功能分解方法在玻璃多柔性转台系统设计中的应用

从用户需求和完成工艺动作这一过程总功能要求出发，将玻璃多柔性转台系统按广义执行机构子系统、传感检测子系统和信息处理及控制子系统进行功能分解，并对每个子系统进行了分析，完成了系统原理方案的设计。     

机电一体化系统概念设计的基本原理

本文提出了机电一体化系统主要由广义执行机构子系统、信息处理及控制子系统、传感检测子系统组成。机电一体化系统从实质来说是现代化的机械系统。广义执行机构子系统由驱动元件和执行件（或执行机构）组成,用来传递动力、完成运动。信息处理及控制子系统由电子计算机来完成,传感检测子系统由传感器来实现,它们是现代机械系统重要的特征。由驱动元件和执行件（或执行机构）组成的广义执行机构子系统,是现代机械系统又一重要特征,构成了可控的传动和执行系统。由于三个子系统均以功能来划分,因此形成了较为合理的机电一体化系统的概念设计框架模型,有利于深入开展机电一体化的概念设计研究。     

机电一体化系统方案求解知识库的建立及辅助方案创新

提出了机电一体化系统方案求解知识库的构成体系。基于VB6．0及ACCESS2002软件平台，采用关系型数据库技术及面向对象的设计方法构建了机电一体化系统方案求解知识库。该知识库包括9个功能模块。其中基本运动功能载体库、驱动元件库及传感检测载体库对机电一体化系统的方案求解起核心的支撑作用。建立的机电一体化系统方案求解知识库具有方便快捷的查阅方式，能自动产生多种可行方案，且易于维护。为计算机辅助机电一体化系统的方案创新设计提供了有效手段。     

面向复杂机械产品分解式设计的系统集成平台方法

介绍了复杂机械产品的分解式设计方法,针对设计中的困难提出了系统集成平台的概念、方法和框架。通过对系统整体性能的检验及设计冲突的识别和协调,系统集成平台能够在系统级的水平上对子系统的设计给以指导,并协助将各子系统的设计信息集成为一个整体设计方案。通过以二甲醚发动机为例,证明了在系统集成平台的支持下,子系统的设计过程大为简化,系统的整体性能也更有利于保证。     

基于组态思想的旋转机械状态监测系统

为适应旋转机械状态监测系统多样化需求,提出一种新颖的基于组态思想的旋转机械状态监测系统。该系统以配置研究设计的组态化状态监测系统管理分析软件平台的通用计算机为核心,加上研制的电涡流信号采集前置分机、压电信号采集前置分机、工艺量信号采集前置分机和系统组合控制分机组成。系统可以依据工业现场状态监测的实际需要,由用户方便地组建成具有多种信号采集和数据分析功能的离线的便携式振动数据采集分析系统、准在线状态监测系统、或在线状态监测系统。所有信号采集前置分机和系统组合控制分机都是以ＤＳ８０Ｃ３２０高速处理单片机为核心设计的高速、小型化、低功耗系统。论述系统总体方案、系统分机设计和管理分析软件设计,并给出系统在工业现场的应用结果。     

柔性基、柔性关节空间机械臂的运动混合控制

为解决具有不确定性柔性基、柔性关节空间机械臂的控制问题,提出一种自适应鲁棒终端滑模控制与自适应最优控制相结合的混合控制方案。首先,利用奇异摄动法将系统降阶为慢变子系统及快变子系统;其次,针对慢变系统设计一种由等效控制、鲁棒控制及自适应调节算法组成的轨迹跟踪自适应鲁棒终端滑模控制方案;之后,针对快变系统设计一类基于自适应状态观测的振动最优控制策略。仿真结果表明所提方案在系统刚性、柔性运动控制上的有效性。     

中小型内高压成形机液压系统的设计与仿真

为研发节能高效、经济实用的三侧缸内高压成形设备,设计了合模力可变且最大为10 MN,三轴向进给、组合式充液胀形且最高胀形压力为300 MPa的中小型内高压成形机液压系统,并对系统主要部件选型。将整机液压系统分为合模压机、充液胀形、轴向进给和下缸退料4个子系统,并基于AMESim对各子系统进行建模与仿真测试。在此基础上建立整机液压系统完整仿真模型,并应用工程成形实例进行仿真试验。仿真实验结果表明:系统设计合理,主要参数控制精度达到设计要求,设计的液压系统为研发此类装备提供参考。     

一种基于无源射频识别的智能门禁系统

针对采用无线射频识别门禁系统授权识别准确率较低,以及较难防范未经授权的人员将授权人员带入限制区域的问题,提出了一个智能访问控制系统。所提出的系统由超高频无线射频识别子系统和计算机视觉子系统组成。超高频无线射频识别子系统实现人员的识别和认证功能,而计算机视觉子系统实现捕获人员图像并准确计算其数量的功能。实验表明,访问控制系统通过比较2个子系统所确定的人员数量,可以提高射频识别的准确率,并有效解决尾随访问控制问题。     

