STEP7系统几种通讯方式在连铸机控制上的应用

炼钢连铸机采用SIEMENS的S7系列PLC进行控制,系统中用到了工业以太网通讯实现PLC与PLC之间的数据传输,以及PLC与上位机监控站的通信;PROFIBUS DP现场总线实现PLC与PLC,远程I／O及现场总线设备通信：采用MPI进行PLC与PLC进行通讯,主要介绍了现场总线技术。     

基于EASY CORE芯片组的专用PLC设计

顺序控制是PLC的强项,而实时性、界面友好性相对较差。PLC的外部扩展模块品种较多,但价格较高,且功能不能满足某些特殊要求。本设计以加载了嵌入式PLC软件平台的核心芯片组为基础,根据用户控制需要定制硬件,以PLC的应用方式解决对象控制问题,设计专用的PLC。这种定制的嵌入式PLC,用PLC语言开发用户所需产品,能提高开发速度,降低开发费用,拓展控制功能。本文介绍采用EASY嵌入式PLC芯片组设计PLC的方法,并给出15点PLC设计的实例。     

控制网络在济钢热处理炉中的应用

济钢宽厚板厂热处理炉由德国LOI公司制造,使用SIEMENS公司的S 7系列PLC进行控制,系统中应用了工业以太网实现PLC与PLC之间的数据通讯,以及PLC与上位机的通讯:PROFIBUS_DP现场总线实现PLC与PLC,远程I/0及现场总线设备通信.     

PLC的程序结构

介绍PLC几种典型的程序结构,为PLC的用户和国产PLC厂家提出了选择PLC程序结构的建议.     

多系列 PLC 控制系统升级改造

根据水厂 PLC 控制系统的具体情况和发展需求,对水厂现有的 PLC 控制系统进行升级改造.采用三菱新产品 Q 系列 PLC 升级改造落后老化的大 A 和小 A 系列 PLC 站,解决不同系列的 PLC 网络通讯问题,提高水厂 PLC 控制系统的安全性、兼容性和先进性     

台达PLC:不断适应发展的市场

台达自1999年推出第一款小型PLC开始,一直致力于PLC市场。经过近20年的发展,台达的PLC产品线涵盖小型PLC DVP系列、高性能模块化泛用型PLC AS系列和模块化中型PLC AH500系列,广泛应用于食品制药、电子加工、包装机械、橡塑机械、机床、工业机器人、纺织等领域。当前,台达PLC以高品质、高性能、高适用性不断扩大市场占有率,成为全球PLC市场华人品牌的优秀代表。     

嵌入式PLC,大有可为

《自动化博览》:嵌入式PLC如今已经成为PLC发展的一大热点,您如何看待嵌入式PLC未来的发展?彭瑜:根据美国《Control Design》杂志的调查,2009年美国机械行业的PLC用户占2/3,PAC和PC控制合起来只占13%,而嵌入式PLC仅占5%。从静态数据来看经典PLC仍然有着统治地位,但从动态角度看,嵌入式PLC具有极高的增长率和很大的发展空间。关于嵌入式PLC似乎并无确切定义。     

仿真PLC技术在PLC程序调试中的应用

在介绍目前PLC程序调试方法的基础上,针对PLC编程过程中需要真实PLC与编程终端连线进行程序调试的现象,分析了各种PLC编程方法和编程语言的特点,提出利MODICON公司CONCEPT编程软件自带的仿真PLC进行程序调试的方法.     

可编程逻辑控制器脆弱性分析关键技术研究

工业控制系统是国家的重要基础设施,可编程逻辑控制器(PLC)是工业控制系统的核心。震网病毒通过对PLC的攻击,实现对物理设备的破坏,说明PLC的脆弱性带来的威胁。阐述了PLC在工业控制系统中的地位及PLC的组成结构,根据攻击表面的定义提出了PLC的攻击表面,以此为指导对PLC的协议、程序和数据中存在的脆弱性进行分析,同时提出并实现了非公开的PLC协议与程序字节码的分析技术,给出了PLC脆弱性利用和攻击过程。为PLC及工业控制系统的安全评估和防护提供了分析与研究的基础。     

一类PLC的编译器的设计与实现

PLC的编程语言既不同于高级语言.也不同于一般的汇编语言.目前,还没有一种对各厂家产品都能兼容的编程语言,因此,对于不同系列的PLC需要开发自己的PLC编译器.文中针对国产PLC优秀厂家信捷的XC系列PLC,提出了XC系列PLC编译器的设计方法,并在多种微处理器构建的XC系列PLC中得到了应用.文中介绍了PLC编译器的构建原理和方法.经过实际产品测试和运行表明:编译器运行可靠,编译质量较高,达到了设计要求.     

