输电线路巡检无人机云台控制技术研究

针对云南电网对输电线路电力巡线、塔架金具详查等任务需求,设计了一种机载视觉传感器稳定系统无人机云台;无人机云台根据稳定控制算法驱动云台电机及时对视觉传感器姿态进行修正,使得视觉传感器始终能稳定拍摄到目标对象。文中对云台电机驱动技术、扰动补偿算法进行了理论研究,并进行机载云台飞行验证。该设计已搭载多旋翼无人机进行电路巡检应用,取得了显著的成果。     

送纸机构的研制

设计了一套自动补偿机构和调节装置,解决了自动包装机机构的纸袋跑偏和抖动问题。     

基于电机转速波动补偿的电动车防抖控制设计

针对常用的纯电动乘用车加减速过程中存在的冲击抖动问题,以某款纯电动乘用车为研究对象,分析了其加减速过程中存在的冲击抖动的原因以及电机扭矩关系,提出了基于电机转速波动补偿的电动车防抖控制设计方法.在此基础上,建立了纯电动乘用车防抖控制模型,运用MATLAB/Simulink对纯电动乘用车加减速过程中存在的冲击抖动问题进行...     

新型屋顶可折叠除雪装置设计及运动学分析

为解决我国北方冬季屋顶除雪难的问题,设计一种新型屋顶可折叠除雪装置。该装置包括传递机构、除雪机构、松雪机构以及折叠收放机构;建立松雪机构的运动学模型,验证其通过往复波浪抖动来避免积雪凝结的合理性;进行装置制作和实验测试。测试结果表明：该装置不仅能满足24 h不间断除雪需求,而且能实现无雪天气装置的折叠收缩。     

激光陀螺抖动偏频电路的设计与实现

目前消除激光陀螺闭锁误差常用的方法是采用机械抖动偏频及向抖动驱动信号中注入随机噪声。根据某型激光捷联惯导系统所选用的激光陀螺的特性,采用微控制器、锁相环及D／A转换器等器件设计了激光陀螺抖动及加噪电路。该电路具有抖动起振快、加噪简单有效、工作可靠性高等特点,并具有自检测功能。从设计的激光捷联惯导系统实际运行看,该电路能很好地满足系统功能及性能要求。     

基于罗氏线圈的10(6)kV电流传感器设计与应用

工业生产中存在着大量10(6)k V电气设备,由于测试环境及测试对象的特殊性,传统的铁磁式电流传感器难以满足要求。在分析Rogowski空心线圈结构、原理及参数计算方法的基础上,设计了基于罗氏线圈的高压测试装置电流传感器。为了降低低频信号的干扰和消除工频附近的相位误差,对传统积分电路进行了改进并重新设计了相位补偿电路。通过现场测试发现,使用该电流传感器的测试装置能够满足测量精度要求。     

多功能张紧装置设计与试验分析

为实验室的带钢抖动试验装置设计了一款具有张紧、张力检测及纠偏的多功能张紧装置。包括结构设计,传感器选型与标定,装置的安装与调试,系统的张力分析。由LMS动态测试与分析系统对张紧装置进行数据采集。试验结果表明:该装置基本实现了预设功能,可为带钢抖动试验装置提供额定的张力,测试动态张力,并防止铜带跑偏。在与张力的动态测试中发现,辊子转频在力传感器频谱图上表现明显。当电机转速n=120r/min、张力T=17.41N时,整个装置会出现比较明显的共振现象。其中采集到的各组动态张力是研究模型铜带抖动规律的基础数据之一。     

望远镜面型误差实时测量与补偿研究

为实现大型射电望远镜反射面面型误差实时测量与解耦补偿，满足大口径、高频率射电望远镜对高精度反射面的需求，对望远镜面型误差实时测量与补偿进行了研究。设计了一种基于6SPS型并联机构的面板相对位姿传感器，通过建立数学模型对测量原理进行分析。针对现有主动面调整装置引起的面板误差耦合问题，提出一种6PSS构型调整装置，对安装方式、调整原理进行分析，并建立运动学模型。将面板相对位姿传感器与主动面调整装置相结合，组成反射面精度实时测量与误差解耦补偿系统，建立系统数学模型，通过数值算例验证可行性。     

