基于超声波电机的移动焊接机器人焊枪精密定位控制系统研制

为了实现移动焊接机器人焊枪的精密定位控制,提出了焊枪跟踪控制时基于调整电机微步导通时间实现无位置传感器开环精密定位控制的控制系统设计方法.在控制系统设计中充分利用EDA和单片机技术各自的优点,采用CPLD和单片机相结合,实现了双行波超声波电机微步控制.实验证明该控制器可控精度高、可靠稳定、可维护性强,不需要高精度位移传感器就可控制焊枪达到很高的定位精度.研究所得的方法和结论具有较强的通用性,在基于环形行波超声波电机驱动的XY平面精密定位控制中具有普遍的应用意义.     

图像识别在指示表检定中的应用

介绍了一种基于计算机图像识别技术实现的指示表全自动检定仪的设计方法，着重介绍了检定过程中的指针示值自动判读方法。该检定仪采用了高精度的光栅传感器与计算机技术相结合，利用了光栅测长原理测定指示表推杆的位移，采用CCD摄像头摄取表盘图象，经计算机进行图象识别及数据处理得到指针读数，从而免除了人工读数，大大提高了检定效率，可自动完成各类指示表的示值误差和回程误差的检定。详细论述了检定仪的组成原理、机械结构及仪表示值判读的软件算法，并通过实验对仪器检定结果的准确性进行了检验。     

大量程位移传感器用于指示类量具检定仪的示值检定时的不确定度分析

近几年来,国内外出现了一些基于光栅技术的高准确度大量程的位移传感器,其具有测量重复性好、准确度高、测量范围大、容易携带的特点,可对较大型的光栅式指示表检定仪进行现场检定。文章从技术角度对其检定的不确定度进行了分析,并验证了对光栅式指示表检定仪开展检定的可行性。     

图像处理技术在智能指示表检定仪中的实现

智能指示表检定仪是全自动指示表检定仪器,该仪器由CCD摄像及图像处理技术加上成熟的光栅测量实现百分表、干分表、杠杆表等指示表的检定。研究计算机视觉技术在指示表检定仪中的应用,分析图像处理及算法,设计一套精度较高、稳定较好的图像采集及图像处理模块。     

电子电位差计自动检定系统设计

本文介绍一种用微机对电子电位差针进行自动检定的系统，该系统利用计算机控制Ｄ／Ａ转换器及精密电阻分压器，输出标准电势作为被检仪表的信号源；同时在仪表的指示机构中附加一指针位移读数传感器，示值位置通过Ａ／Ｄ转换器输入计算机进行检定结果的数据处理及打印输出等。     

激光线位移传感器基本误差测得值的不确定度评定

本文介绍了用光栅式指示表检定仪测量输出为电流信号的线位移传感器的不确定度评定方法,为以后测量输出为电信号的线位移传感器的不确定度评定提供参考.     

一种光栅式指示表检定仪示值误差的检定方法

正一、现有规程检定光栅式指示表检定仪示值误差所使用的标准器JJG201-2008《指示类量具检定仪检定规程》规定:检定光栅式指示表检定仪示值误差要用3等量块和不超过±0.1μm(如分辨力为0.01μm的电感测微仪)检定。所以我们在检定光栅式指示表检定仪时选用3等量块和电感测微仪中分度值为0.1μm,测量范围为±3μm这一挡去检定光删式指示表检定仪示值误差。二、用高精度长度计和专用的数显仪表作为标准     

中图仪器指示表检定仪的15年

正◎2001年:中图第一代指示表全自动检定仪研制成功,并命名为:SJ2000指示表全自动检定仪。属国内首台带摄像的全自动指示表检定仪器。◎2002年:推出第二代指示表检定仪,销往全国各计量院所、各行业计量室。◎2005年:推出SJ3000半自动指示表检定仪。特点:准确度高、功能强、轻便灵巧、智能方便、经济实用、性价比高。分辨力:0.1μm。◎2007年:推出第三代指示表全自动检定仪。     

基于双计时和回转体积测量原理的燃气表检定方法探讨

研究膜式燃气表动态检定方法,根据仪表结构原理,提出一种基于双计时和当量回转体积测量原理的快速检定方法.检定系统采用两套采样传感器和计时器,一个色差传感器置于仪表机械计数器前,另一个光纤传感器检测表内部运动件.根据大流量示值误差、测量时间及运动件当量脉冲,建立了当量回转体积数学模型.将当量回转体积作为仪表小流量的指示值,测量重复性好,检定工作效率提高约5倍以上.     

