上肢镜像康复机器人控制策略研究

镜像疗法是促进偏瘫患者上肢运动功能康复的有效疗法,结合镜像疗法的机器人可通过促进双侧运动易化患侧的运动通路。为此,研究上肢镜像康复机器人的控制策略。基于传统镜面治疗方法设计了上肢镜像康复机器人系统,提出了基于参考轨迹的镜像训练。同时提出了基于分段三阶Bezier插值的轨迹优化方法,优化机器人运动轨迹。考虑到患者患侧与机器人的交互需求,开发了由引导力场和约束力场组成的力场控制算法,协调患侧主动运动与镜像训练动作。开展镜像康复训练实验,验证了力场控制算法的良好性能。     

轧机自动位置控制系统混沌特性研究

针对轧机自动位置控制系统(APC)控制后的钢板不能准确停车,出现类似振动的现象,在考虑轧辊与钢板间的阻尼力、弹性力和轧辊偏心力的基础上,建立了一个轧机自动位置控制系统停车后的非线性模型.阐述了Lyapunov特性指数的计算方法,将Lyapunov指数作为APC系统非线性运动的混沌的判据.给出了Lyapunov指数与AP...     

基于协议干扰模型的最小路径干扰度算法

在分析了路由判据WCETT和iAWARE的基础上,指出LMR的路由算法的不足之处,得出了一种新型的基于协议干扰模型的最小路径干扰度算法-MRI算法,并经过实践,给出了仿真效果图。结果表明,本算法是非常优越的。     

Consensus of second-order multi-agent systems with nonsymmetric interconnection and heterogeneous delays

In this paper, a consensus algorithm of multi-agent second-order dynamical systems with nonsymmetric interconnection and heterogeneous delays is studied. With the hypothesis of directed weighted topology graph with a globally reachable node, decentralized consensus condition is obtained by applying generalized Nyquist criterion. For the systems with both communication and input delays, it is shown that the consensus condition is dependent on input delays but independent of communication delays.     

Improved exponential stability criteria for uncertain neutral system with nonlinear parameter perturbations

This paper investigates the problem of robust exponential stability for neutral systems with time-varying delays and nonlinear perturbations. Based on a novel Lyapunov functional approach and linear matrix inequality technique, a new delay-dependent stability condition is derived. Since the model transformation and bounding techniques for cross terms are avoided, the criteria proposed in this paper are less conservative than some previous approaches by using the free-weighting matrices. One numerical example is presented to illustrate the effectiveness of the proposed results.     

Comparison of two novel MRAS based strategies for identifying parameters in permanent magnet synchronous motors

Two model reference adaptive system (MRAS) estimators are developed for identifying the parameters of permanent magnet synchronous motors (PMSM) based on the Lyapunov stability theorem and the Popov stability criterion, respectively. The proposed estimators only need online measurement of currents, voltages, and rotor speed to effectively estimate stator resistance, inductance, and rotor flux-linkage simultaneously. The performance of the estimators is compared and verified through simulations and experiments, which show that the two estimators are simple, have good robustness against parameter variation, and are accurate in parameter tracking. However, the estimator based on the Popov stability criterion, which can overcome parameter variation in a practical system, is superior in terms of response speed and convergence speed since there are both proportional and integral units in the estimator, in contrast to only one integral unit in the estimator based on the Lyapunov stability theorem. In addition, the estimator based on the Popov stability criterion does not need the expertise that is required in designing a Lyapunov function.     

射频导纳料位计原理及故障分析

分析了射频导纳连续料位计的工作原理,提出利用射频导纳技术解决实际生产中料位计挂料问题,并对射频导纳料位计常见故障提出了相应的解决方案.     

基于RSView32实现圆形炼锌电炉自动控制系统

计算机技术和网络通信技术突飞猛进地发展,监控组态软件因为具有实时控制、联网通信、数据记录、人机对话等功能,被广泛地运用于PLC、DCS及FCS等系统中.以美国Rockwell公司的Rockwell RSView32工控组态软件实现对三相电极位置的调整,来控制三相电流平衡.并且实现温度压力在线监控和炉喉捅杆,沉降塔压力自动平衡等控制装置,应用于火法炼锌电炉中,取得了很好的效果.     

基于选择判据与贴近度的电网故障诊断算法

针对传统D-S 证据理论难以解决高度冲突证据融合问题, 提出一种新的证据合成算法. 将贴近度概念引入D-S 证据合成中, 通过证据的一致性度量计算其权重, 实现冲突证据的加权融合. 提出证据合成方法选择判据, 将证据合成分为冲突和非冲突2 类, 分别采用改进算法和传统算法对证据进行融合. 实例验证表明, 所提出的方法信息聚焦性能优越, 可以有效解决冲突证据合成问题, 在解决电力系统故障诊断问题方面有良好的效果.

     

基于学习人类控制策略的双足机器人步态控制方法分析

机器人是集机械设计、电控设计为一体的高科技产品,而双足机器人更是多学科交叉运用所得成果里面的一个典范,它高度集成了相应学科内优势,使各学科有机的融为一体。本文将会从双足机器人的控制策略、控制方法和稳定性判据三个方面对其进行研究和探讨。