A method of defuzzification based on the approach of areas' ratio

The new method of defuzzification of output parameters from the base of fuzzy rules for a Mamdani fuzzy controller is given in the paper. The peculiarity of the method is the usage of the universal equation for the area computation of the geometric shapes. During the realization of fuzzy inference linguistic terms, the structure changes from the triangular into a trapezoidal shape. That is why the universal equation is used. The method is limited and can be used only for the triangular and trapezoidal membership functions. Gaussian functions can also be used while modifying the proposed method. Traditional defuzzification models such as Middle of Maxima − MoM, First of Maxima − FoM, Last of Maxima − LoM, First of Suppport − FoS, Last of Support − LoS, Middle of Support − MoS, Center of Sums − CoS, Model of Height − MoH have a number of systematic errors: curse of dimensionality, partition of unity condition and absence of additivity. The above-mentioned methods can be seen as Center of Gravity − CoG, which has the same errors. These errors lead to the fact that accuracy of fuzzy systems decreases, because during the training root mean square error increases. One of the reasons that provokes the errors is that some of the activated fuzzy rules are excluded from the fuzzy inference. It is also possible to increase the accuracy of the fuzzy system through properties of continuity. The proposed method guarantees fulfilling of the property of continuity, as the intersection point of the adjustment linguistic terms equals 0.5 when a parametrized membership function is used. The causes of errors and a way to delete them are reviewed in the paper. The proposed method excludes errors which are inherent to the traditional and non- traditional models of defuzzification. Comparative analysis of the proposed method of defuzzification with traditional and non-traditional models shows its effectiveness.     

An approach to the synthesis of fuzzy stabilization systems with a priori unknown model of an object

A method of synthesis of fuzzy stabilization systems for a broad class of dynamic objects under the assumption that the mathematical model of the object is not known a priori is proposed. The control is formulated in the form of a proportional law of adjustment as a function of a macro-variable; the square of the Euclidean norm of the phase variables is adopted as the macro-variable. An analogous variable characterizes the distance of the object from the equilibrium position. Despite the simplicity of the control law, its sign remains constant due to the fact that the macro-variable is positive-definite over the entire phase space. The switching times of the signals are determined by fuzzy identification of the system’s dynamic modes on the basis of measurement of the derivatives of the macro-variable.     

Remote sensing of spring phenology in boreal regions: A free of snow-effect method using NOAA-AVHRR and SPOT-VGT data (1982-2004)

Measurements of spring phenological dates in boreal regions using NDVI can be affected by snowmelt. This impacts the analysis of interannual variations in phenology and the estimates of annual carbon fluxes. For these two objectives, snowmelt effect must be removed from the phenological detection. We propose a methodology for determining the date of onset of greening in the 1982-2004 period using SPOT-VEGETATION (VGT) and NOAA Advanced Very High Resolution Radiometer (AVHRR) data. From 1998 onwards, the date of onset of greening is taken as the date at which the Normalized Difference Water Index (NDWI), calculated from SPOT-VGT near and short-wave infrared bands, starts increasing. This index decreases with snowmelt but increases with vegetation greening. For the 1982-2001 period, the date of onset of greening is the date at which AVHRR-NDVI equals a pixel specific threshold (PST), determined using the results of the NDWI method in the years common to the two datasets. The methods are validated using in situ measurements of the dates of leaf appearance. RMSE of 6.7 and 7.8 days, respectively, is found using NDWI-VGT and PST-NOAA methodologies, and the difference between the two methodologies in the common years is small. Very importantly, the dates are not biased. The interannual variations of the 23-year spring phenology dataset on the study area in northern Eurasia are analysed. In average over the study area, an advance of 8 days and a delay of 3.6 days are, respectively, found over the periods 1982-1991 and 1993-2004. These results confirm and complete previous studies about the greening trend, remove the uncertainty due to snow, and may improve carbon budget calculations.     

3 Laser transmission joining in microtechnology

The laser is a joining tool which is particularly suitable for the application in microtechnology. The process variant laser transmission joining can be used both for welding thermoplastics and bonding of silicon and glass. The investigations presented in this paper cover detailed examinations of both processes. Concerning laser transmission welding of plastics it is examined how far the content of carbon black in the material influences the formation of the weld seam. It is shown that the optical depth of penetration, the weld seam width as well as the formation of the weld morphology differ with varying content of carbon black. Selective laser radiation bonding (SLB) is a novel method for joining silicon and glass based on the transmission heating of the interface of both joining partners and the thermo-chemical principles of silicon direct bonding. SLB shows advantages in reference to the thermal load of sensitive components like sensors and to the selectivity of the joining geometry. In this study the principle method of SLB and the latest advances like the integration of the thermal process control in the laser processing head will be presented. Also experimental test results of the process with constant laser power and thermal process control and the comparison of them will be shown.An erratum to this article can be found at     

