多路起爆电路设计及特性分析

现有的多点起爆系统多采用爆炸逻辑网络,只能以特定方式起爆,缺乏灵活性,且受导爆索传爆速度和传爆距离误差的影响,难以满足自修复雷场中跳跃式智能封锁雷对于快速完成单点起爆或任意多点同步起爆的应用需求。针对这一问题,提出一种基于STM32的火工品多路起爆电路,采用双端控制、低通滤波等设计方法保障起爆电路的安全性和抗干扰性,结合所使用火工品的特性,计算分析部分元器件的参数,使用固定延时、并行起爆的起爆方式,以减小火工品发火时间和起爆硬件延迟时间,提高火工品起爆的快速性和同步性。特性分析表明,从STM32输出起爆驱动信号到火工品起爆的时延为403.521μs,具有起爆快速性,不计火工品发火时间差时起爆多路火工品的最大时间差为0.246 μs,具有起爆同步性。     

撞击起爆中EFP模型等效的可行性仿真分析

为了研究撞击起爆中爆炸成型弹丸(Explosively Formed Projectile,EFP)模型等效的可行性,利用Ls-Dyna仿真软件,建立聚能装药数值仿真模型,将炸药驱动形成的EFP直接进行等效建模,对等效前后的EFP的侵彻能力和撞击起爆能力进行数值仿真研究,分析了EFP和等效EFP侵彻性能及撞击起爆中的起爆时间、爆轰时间以及起爆距离.仿真结果表明:EFP等效前后的侵彻性能参数最小误差存在于侵彻后弹坑口部直径,其值为1.94％,最大误差存在于侵彻深度,其值为6.96％;撞击起爆性能参数最大误差存在于起爆距离,其值为7.2％,因此在撞击起爆中EFP模型等效是可行的.     

半导体激光器驱动电路的计算机仿真分析

直接调制的大电流窄脉宽驱动电源是半导体激光器获得高峰值功率输出的重要保证.为了研究半导体激光器驱动电路,提高系统的精度和抗干扰能力,采用计算机仿真的方法分析了半导体激光器脉冲电源基本电路和雪崩晶体管脉冲电源电路.通过仿真结果表明,脉冲电源中元件的寄生电感及串联电阻对激光器工作电流脉冲的波形影响很大.当奇生电感小时,放电电流波形的上升时间就短.可为设计半导体激光器驱动电路时,提供选取R、C、L的依据,并保证工作在欠阻尼的情况下,要获得最大的放电电流,储能电容器上的充电电压要高,使电路的串联电阻尽量要小.     

西门子推出小型Sinamics变频器

正西门子推出小型的Sinamics V20变频器。该变频器用于低功率电机,安装尺寸仅为宽68mm、高142mm,有FS AA和FS AB两种规格。FS AA外形尺寸的全新变频器总深为108mm,功率为0.12kW、0.25kW和0.37 kW;FS AB外形尺寸的全新变频器总深128mm,功率为0.55kW、0.75 kW,采用单相230 V电源供电。Sinamics V20的突出特性是调试快速、直接,操作简单和产品耐用性强大。该款变频器的"保持运行"模式能实现连续操作,甚至在供电电     

复合型本安电路放电特性影响因素分析

现有针对复合型本安电路放电特性的研究或缺少数学分析,或对放电特性影响因素考虑不全面。针对上述问题,分析了复合型本安电路放电原理,推导出复合型本安电路在非振荡状态下的放电电流、功率及能量数学模型,采用Matlab软件对电源电压、电感、电容、电阻等参数对复合型本安电路放电特性的影响进行了仿真研究。结果表明:随着电源电压增大,放电电流和功率稳定值增大,同一时刻的放电能量增大;随着电感增大,对电流的阻碍作用增大,放电功率和能量均逐渐减小;在初始阶段,放电电流、功率和能量不随电容变化而变化,之后均随电容增大而逐渐增大;电阻R越小,对放电电流、功率及能量的影响越大;放电电流、功率及能量均随电阻R1增大而减小。     

基于移相控制的LLC感应加热电源的研究

为实现串联谐振负载匹配,在电压型串联谐振感应加热电源的基础上,设计了一种适用于大功率高频感应加热的LLC拓扑结构.即在谐振回路中加入匹配电感,通过调整参数达到负载输出功率匹配的目的;采用负载频率跟踪技术与全桥移相脉冲宽度调制PWM功率调节方法相结合的控制方案,根据LLC谐振回路的特性,将输出电压和电容电压相位角作为锁相环控制变量.仿真及实验证明,这种拓扑方法相对于传统的LC串联谐振拓扑,更能满足高频大功率调功应用的需求,且移相控制使逆变器工作在软开关状态,降低了电源在高频工作时的开关损耗.     

