基于MAS的多机械手协调工作控制

为了解决全自动化晶体切片角分类机三个机械手协调工作的控制问题,设计了以MAS理论为基础的分布式网络控制器.系统利用黑板结构来实现全局动态目标下的状态信息的共享,采用多Agent理论对三个机械手进行协调工作控制,解决了机械手之间的运动耦合问题,使之能够在同一个时间和不同的空间内协调与配合工作,完成整体工作任务.基于此设计的设备可改善工人的劳动环境、提高生产效率、确保晶体切片切角的测量与分类准确.     

有限导流垂直裂缝产能及影响因素研究

从渗流理论出发,利用瞬时源、连续源的思想,结合卷积公式、Laphce变换等方法,建立了有限导流垂直裂缝井的产能计算模型,对模型导出的积分方程采用边界元方法(BEM)在Laplace空间进行了求解,利用Stehfest数值反演.获得了实空间的解,从而给出了准确计算有限导流垂直裂缝井产量的方法.此外,还通过定量计算分析了裂缝各设计参数对产量的影响方式和影响程度.通过分析可知,压裂井的日产量随裂缝长度、裂缝渗透率、裂缝宽度的增加而增大,但其产量增加的幅度随三种因素的增大而逐渐减小,因此在实际的油藏水力压裂设计时,应结合压裂成本和增益来考虑合适的设计参数.对压裂井产量预测和水力压裂油藏工程设计具有一定价值.     

适度出砂技术在海上稠油油田的应用研究

通过理论计算和室内出砂模拟实验,分别从地层出砂、井筒附近防砂以及井筒内的携砂生产三方面时适度出砂开采方式进行了研究.结果表明:地层出砂对储层物性有所改善,不同粒径段颗粒出砂1%后,渗透率增幅为20%左右,其中细微砂粒(<39 μm)的产出对渗透率提高贡献最大,为21,07%-37.60%;防砂管和地层环空间砂粒的堆积对产能影响很大,环空无砂时产能提高1.71倍,但当环空充满砂时产能仅提高14.70%;只有当井筒内的流体流速大于等于砂粒的沉降末速时产出砂才能被携带出井筒.该开采方式在渤海稠油油田得到成功应用.     

Surface performance of workpieces processed by electrical discharge machining in gas

The surface performance of workpieces processed by electrical discharge machining in gas(dry EDM)was studied in this paper.Firstly,the composition,micro hardness and recast layer of electrical discharge machined(EDMed)surface of 45 carbon steels in air were investigated through different test analysis methods.The results show that the workpiece surface EDMed in air contains a certain quantity of oxide,and oxidation occurs on the workpiece surface.Compared with the surface of workpieces processed in kerosene,fewer cracks exist on the dry EDMed workpiece surface,and the surface recast layer is thinner than that obtained by conventional EDM.The micro hardness of workpieces machined by dry EDM method is lower than that machined in kerosene,and higher than that of the matrix.In addition,experiments were conducted on the surface wear resistance of workpieces processed in air and kerosene using copper electrode and titanium alloy electrode.The results indicate that the surface wear resistance of workpieces processed in air can be improved,and it is related with tool material and dielectric.     

Rotordynamic forces generated by discharge-to-suction leakage flows in centrifugal pumps

In order to investigate the flow-induced vibration in the shroud passage of centrifugal pump and predict rotordynamic forces of centrifugal pump rotor system,an analysis of rotordynamic forces arising from shrouded centrifugal pump is presented. CFD techniques were utilized to analyze the full three-dimensional viscous,primary/secondary flow field in a centrifugal pump impeller to determine rotordynamic forces. Multiple quasi-steady solutions of an eccentric three-dimensional model at different whirl frequency ratios yielded the rotordynamic forces. The skew-symmetric stiffness,damping,and mass matrices were obtained by second-order least-squares analysis. Simulation of the coupled primary/secondary flow field was conducted,and the complex flow characteristics in the flow field of a shroud passage were achieved including the mean velocity and pressure,as well as the eddy in a large scale of flow field due to viscosity. The rotordynamic force coefficients were calculated,and the results were in good agreement with those of experiment except for the direct inertial coefficient without the consideration of whirling forces from the impeller primary flow passage.     

Relationship of hydrocarbon and source-rock in Nos.3-5 tectonic belts of the Lenghu area, northern Qaidam Basin

Based on analyses of the components of crude oil hydrocarbons and carbon isotopes, the content of normal alkane de-creased from 49.00% to 20.10% when moving from the No.3 to No.5 tectonic belt of the Lenghu area of the Qaidam Basin, while cycloalkanes increased from 30.00% to 52.20% and aromatic and branch chain alkanes increased gradually as well. The maturity of sterane in crude oil is higher than that of its source-rock, which shows that the hydrocarbons were generated from a deep source-rock of high maturity around the tectonic belts of the Lenghu area. The analysis of the characteristics of carbon isotopes also shows that these isotopes of hydrocarbon compounds in the No.4 and No.5 tectonic belt are apparently heavier than those in the No.3 belt. The results of our research show that the hydrocarbons in the No.3 tectonic belt are mainly from a relatively rich sapropelic substance, while the hydrocarbons in the No.4 and No.5 tectonic belt originated mainly from organic matter of a rela-tively rich humic type substance.     

基于GPRS水管网无线监控系统设计

介绍了一种基于GPRS的供水管网监控系统的设计方法,选择了GPRS作为本系统的通信方式,利用工控软件组态王进行供水监控系统设计,以可编程控制器作为下位机实现供水管网的自动动态采集信号,对监控参数进行动态管理,完成现场设备的实时数据采集、远程数据传输等功能.     

一种多元复合地基复合模量的计算方法

多元复合地基的沉降计算依赖于其复合模量的取值.目前多元复合地基复合模量计算均未考虑桩对桩间土的侧向挤密作用,因而其沉降计算结果与实际值相差较大.而考虑桩体与桩间土的侧向挤压作用,依据线弹性变形理论,推求的多元复合地基的复合模量公式应用于工程实例,结果表明,该方法是合理可行的,并且存在着参数易于确定、方法简便、机理清楚的特点.     

基于神经网络和支持向量机的电能质量组合评价

电能质量在当代越来越受到重视.根据电能质量的概述,提炼出电能质量评价指标体系,并基于组合评价的原理,运用BP神经网络和支持向量机对其进行评价,通过检验,证明了评价方法的有效性.     

铜板轧制自调整参数模糊控制系统的建模与仿真

针对铜板轧制控制,利用模糊控制原理,提出自调整参数模糊控制方式,运用仿真软件Matlab实现这种控制器的建模与仿真.仿真结果表明,这种控制方式通过自调整参数,增强了系统实时控制效果,明显地改善了控制系统的动态性能,提高了系统的控制精度.