基于DSP的多通道多功能电液运动控制器的设计

该文借鉴机电系统运动控制器的设计和开发经验,介绍了基于DSP技术的电液运动控制器的设计.将DSP技术与CPLD技术相结合,确立了本电液运动控制器的硬件结构和软件组成.该控制器具有多工作模式,在驱动电液设备的同时也兼容了驱动机电设备的能力.并在电液伺服试验台进行了位置控制和速度控制的实验研究,获的了满意的控制精度和控制效果.     

七自由度数据臂多轴伺服运动控制器设计

介绍了一种采用ARM处理器以及FPGA设计的7轴电机伺服运动控制器在数据臂平台上的应用。与采用传统的MCU设计的多轴电机伺服运动控制器相比,该控制器具有较高的集成度和灵活性,便于用户实现较为复杂的算法。试验表明,该控制器能够满足多轴电机伺服运动控制的需要。在面向遥操作的7自由度数据臂平台中,将该控制器应用于关节数据采集和力反馈控制系统中,实现了多关节数据的实时采集和力反馈电机即时动作。该运动控制器可以应用在各类型机器人、医疗设备及数控机床等控制系统设计中。     

基于μC/OS-Ⅱ的开放式数控系统研究

把嵌入式实时操作系统μC／OSⅡ用于数控系统的运动控制器,设计出由该运动控制器与PC机组成的开放式数控系统的控制装置。介绍了该数控系统的基本体系结构和运动控制器的软件实现,并用CNC实验装置验证了系统的可行性。     

基于PLC的伺服电机运动控制系统设计

设计一种基于PLC的伺服电机运动控制系统。详细介绍了该半闭环伺服系统的组成和工作原理,位置控制模块和伺服驱动器的参数设置,PLC程序设计以及触摸屏监控的方法。系统直接由PLC控制,无需专用的数控系统支持,具有较好的实用价值。     

基于ARM的开放式数字运动控制器的设计

采用ARM嵌入式微控制器,结合专用电机控制芯片,构建出基于串行总线轴伺服运动控制器的硬件平台。采用了全数字式位置闭环控制,使用模糊PID参数修正方式实现对伺服控制器中电流环和速度环PI控制器参数的自适应修正,通过试验证明该设计获得了理想的控制结果。     

高性能独立式多轴运动控制器的实现

本文介绍了自主研发的一种高性能独立式多轴运动控制器的实现方法。该运动控制器主要由高速、高精度运动插补微处理器和千兆以太网接口等电路组成。为实现高速、高精度性能,采用美国TI公司新推出的DSC（Digital Signal Controller）技术,实现了运动控制指令在线解释和执行,高速运动插补和PID控制算法;采用SOC（SystemonChip）技术,在单片FPGA（Field Programmable GateArray）上集成了运动控制器的高速接口,包括RSIC（Reduced Instruction Set Computing）微处理器、千兆以太网MAC（MediaAccessControl）接口、控制脉冲输出和光电编码器输入模块等。文章重点阐述了该控制器的结构原理,并给出所实现的核心模块的仿真结果以及所设计的高性能独立式多轴运动控制器的系统应用实例。     

基于F28M35的伺服控制器多轴同步设计

描述了由PWM定时组成的伺服控制器时钟结构,分析了伺服控制器间时钟不同步的两类原因:时钟偏移和时钟漂移。针对时钟偏移和时钟漂移的特点,提出了多种通过检测Ether CAT从站SYNC0信号边沿来触发伺服控制器间PWM定时同步的时钟同步方案。在PWM定时同步的基础上,通过SYNC0信号边沿标定伺服控制器的控制输出时刻和反馈采样时刻,从而实现伺服控制器间的多轴同步。最后实验证明该设计方案能有效地保证基于F28M35伺服控制器间的多轴同步。     

基于多轴运动控制器的颗粒中药取药系统的研究

应用GT-400-SG多轴运动控制器，建立了基于机械手的颗粒中药取药控制系统，简述了颗粒中药取药系统的工作过程及硬件组成，研究分析了运动控制器的位置控制过程并对软件设计方法进行了介绍。     

基于RTLinux操作系统的开放式数控系统运动控制器的研究

系统选用了实时多任务操作系统RTLinux作为软件开发平台，以C和C 作为软件开发工具来开发设计了开放式数控系统的运动控制器。这里论述了运动控制器的总体功能特性，并分别介绍了运动控制器的几个重要组成部分，如主控程序、插补模块及速度控制等。最后采用基于组件技术的设计思想，给出了运动控制器的设计框架，并在RTLinux平台上加以实现。     

全电动注塑机运动控制器的设计与研究

结合全电动注塑机的特点,介绍全电动注塑机专用运动伺服控制器的软硬件设计,依据程序模块化设计原理,重点阐述了各控制器程序设计,并通过模拟仿真证明设计的运动控制器在全电动注塑机上的应用是可行的.     

Minimal Realization of Linear Graph Models for Multi-physics Systems

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...     

INTEGRAL EQUATION METHOD＇S APPLICATION IN HOLE-EDGE STRESS OF COMPOSITE MATERIAL PLATE WITH DIFFERENT SHAPED HOLES

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.     

Non-monotonic material contrast in scanning ion and scanning electron images

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.     

Application of Feature Extraction through Convolution Neural Networks and SVM Classifier for Robust Grading of Apples

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...     

分布动态载荷识别的抗噪处理

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.     

基于MELTAC-N平台的核电厂安全级DCS环网研究与测试

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。     

Short-Term Relay Quality Prediction Algorithm Based on Long and Short-Term Memory

The fraction defective of semi-finished products is predicted to optimize the process of relay production lines, by which production quality and productivity ar...     

End-to-End Multiview Gesture Recognition for Autonomous Car Parking System

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....     

The laboratory simulation of abrasive wear

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.     

Limits of topographic measurement by the scanning tunnelling and atomic force microscopes

Parameters describing the topographic character of a surface (height, surface wavelength, slope and curvature) can be derived from equivalent sinusoidal profiles. The response of a surface-measuring instrument may be modelled in terms of instrument parameters such as stylus radius, and scanning range and resolution. The performance of the instrument may then be mapped as a zone in amplitude-wavelength (AW) space to show the sinusoidal profiles it is capable of measuring. In a first-order analysis the STM and AFM are considered as equivalent to contact-stylus instruments with a notional stylus radius equal to the tip radius plus the gap. Comparisons between different instruments and types of instrument are readily made by mapping in AW space. The error arising from convolution of the sinusoidal profile with that of the finite tip may be quantified and plotted as contours in AW space.