共查询到20条相似文献,搜索用时 62 毫秒
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以基于麦克纳姆轮的全向移动机器人为研究对象,首先对基于标记点的光学动作捕捉系统的定位原理进行研究,然后对移动机器人的驱动原理和位姿误差进行分析,建立运动学模型和位姿误差模型,通过反演法设计虚拟反馈,并结合李雅普诺夫函数构造出具有全局渐近稳定的轨迹跟踪控制器。接着对测试环境和试验样机进行搭建,将光学动作捕捉系统采集的位姿信息反馈到机器人的控制回路中,最后对直线和圆周轨迹进行跟踪仿真。通过在试验样机上实验验证,总结出利用光学动作捕捉系统对移动机器人采集的定位信息,可令移动机器人拥有良好的轨迹跟踪性能。 相似文献
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《机械传动》2015,(12)
针对四轮全向移动机器人动力学模型参数的不确定性以及外部扰动的影响,为提高其轨迹跟踪控制性能,提出了一种基于自适应滑模的四轮全向移动机器人轨迹跟踪控制方法。首先,基于驱动电机参数建立了机器人的动力学模型,在此基础上设计了一种自适应滑模轨迹跟踪控制器;其次,通过低通滤波器滤除轨迹跟踪控制器输出端的高频信号,同时为实现机器人动力学参数的在线估计,提出了一种参数自适应控制算法并利用RBF神经网络实时调整轨迹跟踪控制器的切换增益,以减小系统的抖振;最后,为验证所述方法的有效性,采用MATLAB进行了仿真实验。仿真结果表明,基于自适应滑模控制的四轮全向移动机器人轨迹跟踪方法可以较好地降低参数变化、外部扰动对系统的影响,能够减小系统的抖振,具有较好的抗干扰能力。 相似文献
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随着移动机器人在工业、农业、军事等领域中的广泛应用,对其自主运动控制技术的需求逐渐增大.为了实现履带式移动机器人的轨迹跟踪控制,建立了运动学模型和轨迹跟踪动态误差模型.基于Lyapunov稳定性理论,提出了一种状态反馈控制律,并通过Lyapunov函数对控制律的稳定性进行了证明.为了评估所提出控制律的性能,在Matlab/Simulink环境下分别进行了直线轨迹跟踪和圆形轨迹跟踪仿真实验.仿真实验结果表明,所设计的控制律能够快速有效地实现直线轨迹跟踪与圆形轨迹跟踪,具有较好的控制效果,可应用于履带式移动机器人轨迹跟踪控制的实际项目中. 相似文献
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Clarence W.DE SILVA 《Instrumentation》2019,(4):72-84
An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is t... 相似文献
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INTEGRAL EQUATION METHOD'S APPLICATION IN HOLE-EDGE STRESS OF COMPOSITE MATERIAL PLATE WITH DIFFERENT SHAPED HOLES 总被引:1,自引:0,他引:1
LI Cheng ZHENG Yanping 《机械工程学报(英文版)》2008,21(6):115-118
The strength of composite plate with different hole-shapes is always one of the most important but complicated issues in the application of the composite material. The holes will lead to mutations and discontinuity to the structure. So the hole-edge stress concentration is always a serious phenomenon. And the phenomenon makes the structure strength decrease very quickly to form dangerous weak points. Most partial damage begins from these weak points. According to the complex variable functions theory, the accurate boundary condition of composite plate with different hole-shapes is founded by conformal mapping method to settle the boundary condition problem of complex hole-shapes. Composite plate with commonly hole-shapes in engineering is studied by several complex variable stress fimction. The boundary integral equations are founded based on exact boundary conditions. Then the exact hole-edge stress analytic solution of composite plate with rectangle holes and wing manholes is resolved. Both of offset axis loadings and its influences on the stress concentration coefficient of the hole-edge are discussed. And comparisons of different loads along various offset axis on the hole-edge stress distribution of orthotropic plate with rectangle hole or wing manhole are made. It can be concluded that hole-edge with continuous variable curvatures might help to decrease the stress concentration coefficient; and smaller angle of outer load and fiber can decrease the stress peak value. 相似文献
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30 keV Ga+ focused ion beam induced secondary electron (iSE) imaging was used to determine the relative contrast between several materials. The iSE signal compared from C, Si, Al, Ti, Cr, Ni, Cu, Mo, Ag, and W metal layers does not decrease with an increase in target atomic number Z2, and shows a non-monotonic relationship between contrast and Z2. The non-monotonic relationship is attributed to periodic fluctuations of the stopping power and sputter yield inherent to the ion–solid interactions. In addition, material contrast from electron-induced secondary electron (eSE) and backscattered electron (BSE) images using scanning electron microscopy (SEM) also shows non-monotonic contrast as a function of Z2, following the periodic behavior of the stopping power for electron–solid interactions. A comparison of the iSE and eSE results shows similar relative contrast between the metal layers, and not complementary contrast as conventionally understood. These similarities in the contrast behavior can be attributed to similarities in the periodic and non-monotonic function defined by incident particle–solid interaction theory. 相似文献
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This paper proposes a novel grading method of apples,in an automated grading device that uses convolutional neural networks to extract the size,color,texture,an... 相似文献
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分布动态载荷识别的抗噪处理 总被引:2,自引:2,他引:0