电势电容电路短路火花放电影响因素分析

现有针对容性电路电火花放电和大功率本安电源研究的模型和方法大多只考虑了储能元件在放电过程中的放电特性,没有考虑电源电势对容性电路放电特性的影响;在分析容性电路放电特性时都是在空载情况下进行的,没有考虑实际应用中带载的情况。针对上述问题,在分析容性电路短路火花放电特性的基础上,将本安电源等效为电势电容(EC)电路,引入电源电势与外部负载,建立其火花放电等效数学模型,推导在电路发生故障时火花放电电流、放电电压和放电功率的数学表达式,并结合数学模型和Matlab进行了仿真研究,分析了电源电势、滤波电容、短路回路电阻及短路前负载电流对短路故障时火花放电电流、放电电压及放电功率的影响。理论分析和仿真结果表明,EC电路短路时火花放电电流与火花放电功率在起始阶段迅速上升到最大值,后缓慢下降,火花放电电压迅速下降到最小值;EC电路短路时,不改变其他电路参数,随着电源电势增大,火花放电电流明显增大,火花放电功率也明显增大,对电路本质安全性能威胁较大;随着滤波电容增大,火花放电电流尖峰增大,火花放电功率增大,需要考虑输出电压纹波与本质安全性能,合理选择滤波电容的容值;随着短路时的回路电阻增大,火花放电电流明显减小,火花放电功率也明显减小,能够有效提升电路本质安全性能;随着短路前负载电流增大,火花放电电流与火花放电功率有所增大,但增大不明显,对电路的本质安全性能影响不大。     

巷道内瓦斯爆炸状态下人工坝体的力学响应研究

当矿井发生瓦斯爆炸时,爆炸冲击波会破坏储水坝体,导致采空区储水大量涌出,甚至造成瓦斯与水耦合灾害,因此,人工坝体在极端条件下的稳定性对矿井安全具有重要意义。针对当前对井下人工坝体随瓦斯爆炸冲击波传播的力学响应特性研究较少的问题,利用LS-DYNA软件模拟了巷道内瓦斯爆炸对人工坝体力学性能的影响,研究了迎爆侧、黄土夹层及背爆侧受力状态、形变和应力特征,分析了巷道内瓦斯爆炸冲击波作用下人工坝体的动力响应过程。人工坝体表面载荷分布分析结果表明：当巷道内部发生爆炸时,人工坝体迎爆面的爆炸荷载为不均匀分布,同时在井下各结构相交区域,反射超压因反射冲击波的汇聚和叠加作用而产生明显的增强效应;随着爆炸能量的快速释放,迎爆面中心测点的冲量加载时程曲线表现为三阶段变化特征,当瓦斯体积为200 m3时,在起爆500 ms内,迎爆面中心测点的最大冲量可以达到0.04 MPa·s。人工坝体表面形变和应力分析结果表明：在0～500 ms内,迎爆面中部始终处于受压状态,中心节点的最大横向位移为0.319 mm,由于掏槽的作用,人工坝体四周受拉应力,在此处出现了最大拉应力及剪切应力;黄土夹层动力响应依次为“受压-压...     

基于PSpice的IGBT功耗分析与仿真

针对大功率感应加热电源功率开关器件IGBT功耗大的特点,给出了3种RCD缓冲电路结构及参数设计,在PSpice仿真软件下对3种缓冲电路中的IGBT和缓冲电阻的功率损耗进行了仿真分析,给出了相应的仿真结果。仿真结果表明,I型缓冲电路的电能损耗大,缓冲电阻发热严重;II型缓冲电路对关断瞬态电压抑制效果好,但不能有效地控制大功率级别IGBT的瞬变电压;III型缓冲电路具有寄生电感较小的优点,可有效地抑制振荡和控制瞬变电压,适用于大功率级别IGBT工作场合。     

基于dspace的永磁同步电机参数测量系统的研究与开发

针对一类航空电驱动系统用永磁同步电机参数实验测量困难的问题,提出了一种基于dSPACE系统的永磁同步电机参数测量新方法;文中分析了电机的永磁体等效励磁磁链、电机交轴电感及电机等效铁损电阻的实验测量原理。并结合dSPACE半物理仿真实验平台,实现电机参数的准确测量;实验结果表明,与传统的电机参数测试方法相比,该方法不需要特殊的测试设备和额外的硬件电路,具有测试准确、实现简单、操作方便的特点。     