光学防抖模组ϕ0.5mm钢球自动焊接设备

市场上新型手机镜头光学防抖模组THB制品钢球的焊接基本以人工加简易设备与治具为主,为半自动作业,故其生产效率低下,产品品质不稳定.针对上述问题,设计开发了光学防抖模组THB制品钢球自动焊接设备.通过结合现阶段工业高新技术,采用高精度分度盘、精密气动元气件、高精准视觉影像判别系统以及高精度激光焊接设备,研究光学防抖模组THB制品钢球自动焊接的方法.独特的双分度盘机构及专用钢球顶针治具的设计,实现了光学防抖模组THB制品的钢球自动焊接,减少了企业成本,提升了光学防抖模组THB制品钢球焊接的品质.     

防雨自动晒鱼干装置的设计

在晒鱼干时,天气因素会直接影响鱼干的质量.对此,设计了一种防雨自动晒鱼干装置.这一装置由旋转机构、防雨机构和天气监测系统组成,通过湿度传感器检测天气异常情况,进而控制电机动作,打开防雨机构,避免鱼干被雨水打湿.这一装置可以有效缓解雨天对晒鱼干的影响,进而加快晒鱼干的速度,提高鱼干的质量.     

Dynamic balancing of planar mechanisms using genetic algorithm

This paper presents an optimization technique to dynamically balance the planar mechanisms in which the shaking forces and shaking moments are minimized using the genetic algorithm (GA). A dynamically equivalent system of point-masses that represents each rigid link of a mechanism is developed to represent link’s inertial properties. The shaking force and shaking moment are then expressed in terms of the point-mass parameters which are taken as the design variables. These design variables are brought into the optimization scheme to reduce the shaking force and shaking moment. This formulates the objective function which optimizes the mass distribution of each link. First, the problem is formulated as a single objective optimization problem for which the genetic algorithm produces better results as compared to the conventional optimization algorithm. The same problem is then formulated as a multi-objective optimization problem and multiple optimal solutions are created as a Pareto front by using the genetic algorithm. The masses and inertias of the optimized links are computed from the optimized design variables. The effectiveness of the proposed methodology is shown by applying it to a standard problem of four-bar planar mechanism available in the literature.     

起重机减摆系统装置研究

通过Lagrange力学分析法,建立了小车吊载的动态模型,提出了采用校正PID的控制器控制小车运动从而抑制吊载摆动的方法,并在 Simulink环境中对以上分析进行了仿真验证。在此基础上,实际开发了一套定位防摆控制系统装置,实现了小车手动和自动定位防摆运行功能。应用结果表明系统具有良好的定位性能和定位防摆效果。     

A general mass balancing method for complex planar mechanisms

The 1968 work by Berkof and Lowen provided a new perspective in the balancing of machines by using “linearly independent vectors” for the complete shaking force balancing of simple mechanisms. As logical extensions of their work, methods presented in this paper allow the complete balancing of complex mechanisms for shaking force or shaking moment (which inherently satisfies the shaking force criteria). These methods further allow the satisfaction of user specified non-zero values of the dynamic properties of the mechanism including driving torque, shaking momentum, shaking force, or combinations of these. The formulation provides, by direct non-iterative computation, redistribution of the mass content of the system in the most general sense to enhance the operating smoothness of the total system. These synthesis results are addressable by all designers since their uniform mathematical formulation can be packaged in compact interactive computational programs for all conceivable dynamic properties to be considered for balancing.     

