ratios as small as 4.5:1 and vibrating in place for 30 seconds, did not damage loose tube fiber optic cable under low tension. For better industry acceptance, special plow blade feed tubes and cable guides were designed, patterned after published recommendations. These were evaluated in a field trial and have since seen application in numerous successful installations of fiber optic cable.     

压电驱动微动平台结构的设计优化和仿真分析

采用双平行柔性铰链结构设计了一种二维微动平台,并计算了微动平台各方向的刚度。根据约束条件,建立了理论刚度数学模型;采用序列二次规划(SQP)算法对平台结构进行多目标优化,并通过MATLAB软件对数学模型进行求解;利用ANSYS软件对优化后平台的位移、刚度和固有频率进行仿真分析。理论计算和仿真结果表明,微动平台具有良好的静、动态特性。     

河北移动综合业务引入光纤配比模型探讨

提出了河北移动城市光纤网络建设的总体策略,引出了综合业务引入光纤配比的两种不同的方式以及光缆交接箱和用户光纤及光缆的选择策略,在此基础上提出了基于客户数量和客户业务种类的方式来建光纤配比模型及相关的计算公式.     

Motion control of a tendon-based parallel manipulator using optimal tension distribution

This paper presents the motion control of a six degree-of-freedom tendon-based parallel manipulator, which moves a platform with high speed using seven cables. To control the motion of the platform along desired trajectories in space, nonlinear feedforward control laws in the cable length coordinates are used. Taking account of the effect of redundancy on actuation, the optimal tension distribution should be considered to the advantage of the control laws. Using a method based on the analysis of the workspace condition, tension constraints and limiting torque constraints of actuators, an analytical solution for optimum tension distribution was found and used to compute the force in each cable for compensation of dynamic errors. It is experimentally demonstrated that the proposed control laws reduce the energy consumption of the actuators and satisfy the path tracking accuracy.     

Numerical analysis of the propagation characteristics of multianglemultislot coaxial cable using moment method

In this paper, multiangle multislot coaxial cable is analyzed qualitatively and quantitatively. This is the extended result of the previous studies of the single-slot coaxial cable. The properties of this cable have been studied by many authors, especially for the surface-wave type. However, the slotted coaxial cable utilizing leaky waves has not been treated rigorously despite its wide use. In this paper, a numerical analysis of a leaky coaxial cable with a multiangle multislot configuration is performed to obtain many useful results, which are impossible to derive employing the approximate model frequently used in this area. Using the moment method, the propagation constant has been obtained for the leaky coaxial cable as a function of various parameters. Several slot configurations are considered to give insight into the properties of coupling loss and transmission loss complicated by simultaneous existence of leaky and surface waves     

基于主动光幕阵列静爆试验破片速度测量方法

为了准确、可靠地测量到静爆试验中任意水平方向上的破片飞行速度,提出了一种基于主动光幕阵列的静爆破片飞行速度测量方法。首先,以被测弹药静爆点为中心的平面上环形布放12组主动式六光幕阵列,当破片穿过其中任意一组光幕阵列的探测幕面时可测量到其飞行参数（如速度、入射角及立靶密集度等）;其次,根据所提出的光幕阵列布局配置,建立了其破片飞行参数测量模型,分析了破片速度分量误差在一定范围随各速度分量变化规律。通过理论分析及实弹实验可知:在规定测试条件下破片速度分量误差不超过2.7 m/s,可以满足任意水平方向上的破片速度测量需要。     

混沌扩频多根电缆故障在线同步诊断研究

针对实际飞机电源系统电缆布线复杂,数量多的问题,本文基于现有的单根电缆故障检测成本高、效率低、检测难度大的研究现状,利用混沌序列对初值敏感（初值不同信号干扰小）、序列数量巨大的特点,提出将混沌序列用于飞机多根电缆故障在线同步诊断的方法.解决了扩展频谱时域反射法（Spread Spectrum Time Domain Reflectometry,SSTDR）中采用相同m序列进行同步诊断时相互干扰、易误判问题,m序列数量限制导致的检测数量问题.研究发现其尖锐的自相关特性能够较好应用于单根电缆故障诊断,故障特征明显;其良好的互相关特性能够同时进行多根电缆的故障诊断,抗干扰性好;结合混沌序列数量多的优势,其能够推广应用于复杂电缆故障的在线诊断.实验结果表明混沌扩频电缆故障诊断方法可有效实现多根电缆故障的同步诊断,定位误差在20cm以内,检测率达90%以上.     

Control Strategies for a Cable-Driven Parallel Robot with Varying Payload Information

A suspended Cable-Driven Parallel Robot (CDPR) composed of eight cables and a moving platform (MP) is used in a pick-and-place application of metal plates with different shapes, sizes and masses. In order to ensure robust control despite mass variation, several combinations of control schemes and control laws have been experimented on a prototype at IRT Jules Verne, France. The main objective of this paper is to provide recommendations on the selection of a control strategy depending on the available information on the carried mass, and the presence or absence of force sensors. Three scenarios are considered representing a degradation of the information on the carried mass to observe the impact on the performance of applicable control strategies. In a first case, force sensors are assumed available to measure cable tension, allowing the real-time estimation of the carried mass. In a second case, the mass of the MP is known, but not the mass of the carried metal plate whereas the third case considers no information at all on both the MP and the carried metal plate. The tested control laws include a standard proportional–derivative controller (PD), and a recently developed nonlinear controller balancing between sliding mode and linear algorithms (SML). The performances of each control strategy are analyzed along a test trajectory for several payloads, and a decision tree is proposed.     

缆索拉力光纤微弯传感器及其非线性补偿

缆索拉力监测对相关行业的安全生产具有重要意义。提出一种新型缆索拉力光纤微弯传感器,介绍了带有弹簧的传感器结构,给出了传感器力学传递函数关系式,通过对梯形弹簧的非线性特性分析,说明梯形弹簧可用于缆索拉力光纤微弯传感器的非线性补偿。实验测试结果表明,经过梯形弹簧非线性补偿的缆索拉力光纤传感器可以获得很好的线性响应。该缆索拉力光纤传感器可应用于电梯、塔吊、起重机、空中索道等场合的拉力监测。     

系留气球拉力传感器数字滤波算法研究

拉力传感器是系留气球上测量缆绳张力的重要部件,处于系留气球复杂的干扰环境中测量准确度一直很低。本文提出了一种数字滤波算法,基于对拉力传感器信号的分析和滤波验证,证明此算法有很好的滤波效果同时保持了对突变信号的跟随性。     

一种含同轴电缆的线束内部串扰高效分析方法

为了高效分析含同轴电缆的线束内部串扰,提出了一种新的简化电缆束模型的方法. 该方法把简化电缆束的过程分为两步:首先,为了解决同轴电缆编织屏蔽层难以仿真的问题,利用内外传输线转移矩阵简化同轴电缆,将含同轴电缆的电缆束转化为全由单芯线组成的三维电缆束模型;然后,使用等效线束法将全单芯线的电缆束进一步简化,减少需要分析的单芯线数量. 简化后的模型可用于任何三维电磁仿真软件中的电缆束内部串扰仿真分析,而无需考虑基于经典传输线理论的等效电路法的局限性. 将提出的方法与等效电路法分别应用于电缆束内部串扰的分析,两者的仿真结果一致性良好,说明文中提出的方法是准确可行的,能够实现含同轴电缆的线束内部串扰的高效分析.