低压电力载波通信在电梯控制系统中的应用

结合电力线载波通信和嵌入式技术,对电梯信号控制的电力载波串行通信系统进行了研究,分析了系统的组成、硬件电路、通讯协议等关键问题。该系统采用集成化、模块化设计,硬件线路少,具有良好的抗干扰、纠错能力,适应了电梯通讯控制的要求,应用前景广阔。     

电力线通讯技术研究述评

1 引言电力线通讯指利用电力线为传输介质实现数据通讯和计算机联网。通过电力线传递数据已有近百年的历史。早期的电力线通讯技术采用高压电力线载波,在点对点通讯的两端电力线上装有阻波器。如德国在1928年开发了“电力线载波通讯(PLC)”技术,1930年,西门子公司开发出一种称为“Telenerg”技术,这是一种多频处理技术。在280～600Hz的频率上重叠脉冲。1935年,德国AEG公司研制出“Franskoomando”方     

基于扩频载波技术的CEBus电力线通讯模块

电力线通信是家庭网络应用的重要方向之一，扩频载波通信(SSC)具有很强的抗干扰能力，是应用于电力线通信的较好的通信技术。本文介绍了SSC技术及Intellon公司SSC P300集成芯片，并结合CEBus协议，描述了电力线载波通讯在信息家电中的应用实例。     

电力线载波通信在爬壁机器人控制系统中的应用

本文将电力线载波技术于爬壁机器人的控制系统中,采用同控制,用低压电力线实现主、从电路间的通讯,详细介绍了数据收、发单元,分析了调制解调器、编解码芯片及相应的控制电路。     

基于电力线载波高速公路电缆防盗割报警系统

电力线或专用电缆常被人盗割或被意外事故切断,给供电部门或有关企业和人民群众的生活带来了巨大的损失。本文基于对低压电力载波通信技术的研究,通过与传统的电缆防盗割方法的比较,设计了一个较为先进的基于低压电力线载波技术的模拟高速公路配电电缆防盗割报警系统。     

基于电力载波技术的新型农业大棚系统设计

PLC-IoT(电力线载波通讯技术)作为一种物联网的电力信息采集系统通信方式,电力线通信技术与其他相比具有无可比拟的方便,经济性,可靠性,免维护,即插即用等优点.总线技术在通信节点少的情况下具有较高的稳定性和实用性,但在通信节点多的情况下却难以发挥作用,存在成本高、布线难等问题.因此,该文主要介绍了电力线载波通信技术在...     

关于智能家居电力载波的数据采集器设计

低压电力线载波通信技术能够利用低压电力线进行数据通信,不需要再架设专用电缆,给远程数据采集及通信系统的实现提供了很大的方便.本设计就是在电力线为通讯介质的前提下,探讨了家庭智能网络的一部分应用--小区自动抄表系统.研究对象的侧重点是整个通讯系统中的最基本单元--采集器.     

PLCC在X-10家庭网络中的应用

家庭网络中通讯问题是家庭网络自动化技术领域中的一个重要研究方向。本文首先论述了电力线载波通讯(PLCC)技术的特点和通讯带宽问题。然后介绍了家庭网络技术的国内外发展状况和主流家庭网络协议。在此基础上,详细论述了PLCC在X—10家庭网络中的应用。     

一种电力线扩频载波通讯节点的具体实现

介绍了一种以AT89C52单片机为控制核心、以P300/P111电力线扩频载波通讯芯片为基础的电力线载波通讯节点的实现,阐述了系统结构及其工作原理,并指出了系统应用中应注意的问题。     

PLC能否成为市场黑马

PLC优势与瓶颈 从字面上来看，PLC的英文全称为“Power Line Communication”，即电力线通讯。顾名思义，这是一项利用电力线通过载波信号进行讯息传输的技术。其优点显而易见：不需要重新架设网络，只要有电线的地方都可以进行数据传输。     

高压带电作业双臂机器人系统设计

摘要：传统带电作业采用人工方式,但高空、高压危险作业环境与高劳动强度对作业人员人身安全构成一定威胁。针对10KV配电网带电作业的实际需求,采用12米高液压升降平台和两台协作型六轴机械臂,设计开发了双臂六轴机器人系统。采用ARM嵌入式处理器,设计开发了双臂机器人控制器硬件和软件,根据实际作业应用需求,给出了机械臂运动路径规划方法,通过WiFi无线通讯方式和SOCKET编程实现了对双臂机器人的现场操作控制,采用LoRa无线通讯网络,设计开发了LoRa主站模块和LoRa专用工具模块,采用LoRa定点扫描通讯方式,实现了各工具模块和机器人控制器的相互通讯。在某培训实验基地10KV配电线路上,对带电作业机器人系统进行了现场实验,验证了剥皮、接引流线等各项设计功能,机器人从接收到剥皮指令开始到剥皮作业完成,整个过程用时3分20秒;完成接引流线作业全程用时2分50秒。     

A Flexible Control Architecture for Mobile Robots: An Application for a Walking Robot

To get the best features of both deliberative and reactive controllers, present mobile robot control architectures are designed to accommodate both types of controller. However, these architectures are still very rigidly structured thus deliberative modules are always assigned to the same role as a high-level planner or sequencer while low-level reactive modules are still the ones directly interacting with the robot environment. Furthermore, within these architectures communication and interface between modules are if not strongly established, they are very complex thus making them unsuitable for simple robotic systems. Our idea in this paper is to present a control architecture that is flexible in the sense that it can easily integrate both reactive and deliberative modules but not necessarily restricting the role of each type of controller. Communication between modules is through simple arbitration schemes while interface is by connecting a common communication line between modules and simple read and/or write access of data objects. On top of these features, the proposed control architecture is scalable and exhibits graceful degradation when some of the modules fail, similar to the present mobile robot architectures. Our idea has enabled our four-legged robot to walk autonomously in a structured uneven terrain.     