电测仪表自动检定技术的方法

针对电力系统电测量仪表检定工作量大的情况,文章介绍了指针式仪表自动检定系统的组成、工作过程,数字式仪表装置自动检定系统中数据库,通讯、数据管理、主程序4个主要部分的功能和技术实现,电压监测仪自动检定过程的实现。着重说明自动检定技术的应用有利于计量检定的科学管理和工作效率的提高;最后分析了电测仪表检定技术的发展趋势。     

直接驱动步进电动机伺服系统新型驱动控制器的研究

采用模糊控制方法 ,设计了直接驱动步进电机位置伺服驱动控制器。实验结果表明 ,这种新型的驱动控制器使直接驱动系统具有较高的性能     

自适应模糊滑模控制裹包机PMSM交流伺服系统

针对接缝式裹包机的交流伺服系统控制精度差的问题,提出了采用自适应模糊滑模控制器,控制具有高效率的永磁铁同步电机(PMSM)伺服驱动系统.仿真和实验结果表明,系统对于参数变化和外面负载扰动的鲁棒性大大提高,而且控制力大为降低.     

An adaptive fuzzy-neural-network controller for ultrasonic motor drive using the LLCC resonant technique

In this study an adaptive fuzzy-neural-network controller (AFNNC) is proposed to control a rotary traveling wave-type ultrasonic motor (USM) drive system. The USM is derived by a newly designed, high frequency, two-phase voltage source inverter using two inductances and two capacitances (LLCC) resonant technique. Then, because the dynamic characteristics of the USM are complicated and the motor parameters are time varying, an AFNNC is proposed to control the rotor position of the USM. In the proposed controller, the USM drive system is identified by a fuzzy-neural-network identifier (FNNI) to provide the sensitivity information of the drive system to an adaptive controller. The backpropagation algorithm is used to train the FNNI on line. Moreover, to guarantee the convergence of identification and tracking errors, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning rates of the FNNI and the optimal learning rate of the adaptive controller. In addition, the effectiveness of the adaptive fuzzy-neural-network (AFNN) controlled USM drive system is demonstrated by some experimental results.     

叶片精密抛光伺服系统的干扰观测补偿控制

叶片型面尺寸精度及表面质量的提高对数控抛光伺服系统性能提出了更高的要求.针对非线性摩擦和被控对象参数摄动对数控抛光伺服系统定位精度和跟踪精度的影响,提出了一种基于干扰观测器的粒子群优化模糊PID(PFPID)控制方法.该方法通过构造干扰观测器来预测伺服系统中的非线性摩擦和参数摄动等各种干扰,并在控制中引入等效的补偿来抑制干扰,同时利用粒子群优化算法对模糊控制器的量化因子和比例因子进行在线调整,进而利用模糊控制器对PID控制参数进行自适应整定.仿真分析和实验结果表明,基于干扰观测器的PFPID控制器具有控制精度高、鲁棒性强、抑制干扰能力强等优点,其能够提高叶片型面尺寸精度和表面一致性,降低表面粗糙度,减小残余应力并提高抛光效率.     

基于多目标竞争遗传算法的模糊变结构控制的研究

基于多目标竞争遗传优化算法,结合变结构控制和模糊逻辑技术的特点,提出一种优化模糊变结构控制方法.以滑模开关函数及其变化量作为模糊调节器的输入量,滑模面边界层宽度作为输出量,设计了一个二维模糊调节器,同时,引入了多目标竞争遗传优化算法,优化了边界层宽度模糊调节.液压伺服系统的位置控制实验结果表明,所提出的模糊变结构控制稳态控制精度高,同时削弱了抖振,在系统鲁棒性与稳态控制性能之间较好地实现了综合平衡.     