针对正交多项式频域法在用多种响应对矩形薄板进行载荷识别中抗噪性较差的问题,综合运用平均法、矩阵预处理和奇异值截断法等方法对之进行改善,并引入空间映射的思想,将该方法的应用范围拓展为复杂的模型.利用仿真算例,证实了该方法具有较好的抗噪性. 相似文献
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针对工程实践中环网通讯相关问题的处理缺乏理论基础及国产化安全级DCS平台的开发缺乏成熟经验借鉴问题,对基于MELTAC-N平台核电厂安全级DCS环网的软硬件实现进行了研究。提出了安全级DCS环网双环网冗余设计、光切换开关设计等硬件设计方法,以及以RPR协议为基础,采用全数据收发策略的软件设计方法。在CPR1000安全级DCS平台上对安全级DCS环网的可靠性及实时性进行了评价,并进行了容错能力、响应时间及响应时间稳定性测试验证实验。结果表明,基于MELTAC-N平台安全级DCS环网软硬件设计具有较好的容错能力及响应时间稳定性。 相似文献
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The fraction defective of semi-finished products is predicted to optimize the process of relay production lines, by which production quality and productivity ar... 相似文献
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The use of hand gestures can be the most intuitive human-machine interaction medium.The early approaches for hand gesture recognition used device-based methods.... 相似文献
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J. A. Williams 《Lubrication Science》1997,3(3):267-306
Abrasive wear has long been recognised as one of the most potentially serious tribological problems facing the operators of many types of plant and machinery; several industrial surveys have indicated that wear by abrasion can be responsible for more than 50% of unscheduled machine and plant stoppages. Locating the operating point of a tribological contact in an appropriate operational ‚map’︁ can provide a useful guide to the likely nature and origins of the surface degradation experienced in use, though care must be exercised in choosing the most suitable parameters for the axes of the plot. Laboratory testing of materials and simulations of machine contacts are carried out for a number of purposes; at one level for the very practical aims of ranking candidate materials or surface hardening treatments in order of their wear resistance, or in an attempt to predict wear lives under field conditions. More fundamentally, tests may be aimed at elucidating the essential physical mechanisms of surface damage and loss, with the longer term aim of building an analytical and predictive model of the wear process itself. In many cases, component surface damage is brought about by the ingress of hard, particulate matter into machine bearing or sealing clearances. These may be running dry although, more usually, a lubricant or service fluid is present at the interface. A number of standardised wear test geometries and procedures have been established for both two- and three-body wear situations, and these are briefly described. Although abrasive wear is often modelled as following an ‚Archard’︁ equation (i.e. a linear increase in material loss with both load and time, and an inverse dependence on specimen hardness) both industrial experience and laboratory tests of particularly lubricated contacts show that this is not always the case: increasing the hardness differential in an abrasively contaminated lubricated pair may not always reduce the rate of damage to the harder surface. 相似文献
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CHEN Sunyi 《机械工程学报(英文版)》2007,20(6):13-17
A graph as the new engineering method for estimate the safety of bulging deformation of coke tower is proposed. Through stresses analysis of circumferential weld of coke tower and comparing the stresses produced by pressure with heat stress of steady state, residual stress, bending stress produced by both itself weight and wind loads, it showed that the stresses produced by pressure on the angle distortion are the main factor of equivalent stress of the combined stress. After comparing four kinds of stress controlling conditions, the relation to stress with depth of angular distortion, grade of curvature of angular distortion and half of region of angular distortion has been inferred. Graph of deformation allowable value of coke tower for different condition by angular distortion and half of region of angular distortion has been plotted. The five steps for its engineering use have been explained. The lighter the grade of curvature is, the larger of bulge allowance, may be, and the bigger of depth of angular distortion may pose too. For the coke tower with a popular structure of Dg 5 400 mm×28 mm, the result by graph is nearly more than the result of two formulas formed by other research, the error is less than 7.0%. But, the graph can be easily applied to different size of angular distortion. 相似文献