拆线机器人的轮式爬线机构及顶升装置设计

拆线施工机器人是一种爬线机器人,挂在架空线上沿线行进,代替工人完成拆线施工中索道缆绳的铺设。为满足拆线施工机器人在具有一定垂弧度的架空线上爬线行进的需要,对拆线施工机器人的爬线行进机构进行了分析与设计,提出了一种四轮爬线行进机构。该机构利用顶升装置及张紧轮提供额外的压力,以满足拆线施工机器人爬坡时所需的摩擦力。随后,分析了机器人爬坡时的受力情况,给出了顶升装置所提供压力的条件及计算公式。基于所提机构,进行了施工机器人的顶升装置的选型计算及论证,实际应用表明本文的设计可以满足实际需要。     

野战有线通信系统二线全双工接口测试电路设计

野战有线通信系统全双工接口在单对线上同时收发信号,难以直接进行数据采集和测试。针对上述问题,研究了一种基于收发分离和自适应回波抵消的二线全双工接口测试方法。首先,设计电子收发分离器,实现线路上收发信号的隔离;然后,使用自适应回波抵消器,完成了近端回波干扰信号的抵消;最后,借鉴软件无线电技术和存储测试技术,构建测试系统,实现激励信号生成与数据采集。仿真和实验表明,该测试方法能够实现有效完成收发信号隔离以及回波干扰信号抵消,适用于野战有线通信系统二线全双工接口测试。     

基于TCC081C的多功能单相载波电能表

基于专用的载波通信芯片TCC081C设计了一种低功耗、低成本单相载波电能表。计量部分采用RN8209防窃电专用电能计量芯片,微控制器采用NECμ78F0525及其外围电路,实现分时计费、需量计量、防窃电、载波通讯等多种功能。测试结果显示所设计的电能表在精度上达到国标0.5s级标准的要求,掉电工作时电流消耗10μA,静电放电抗扰度达到16kV。     

CANopen协议在机器人控制器中的应用

针对当前机器人控制器中通讯方式不统一,复用性差的现状,本文提出了基于CANopen协议的机器人控制器实时通讯方案。首先介绍了控制器局域网络(CAN)的高层协议CANopen,并结合机器人控制器与多个电机驱动器通讯的实际需求,实现了基于CANopen通讯协议的机器人控制器,并在实际机器人系统中进行测试。实验结果表明基于CANopen通讯协议的机器人控制器可以满足机器人控制系统的实时性和灵活性要求。     

Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach

Communication between robots is key to performance in cooperative multi-robot systems. In practice, communication connections for information exchange between all robots are not always guaranteed, which adds difficulty in performing state estimation. This paper examines the decentralized cooperative simultaneous localization and mapping (SLAM) problem, in which each robot is required to estimate the map and all robot states under a sparsely-communicating and dynamic network. We show how the exact, centralized-equivalent estimate can be obtained by all robots in the network in a decentralized manner even when the network is never fully connected. Furthermore, a robot only needs to consider its own knowledge of the network topology in order to detect when the centralized-equivalent estimate is obtainable. Our approach is validated through more than 250 min of hardware experiments using a team of real robots. The resulting estimates are compared against accurate groundtruth data for all robot poses and landmark positions. In addition, we examined the effects of communication range limit on our algorithm’s performance.     

Neural network-based self-learning control for power transmission line deicing robot

Recently, the application of the maintenance transmission line robot has been very popular in the power industry. However, difficulties in the control of maintenance transmission line robot exist due to multiple nonlinearities, plant parameter variations and external disturbances. This paper investigates the possibility of using neural network as a promising self-learning control alternative for the control problem of inspection and deicing transmission line robot. We first discuss the mechanical structure, as well as dynamic model of a deicing robot. And then, a neural network-based self-learning control strategy consists of a fuzzy neural network controller and an ELM-based single-layer-feedback neural networks identifier are proposed for this deicing transmission line robot. Both the structure and the learning algorithm of the control system are presented. The proposed controller is verified by computer simulations and experiments.     

Leader‐following consensus of multiple uncertain Euler‐Lagrange systems

A new adaptive distributed controller is developed for the leader‐following consensus problem of multiple uncertain Euler‐Lagrange systems. A distinct feature of our proposed approach as opposed to the existing ones is that it does not need the exchange of controller's state among the communication network. As a consequence, it not only makes the implementation of the controller much easier but also reduces the communication cost. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of multiple two‐link robot arms.     

Speech acts, communication problems, and fighter pilot team performance

Two aspects of team communication, speech acts and communication problems, and their relation to team performance in a team air combat simulator were studied. The purpose was to enhance the understanding of how team performance is related to team communication. Ten Swedish fighter pilots and four fighter controllers of varying experience participated. Data were collected during fighter simulator training involving four pilots and one fighter controller in each of two teams. Speech acts were collapsed over seven categories and communication problems over five categories. Communication was studied from two perspectives: critical situation outcome and mission outcome. Some problems were closely related to particular speech acts. Speech act frequency, especially meta-communications and tactics, was highest when winning. However, the timing of tactics in critical situations needs further research. Communication problem frequency was highest for runs which ended equally. The most common problem was simultaneous speech, possibly because of the simulator radio system. The number of speech acts was related to enhanced performance but in a complex manner. Thus in order to work efficiently team members need to communicate, but to communicate sufficiently and at appropriate times. This work has applications for fighter pilot and controller team training and the development of communication standards.