Characteristic analysis and design of a B14 rotary ultrasonic motor for a robot arm taking the contact mechanism into consideration.

The ultrasonic motor (USM) has many merits for use in a robot arm application. Therefore, the disk-type traveling wave B14 rotary ultrasonic motor (RUSM) is proposed in this paper for that application. Up to the present time, the analysis and design of the USM have been almost always performed using rough analytic methods or using commercial analysis tools. As a result, it was impossible to achieve an exact analysis and design of the USM. In order to address this problem, this paper proposes the analysis and design methodology of the B14 RUSM using a numerical method (3-D FEM) combined with an analytic method taking the contact mechanism into consideration in a linear operation. This methodology is applicable to many other kinds of USMs that use similar mechanisms. In addition, the mechanical system and the driving circuit of the B14 RUSM are designed and prototyped. Finally, the proposed analysis and design methodology is validated by comparing its outcomes with the experimental data. Also, the appropriateness of the suggested RUSM for the application of a robot arm was verified.     

Characteristic analysis and design of a B14 rotary ultrasonic motor for a robot arm taking the contact mechanism into consideration

The ultrasonic motor (USM) has many merits for use in a robot arm application. Therefore, the disk-type traveling wave B₁₄ rotary ultrasonic motor (RUSM) is proposed in this paper for that application. Up to the present time, the analysis and design of the USM have been almost always performed using rough analytic methods or using commercial analysis tools. As a result, it was impossible to achieve an exact analysis and design of the USM. In order to address this problem, this paper proposes the analysis and design methodology of the B₁₄ RUSM using a numerical method (3-D FEM) combined with an analytic method taking the contact mechanism into consideration in a linear operation. This methodology is applicable to many other kinds of USMs that use similar mechanisms. In addition, the mechanical system and the driving circuit of the B₁₄ RUSM are designed and prototyped. Finally, the proposed analysis and design methodology is validated by comparing its outcomes with the experimental data. Also, the appropriateness of the suggested RUSM for the application of a robot arm was verified     

脱靶量累加前馈补偿电视跟踪器的跟踪误差

电视跟踪系统通常采用速度、位置双闭环控制。前馈控制可以提高跟踪精度但无法实现;速度、加速度滞后补偿,跟踪精度提高有限。动态高型方法是在负反馈控制系统中增加若干积分环节以提高跟踪精度。随着目标速度的提高和光电跟踪设备自动化程度的提高,对电视跟踪器伺服系统的跟踪精度提出了越来越高的要求。本文创新性引出一种斜坡累加补偿方法,通过理论证明和仿真,指出它与动态高型技术高度相似,从而从新的角度解释了动态高型提高跟踪精度的机理,并为动态高型方法在工程上实现电视跟踪伺服系统的跟踪精度的提高提供了坚实的理论依据。     

Load torque estimation problem for electric machinery servo systems by an inverse method

Abstract

This study analyzes a load torque estimation problem for an electric machinery servo system using the recursive input estimation (RIE) algorithm. This study also presents four novel estimation models, which have different numbers of sensors, considers the process and the measurement noise to estimate load torque without a torque sensor. The proposed algorithm is a novel estimation technique for solving force feedback and state estimation problems for an electric machinery servo control system. In this work, the DC servomotor system is utilized as an electric machinery servo system, and four important RIE characteristics were verified by numerical simulation results: (i) Adaptive forgetting factor in the RIE algorithm can estimate load torque more effectively than constant forgetting factor; (ii) The significant variation of control input and/or load torque impact affects the estimation precision; (iii) The high‐performance load torque estimation model can be established based only on the given control input and techogenerator sensor; (iv) Using different degrees of model errors, the estimation of the performance tendency toward good or bad for control input and load torque are the same. This characteristic shows that good estimated performance for an unknown load torque can be confirmed based on the strength of good control input estimated performance. In other words, model error can be identified via the deterministic control input and its estimation results. The proposed models may have practical applications for solving disturbance compensation problems in electric machinery servo systems.