智能型采棉机器人电气控制系统设计

针对基于视觉的棉花采摘技术,构建了智能型采棉机器人总体设计方案。其电气控制系统中运动控制子系统采用安川MP2100运动控制单元为核心,控制其中的四自由度机械手及X向导轨,具有良好的实时性和扩展性。机器视觉子系统采用SEED-VPM642开发平台为基础,配合3个CCD摄像头进行采集,能够实现高效率和高准确性的图像识别。各个接口模块之间通过PCI总线进行通信,由工控机统一协调处理,以实现高效采摘功能。     

Multiple incipient sensor faults diagnosis with application to high-speed railway traction devices

This paper deals with the problem of incipient fault diagnosis for a class of Lipschitz nonlinear systems with sensor biases and explores further results of total measurable fault information residual (ToMFIR). Firstly, state and output transformations are introduced to transform the original system into two subsystems. The first subsystem is subject to system disturbances and free from sensor faults, while the second subsystem contains sensor faults but without any system disturbances. Sensor faults in the second subsystem are then formed as actuator faults by using a pseudo-actuator based approach. Since the effects of system disturbances on the residual are completely decoupled, multiple incipient sensor faults can be detected by constructing ToMFIR, and the fault detectability condition is then derived for discriminating the detectable incipient sensor faults. Further, a sliding-mode observers (SMOs) based fault isolation scheme is designed to guarantee accurate isolation of multiple sensor faults. Finally, simulation results conducted on a CRH2 high-speed railway traction device are given to demonstrate the effectiveness of the proposed approach.     

机电一体化系统方案评价方法的研究

提出了机电一体化系统方案评价的多目标、多层次的评价指标。指出AHP方法同样适用于机电一体化系统的方案评价。基于图论数学工具，提出了“三环路法”，解决了AHP方法中存在的一致性问题，其优势在于易于重新调整两两比较的标度值以满足一致性条件且能较好地维持原有的实际意义。D．A．I．或D．U．I．值也能使设计者比较判断矩阵间的不一致程度。实例研究证明了三环路法的可靠性。     

MULTIDISCIPLINARY ROBUST OPTIMIZATION DESIGN

Because uncertainty factors inevitably exist under multidisciplinary design environment, a hierarchical multidisciplinary robust optimization design based on response surface is proposed. The method constructs optimization model of subsystem level and system level to coordinate the coupling among subsystems, and also the response surface based on the artificial neural network is introduced to provide information for system level optimization tool to maintain the independence of subsystems, i.e. to realize multidisciplinary parallel design. The application case of electrical packaging demonstrates that reasonable robust optimum solution can be yielded and it is a potential and efficient multi-disciplinary robust optimization approach.     

Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach

This paper presents a new control scheme for quadrotor unmanned aerial vehicle attitude control and disturbance suppression. A quadrotor dynamic model is divided into two subsystems: fully-actuated and under-actuated. While the PID method is used to control the fully-actuated subsystem, a sliding-mode-observer-based equivalent-input-disturbance approach is used to control the under-actuated subsystem. The system design is simple, and it is globally uniformly ultimately bounded. Simulations and comparisons demonstrate the effectiveness of the method.     

Robust finite-time chaos synchronization of uncertain permanent magnet synchronous motors

In this paper, a robust finite-time chaos synchronization scheme is proposed for two uncertain third-order permanent magnet synchronous motors (PMSMs). The whole synchronization error system is divided into two cascaded subsystems: a first-order subsystem and a second-order subsystem. For the first subsystem, we design a finite-time controller based on the finite-time Lyapunov stability theory. Then, according to the backstepping idea and the adding a power integrator technique, a second finite-time controller is constructed recursively for the second subsystem. No exogenous forces are required in the controllers design but only the direct-axis (d-axis) and the quadrature-axis (q-axis) stator voltages are used as manipulated variables. Comparative simulations are provided to show the effectiveness and superior performance of the proposed method.     

基于子系统的非线性时变系统辨识方法

针对非线性时变系统提出一种基于子系统的辨识方法,用于时变多自由度（multiple degree-of-freedom,简称MDOF）系统中非线性的定位和估计,并且无需关于系统的先验知识。所提出的新方法提供一个连续时间模型,MDOF系统按照自由度被分解为不同的子系统。设计正交化算法和误差减小率（error reduction ratio, 简称ERR）,可以确定子系统中质量和自由度之间的线性及非线性连接的所有信息。在辨识过程中,时变参数的时间表达式可以由新方法准确给出。用一个3自由度（degree-of-freedom, 简称DOF）集中质量系统和一个机械臂结构的辨识过程为例,对所提出的方法进行验证。由于简单性及高效性,此方法将在实际工程中取得广泛的应用。     

Weakness Ranking Method for Subsystems of Heavy-Duty Machine Tools Based on FMECA Information

