基于环形红外阵列的移动机器人自动跟随系统

为了实现在室内空旷环境中跟随机器人对移动目标物的定位和动态跟踪,设计了一种基于环形红外阵列的移动机器人自动跟随系统。利用具有主动式环形大视场的测距罗盘作为环境感知传感器。测距罗盘由数个红外测距传感器组成周向阵列,实现对360°环向10～80 cm范围内移动目标物的二维定位,使跟随机器人可以快速确定其与移动目标物之间的距离和偏航角,实现对目标物的精准定位。依据目标物的位置信息并利用PD(proportiondifferentiation,比例-微分)控制器控制跟随机器人的移动,使跟随机器人保持与目标物的相对距离和相对角度,实现对移动目标物的自动跟随。在上位机操作界面可以实时显示跟随机器人的运动轨迹及其对周围未知环境的探测情况。通过实验证明了测距罗盘可以有效定位目标,满足机器人跟随移动目标物的设计要求。测距罗盘和自动跟随系统的可靠性较高,可以为机器人集群编队提供装置保障。     

位置伺服系统的变结构模型跟踪控制

本文用变结构系统和滑模控制理论对一般位置系统的自适应模型跟踪控制提出了一种新的方法。该控制系统保持了现有自适应模型跟踪系统的优良特性,并能在参考模型阶数低于对象模型的条件下,保证系统输出快速跟踪其模型输出。理论分析和仿真结果表明:该控制方法设计简单,便于在线实现,并能同时应用于半闭环系统和全闭环系统。此外,该控制系统鲁棒性强,能明显改善系统的动态特性。     

Hybrid Force and Vision-Based Contour Following of Planar Robots

Manipulators interacted with uncalibrated environments have limited dexterity due to constraints imposed by unknown environments. However, to perform science or industrial operations, it is necessary to be able to position and orient these manipulators on targets in order to accomplish required control tasks. This article describes how one might enhance manipulator dexterity for planar contour following tasks using hybrid force and vision-based control. The proposed control approach can guarantee task precision employing only a single-axis force sensor and an imprecisely calibrated CCD camera whose optical axis is perpendicular to the planar workspace. The goal of the autonomous task is to drive an instrument mounted on the end-effector of a planar robotic manipulator to follow a visually determined planar contour and continue tracking the contour in desired pose, contact force, and speed, all demanding time-varying, with precision. The proposed control architecture is suitable for applications that require simultaneous force and pose control in unknown environments. Our approach is successfully validated in a real task environment by performing experiments with an industrial robotic manipulator.     

一种模型参考鲁棒控制的跟踪性能改善

This paper considers the tracking performance problem of a model reference robust control (MRRC) for plants with relative degree greater than one. A new algorithm is proposed based on the earlier research. It is shown that by applying a special transformation to the tracking system, the L1 bound of the tracking error can be achieved even when the high frequency gain is unknown, and both the tracking performance and the control effort can be improved significantly. Furthermore, the strictly positive real (SPR) condition, which is an essential assumption of the earlier design, can be removed.     

基于PMAC的自主车运动控制系统研究

为了提高自主车运动控制的精度，满足自主车精确行走的需要，研制了一种以PMAC运动控制器为核心、基于视觉导航的自主车运动控制系统。在建立自主车运动控制系统的硬件结构的基础上，探讨了VC 环境下对PMAC进行二次开发的方法，并将模糊控制的算法引入自主车的路径跟踪，所研制的控制系统已成功地用于QDU—Ⅰ型自主车上。经QDU—Ⅰ型自主车路径跟踪实验表明：该控制系统精度高、灵活方便，可以满足自主车在各种环境中的行走需要。     

Output stabilization and maneuver regulation: A geometric approach

This paper investigates maneuver regulation for single-input control-affine systems from a geometric perspective. The maneuver regulation problem is converted to output stabilization and necessary and sufficient conditions are provided to solve the latter problem by feedback linearizing the dynamics transverse to a suitable embedded submanifold of the state space. When specialized to the linear time invariant setting, this work recovers well-known results on output stabilization.     

用于计算曲线光流的边缘提取

提出了一种新的曲线边缘提取方法。用Sobel算子对综合图像和真实图像进行边缘检测，得到了图像的边缘点，通过选择边缘点增强因子、阈值和重复次数，进一步对图像的边缘点进行了增强，实现了图像的边缘细化，采用轮廓跟踪算法进一步细化边缘，得到了具有单像素宽的轮廓曲线，对综合图像和真实图像的实验结果表明，新的曲线边缘提取方法获得的效果较好。     

一种实用新型单相PFC电路控制方法的分析

分析了家电领域里常用的两种不同PFC控制技术，指出其各自的优缺点。在此基础上提出了一种新的PFC控制方法，给出了理论分析、仿真分析以及实验结果。     

组合机床加工箱（缸）体件时的夹紧力卸荷措施

组合机床在加工箱（缸）体件时，如果夹紧力太大，则会造成工件过大的变形，从而影响加工精度．本文以EQ—140型东风汽车缸盖加工为例，介绍了一种夹紧力卸行措施，从而大大降低了夹紧力，提高了工件加工精度．     

并联机器人轨迹跟踪变结构控制的研究

本文根据并联机器人控制的特点，将离散变结构理论应用于并联机器人的轨迹控制，引进了离散趋近律的概念，给出了实用的离散变结构控制算法，仿真表明，该方法对并联机器人轨迹踪具有良好的控制效果。