Attitude Controller for Steady Hover of a Rotary-Wing Flying Robot

This paper presents an attitude controller for steady hover of CMERI’s Rotary-Wing Flying Robot. The main objective is to control the dynamic behaviour of the robot, which is complex in shape and motion as nonlinear aerodynamic forces and gravity acts on the system. Due to limited accuracy of the dynamic model, the attitude dynamics is conditionally stable where a minimum amount of attitude feedback is required for system stability. To compensate for conditional stability with improved disturbance rejection, an attitude controller is developed adopting cascade control loop architecture. The INS system feedback is used for outer control loop while the gyro feedback is adopted for the inner control loop to attain a high bandwidth, ensuring attitude stability with accelerated response required for a steady hover. The defined controller has introduced corrective control to mitigate the disturbance as sensed by the gyros before they actually do affect the output as the cascade control loop is more responsive than simply the INS loop feedback. In the proposed approach, the robot is modelled using well known “NASA Minimum Complexity Math Model” where robot dynamics is decoupled into Single Input Single Output system. Kalman filter is used to estimate the attitude from the high frequency based gyros aided by INS system feedback data while a matched pole-zero method is used to perform discretization. The stability of the system is evaluated using closed loop identification. The provided solution is tested on Hirobo Scheadu50 model and the system performance is analyzed using the proposed controller.     

基于分层学习的四足机器人运动自适应控制模型

针对四足机器人面对腿部损伤无法继续有效自主运作的问题,提出一种基于分层学习的自适应控制模型。该模型结构由上层状态策略控制器(SDC)和下层基础运动控制器(BDC)组成。SDC对机器人腿部及姿态进行决策并选择运动子策略,BDC子运动策略表达该状态下机器人的运动行为。在Unity3D中构建反关节多自由度的四足机器人,训练多种腿部受损状况的BDC子运动策略,BDC成熟后20s周期随机腿部受损并训练SDC。该模型控制流程为SDC监测机器人状态,激活BDC策略,BDC输出期望关节角度,最后由PD控制器进行速度控制。其实现机器人在腿部受损后自我适应继续保持运作。仿真与实验结果表明,该控制模型能在机器人损伤后能自我快速、稳定调整运动策略,并保证运动的连贯性及柔和性。     

基于D-H法的农业采摘机器人运动协作控制系统设计

为提升农业采摘机器人运动协作控制性能,降低机器人碰撞概率,利用D-H法优化设计机器人运动协作控制系统。改装位置、力矩以及碰撞传感器设备,优化运动协作控制器与驱动器,调整系统通信模块结构,完成硬件系统的优化。利用D-H法构建农业采摘机器人数学模型,在该模型下,利用传感器设备实现机器人实时位姿的量化描述,通过机器人采摘流程的模拟,分配机器人运动协作任务,从位置和姿态等多个方面,确定运动协作控制目标,经过受力分析求解机器人实际作用力,最终通过控制量的计算,实现农业采摘机器人的运动协作控制功能。通过系统测试实验得出结论：与传统控制系统相比,机器人位置、姿态角和作用力的控制误差分别降低了约40mm、0.2°和1.2N,在优化设计系统控制下,机器人的碰撞次数得到明显降低。     

基于大数据聚类的工业遥操作机器人位姿定位控制系统设计

针对工业遥操作机器人位姿定位过程中难以同步控制位置和姿态角,导致位姿定位准确性较差的问题,利用大数据聚类技术,从硬件和软件两个方面优化设计工业遥操作机器人位姿定位控制系统。通过位姿传感器的改装,保证传感器设备能够同时测量机器人位置与姿态,改装定位控制器和驱动器。在系统硬件的支持下,考虑机器人组成结构、运动原理和动力学理论,构建机器人数学模型,在该模型下模拟机器人遥操作过程,确定机器人位姿的定位控制目标。实时采集机器人位姿数据,利用大数据聚类技术计算定位控制量,在控制器的约束下,实现系统的位姿定位控制功能。通过系统测试实验得出结论：综合多种类型的运动情况,在优化设计系统的控制下,机器人的位置误差平均值为4.5mm,姿态角控制误差为0.04°。     