Heavy-duty machine tools are composed of many subsystems with different functions,and their reliability is gov-erned by the reliabilities of these subsystems.It is important to rank the weaknesses of subsystems and identify the weakest subsystem to optimize products and improve their reliabilities.However,traditional ranking methods based on failure mode effect and critical analysis(FMECA)does not consider the complex maintenance of products.Herein,a weakness ranking method for the subsystems of heavy-duty machine tools is proposed based on general-ized FMECA information.In this method,eight reliability indexes,including maintainability and maintenance cost,are considered in the generalized FMECA information.Subsequently,the cognition best worst method is used to calculate the weight of each screened index,and the weaknesses of the subsystems are ranked using a technique for order preference by similarity to an ideal solution.Finally,based on the failure data collected from certain domestic heavy-duty horizontal lathes,the weakness ranking result of the subsystems is obtained to verify the effectiveness of the proposed method.An improved weakness ranking method that can comprehensively analyze and identify weak subsystems is proposed herein for designing and improving the reliability of complex electromechanical products.     

Implementation of a ball inverted pendulum with omnidirectional moving ability using a robust fuzzy control strategy

A robust fuzzy controller (RFC) is proposed for a ball inverted pendulum (BIP) system control problem. A Mamdani-type fuzzy controller and a compensated control technique are combined in the proposed control system. This controller is used for real-world control of a BIP with unknown system uncertainties. Using this method, the approximation error caused by the trial-and-error fuzzy control design procedure is minimized. Moreover, the decoupled technique provides a simple method for achieving asymptotic stability control for angle and position of a BIP control system. The concept of this approach is to decouple the entire system into two subsystems. Next, the primary subsystem combines the information provided by the secondary subsystem. And then a control force is generated to drive both subsystems toward their targets, respectively. Thus, the platform can move to any position without constraints. The stability of RFC, which is based on the Lyapunov stability theorem, is guaranteed. Furthermore, to verify the effectiveness of the control algorithm, several numerical simulations and dynamic simulation in the automatic dynamic analysis of mechanical systems (ADAMS) environment with MATLAB are implemented. Finally, the efficiency of the RFC is verified with real-time implementation of the BIP.     

漂浮基柔性关节-柔性臂空间机器人运动非线性滑模控制及双重弹性振动主动抑制

讨论了漂浮基柔性关节-柔性臂空间机器人系统的动力学建模过程、运动控制律设计及关节和臂双重弹性振动的抑制问题。利用动量、动量矩守恒关系和拉格朗日-假设模态法对系统进行动力学分析,并建立系统动力学方程。基于奇异摄动法,将系统分解为三个相互独立的子系统：仅表示系统刚性运动的“刚性关节-刚性臂”慢变子系统、仅表示柔性关节引起的系统弹性振动的“柔性关节-刚性臂”快变子系统和仅表示柔性臂引起的系统弹性振动的“刚性关节-柔性臂”快变子系统。分别针对三个子系统设计适当的控制律,其中非线性滑模控制方法用来实现空间机器人期望运动轨迹的渐近跟踪,速度差值反馈控制器用来抑制柔性关节引起的系统弹性振动,线性二次型最优控制器用来抑制柔性臂引起的系统弹性振动。因此,系统的总控制律为三个子系统的控制律组成的混合控制律。仿真实验证明所提出的混合控制律能够保证系统的控制精度,且能够有效地抑制柔性关节和柔性臂引起的系统弹性振动。     

工程机械车辆液压底盘二次调节模拟加载试验台的解耦控制

针对工程机械车辆液压底盘模拟试验台中驱动系统的转速控制子系统与加栽系统的转矩控制子系统的耦合问题，分析其对整套系统控制性能的影响。结合本试验台的特点，设计了一个基于单神经元PID控制的解耦网络，并给出了网络构造的全过程。实验以及仿真研究结果表明，通过在控制系统中加入特定的解耦网络，实现了驱动系统的转速控制子系统与加载系统的转矩控制子系统间的动态近似完全解耦，使两个子系统近似成为独立的控制系统，从而使系统的控制性能得到明显改善，为实际调试工作奠定了基础。     

面向大型机床再制造的进给系统动态特性

大型机床进给系统的再制造必须考虑大型部件的空间分布特性对进给系统动态响应的影响。针对某大型铣齿机床,采用分布参数建模方法描述细长滚珠丝杠副的传递子系统,采用集中参数建模方法描述交流伺服驱动子系统和工作台驱动子系统,并通过转速关系将3个子系统耦合起来,形成进给系统的分布集中参数模型。通过理论模型仿真与试验结果比较,证明建立的分布集中参数模型符合物理系统的真实性,能够准确地描述大型机床进给系统的动态响应特性。在此基础上进一步讨论不同分布特性影响下,分布集中参数模型和单纯集中参数模型动态响应的变化,结果表明,两种模型的动态响应差异会随着系统惯量的变化而改变,这为大型机床进给系统的设计、控制提供了参考依据。