全 R 副空间连杆机构摆动力和摆动力矩的完全平衡

提出了利用质量配重和惯性配重实现全Ｒ副空间连杆机构摆动力和摆动力矩完全平衡的质量动替代法。其基本思路是通过质量动替代的途径，将空间闭链机构摆动力和摆动力矩的完全平衡转化为空间树状链摆动力和摆动力矩的完全平衡。文中导出了ＲＲ构件的质量动替代的条件与公式以及空间树状链摆动力和摆动力矩完全平衡的条件，由此可简便地直接构造出任意全Ｒ副空间闭链机构摆动力和摆动力矩的完全平衡条件。最后讨论了Ｂｅｎ－ｎｅｔ机构摆动力和摆动力矩的完全平衡条件及其实现方法。     

双环式行星分度凸轮机构的平衡分析和样机实验研究

在阐述一种新型机构———双环式行星分度凸轮机构传动原理的基础上,分析了内齿板的摆动力。用广义质量替代法计算出应加的配重,从而解决了整机的摆动力和摆动力矩的平衡问题。样机的实验结果证明,通过配重平衡可以改善运动的平稳性。     

Kineto-elastodynamic balancing of 4R-four-bar mechanisms by internal mass redistribution

In the case of mechanism with elastic links, the links vibrate about some mean position under the forces acting on the mechanism. The acceleration field resulting from the vibration of the links develops additional inertia forces which may be termed kineto-elastodynamic (KED) inertia forces. The present paper takes into account the contribution of the KED inertia forces toward the shaking force and shaking moment along with the contribution of the rigid-body inertia forces while balancing a mechanism by internal mass redistribution. The effect of the inclusion of KED inertia forces has been demonstrated by taking an example problem in which the maximum shaking force produced during the complete cycle of motion of mechanism has been minimized using nonlinear programming technique.     

Design equations for the complete shaking force balancing of 6R 6-bar and 6-bar slider-crank mechanisms

The article presents the design equations for complete shaking force balancing of commonly used planar Stephenson's and Watt's type 6R 6-bar and 6-bar slider-crank regular force transmission mechanisms using the method of linearly independent mass vectors. Regular force transmission mechanisms are those in which the shaking force can be completely balanced by distributing the masses of the existing links. Design equations are developed by considering the existing links. Design equations are developed by considering mass distributions of the coupler links and sliders specified whenever possible, so that the counter-balancing masses are mounted on the shafts supported by the fixed frame of the mechanism. Industrial design applications of the design equations given are illustrated in two numerical examples where the shaking force in a Stephenson's Type-1 6R mechanism and a 6-bar double-slider-crank mechanism used in V-engines is balanced.     

平面机构综合优化目标函数加权系数的确定

本文将平面机构作用的机座系统抽象为三自由度强迫振动系统，研究振动力Ｘ、Ｙ分量，振动力矩与系统响应之间关系。发现进行综合优化平衡时，加权系数大小与系统的固有属性（质量、刚度）有关。从而解决了综合优化目标函数加权系数数值的确定问题。与传统方法相比，文中所述目标函数构造方法可有效减小系统的振动响应。     

Modeling and controller design of a shaking table in an active structural control system

The purpose of this paper is to develop an approach to improve the tracking characteristics of a small-scale shaking table, which is used in an active structural control system. Firstly, the active control experimental system is briefly described. Then, a system dynamic model is constructed, which integrates hydraulic actuator system and a three-floor test structure mounted on the shaking table. Due to low natural frequency and small damping, the small-scale shaking table cannot meet the experimental requirements. Thus, three states control algorithm based on pole-assignment principle is applied for extending the acceleration bandwidth and improving system damping. Lastly, the experimental results prove that the new controller is effective.     

剑杆织机新型引纬机构的震动力完全平衡

针对一种由共轭凸轮机构、空间连杆机构和齿轮机构组合而成的新型剑杆织机引纬机构，通过有效分离，将其中的共轭凸轮作为两个盘形转子单独进行了平衡，其余构件整体上作为空间机构运用线性无关向量法一并进行了平衡，从而实现了整个机构的震动力完全平衡。