Complement of Source Equation of Elastic Line

A new notion of joint, defined in terms of the state of motor (active or locked) and type of the elastic or rigid element, gear and/or link that follows after the motor, is introduced. Special attention is paid to the motion of the flexible links in the robotic configuration. The paper deals with the relationship between the equation of elastic line equilibrium, the “Euler–Bernoulli approach” (EBA), and equation of motion at the point of elastic line tip, the “Lumped-mass approach” (LMA). The Euler–Bernoulli equations (which have for a long time been used in the literature) should be expanded according to the requirements of the motion complexity of elastic robotic systems. The Euler–Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the elasticity moment of the considered mode. This yields the difference in the structure of Euler–Bernoulli equations for each mode. The stiffness matrix is a full matrix. Mathematical model of the actuators also comprises coupling between elasticity forces. Particular integral of Daniel Bernoulli should be supplemented with the stationary character of elastic deformation of any point of the considered mode, caused by the present forces. General form of the elastic line is a direct outcome of the system motion dynamics, and cannot be described by one scalar equation but by three equations for position and three equations for orientation of every point on that elastic line. The choice of reference trajectory is analyzed. Simulation results are shown for a selected robotic example involving the simultaneous presence of elasticity of the gear and of the link (two modes), as well as the environment force dynamics.     

基于Android 平台的工程图学助教助学系统研究与实现

针对空间想象能力培养的教学需要,对基于Android 平台的工程图学助教助学系统 进行了研究。根据教与学的需要,确定了系统功能,设计了软件的框架结构。分析研究了移动设 备的系统平台,选择了系统的开发及运行平台。通过分析Android 框架中OpenGL ES 的设计接口, 实现了模型的轴测显示模式。通过分析OpenGL ES 中glDrawElements 方法的数据需求和VRML97 的数据格式,设计了虚拟模型加载器,实现了Android 系统中的VRML 模型3D 浏览器。开发了 软件的核心功能模块,设计实现了基于Android 平台的工程图学助教助学系统。该系统因其创新 性和实用性,在2014 年第十四届全国多媒体课件大赛中荣获一等奖。     

协作机器人的构型分析研究

针对协作机器人的构型分析研究,得出了偏置是影响机器人构型的一个重要因素。首先,对现有典型协作机器人的构型进行分析,通过构型间的内在联系与演化过程得到构型之间的差异。然后利用构型之间的差异引出了偏置的定义,并通过偏置对关节运动范围的影响将其分为S型偏置和Y型偏置。最后以全局性能指标、工作空间体积指标和灵活工作空间指标为性能评价标准,对iiwa、Sawyer、Yumi三种典型构型的性能进行了仿真。通过对比分析可知,偏置的存在使构型的全局性能和工作空间体积性能降低,但对灵活工作空间性能有提高作用。结果表明偏置是影响机器人性能的重要因素,该分析研究为协作机器人的构型设计提供了理论依据。     

Stereometric pattern recognition by artificial touch

An artificial touch perception system has been created in order to study a method of processing information obtainable through tactile exploration of three-dimensional forms. The results can be useful for several purposes.The first part of the work concerns the project of the tactile explorator. For this purpose we used a kind of artificial limb like a finger with a certain number of touch sensitive transducers distributed along the surface of the finger tip. The information received by touching the object with the finger, is successively utilized as the input of the control servosystem which moves the finger point-by-point along the object surface in order to proceed with the exploration. It must be noticed that, from a philosophical point-of-view, the parallel approach with more fingers touching simultaneously the object in several points, is equal to sequential touching of these points by one moving finger.The second part describes the use of the propositional calculus in logical classification of the objects, as a method of three-dimensional pattern recognition.Elaboration of the input data obtained by tactile exploration, and computation of characteristic geometrical features of three-dimensional forms, has been performed on computer.     

Innovative uses of ICT in Chilean schools

Abstract This paper presents some of the results of the study of seven cases of innovative pedagogical practices using ICT. The study was performed in the framework of the application of SITES M2 in Chile. The results are divided in two sections. First is a summary of each case, highlighting its innovative characteristics that serve as models of 'good practice' for Chilean teachers. Second, the results of the analysis of what teachers did are outlined; the impact on students and the type of teaching and learning activities in use. Results show that these projects did not provide evidence of having impact on students' learning as defined in the national curriculum. However, they show that students participating in these projects could learn other things, had the opportunity to develop abilities defined as cross-curricular and practised ICT related skills. The analysis of the teaching and learning activities highlights some deficiencies in the way that teachers implement new teaching strategies.