Simulation of football based on PID controller and BP neural network

Wheel robot soccer speed control system using a ball object detection method and PID controller. A control system is based on the object detection system's behavior based on the robot position's orientation to the target position. PIDs are instruments, pressure, speed, and other operational factors used in control, temperature adjustment flow, and industrial control applications. The PID controller uses control loop feedback dynamics to control functional variables and is the most accurate and stable controller. The robot position is held by placing the ball vertically. When the robot's work is perpendicular to the ball, the robot moves with a certain speed controlled by the PIT controller based on the robot's distance and the ball. Standard conditions (standard ball) test results show that the robot can detect the ball material while in the vertical position, whether on the robot's right or left. In the random test that changes direction, the robot can move more dynamically as the ball's change in place.     

Walking and steering control for a 3D biped robot considering ground contact and stability

This paper presents a stable walking control method for a 3D bipedal robot with 14 joint actuators. The overall control law consists of a ZMP (zero moment point) controller, a swing ankle rotation controller and a partial joint angles controller. The ZMP controller guarantees that the stance foot remains in flat contact with the ground. The swing ankle rotation controller ensures a flat foot impact at the end of the swinging phase. Each of these controllers creates 2 constraints on joint accelerations. As a consequence, the partial joint angles controller is implemented to track only 10 independent outputs. These outputs are defined as a linear combination of the 14 joint angles. The most important question addressed in this paper is how this linear combination can be defined in order to ensure walking stability. The stability of the walking gait under closed loop control is evaluated with the linearization of the restricted Poincare map of the hybrid zero dynamics. As a result, the robot can achieve an asymptotically stable and periodic walking along a straight line. Finally, another feedback controller is supplemented to adjust the walking direction of the robot and some examples of the robot steered to walk along different paths with mild curvature are given.     

Observer-based adaptive control of robot manipulators: Fuzzy systems approach

This paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured uncertainties. When joint velocities are available, full state fuzzy adaptive feedback control is designed to ensure the stability of the closed loop dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the estimated velocities. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. Further, it is shown that required stability conditions, in both cases, can be formulated as LMI problems and solved using dedicated software. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.     

Dynamic modeling and nonlinear tracking control of a novel modified quadrotor

In this article, a nonlinear tracking controller is designed based on Lyapunov stability for a novel aerial robot. The proposed 6‐rotor configuration improves stability and payload lifting capacity of the robot compared with conventional quadrotors while avoiding further complexities in the robot dynamics and steering principles. The dynamical model of the robot is derived using Newton‐Euler method. The model represents a nonlinear, coupled, and underactuated system. The proposed control strategy includes 2 main parts: an attitude controller and a position controller. Both the attitude and position controls are Lyapunov‐based nonlinear tracking controllers that guarantee the asymptotic convergence of the states' tracking errors to zero. Simulation results are presented to illustrate appropriate performance of the closed‐loop system in terms of position/attitude tracking even in the presence of wind disturbance.     

Adaptive hybrid control of manipulators on uncertain flexible objects

This paper presents an adaptive hybrid control approach for a robot manipulator to interact with its flexible object. Because of its flexibility, the object dynamics influence the robot's control system, and since it is usually a distributed parameter system, the object dynamics as seen from the robot change when the robot moves. The problem becomes further complicated such that it is difficult to decompose the robot's position and contact force control loops. In this paper, we approximate the object's distributed parameter model into a lumped 'position state-varying' model. Then, by using the well-known nonlinear feedback compensation, we decompose the robot's control space into a position control subspace and object torque control subspace. We design the optimal state feedback for the position control loop and control the robot's contact force through controlling the resultant torque of the object. We use the model-reference simple adaptive control strategy to control the torque control loop. We also study the problem on how to select a reasonable reference model for this control loop. Experiments of a PUMA robot interacting with an aluminum beam show the effectiveness of our approach.     

两轮机器人在坡面上的运动平衡控制

两轮机器人在坡面上运动时,由于受到重力作用的影响,其姿态平衡控制变得更加复杂。为实现机器人在坡面上的平衡控制,首先建立了两轮机器人在坡面上的动力学模型,然后针对两轮机器人设计一种非线性PD控制器。与传统的线性PD控制器进行仿真实验对比,实验结果说明:在响应速度、稳定性、鲁棒性方面,非线性PD控制有着更好的效果。最后,在姿态平衡控制中加入速度控制,构成双环的PD控制,实现了两轮机器人在坡面上的静态平衡。