Nonlinear tracking control of underactuated cranes with load transferring and lowering: Theory and experimentation

A bridge crane is a complicated nonlinear underactuated mechatronic system, for which high-speed positioning and anti-swing control is the kernel objective. Existing methods for varying cable length cranes require either linearizations or approximations, when performing analysis, and they usually assume small load swing; moreover, the ranges of the tracking errors cannot be guaranteed during the overall process. Motivated by these facts, we present a new tracking scheme for cranes with load horizontal transportation and lowering control, which achieves simultaneous load swing suppression and elimination. To the best of our knowledge, the proposed method yields the first feedback closed-loop control result not needing linearization or approximation operations to the original nonlinear crane dynamics with cable length variation, while relaxing the common assumption imposed on load swing associated with existing methods. It can also guarantee that the tracking errors are always within a priori set bounds and converge to zero rapidly. Lyapunov-like analysis is implemented to support the theoretical derivations. We carry out hardware experiments to illustrate the superior control performance of the new method.     

Virtual machining considering dimensional,geometrical and tool deflection errors in three-axis CNC milling machines

Virtual manufacturing systems can provide useful means for products to be manufactured without the need of physical testing on the shop floor. As a result, the time and cost of part production can be decreased. There are different error sources in machine tools such as tool deflection, geometrical deviations of moving axis and thermal distortions of machine tool structures. Some of these errors can be decreased by controlling the machining process and environmental parameters. However other errors like tool deflection and geometrical errors which have a big portion of the total error, need more attention. This paper presents a virtual machining system in order to enforce dimensional, geometrical and tool deflection errors in three-axis milling operations. The system receives 21 dimensional and geometrical errors of a machine tool and machining codes of a specific part as input. The output of the system is the modified codes which will produce actual machined part in the virtual environment.     

基于通用即插即用的服务监控机器人在智能家居中的应用

针对智能家居系统中多种异构电子设备难以与其他设备集成的问题,采用一种通用即插即用(UPnP)方式将服务机器人集成到智能家居系统中,着重介绍了集成后衍生的新服务.首先系统地介绍了UPnP标准和服务机器人Rovio;然后开发一个PC应用程序作为服务机器人和家庭智能网络之间连接的虚拟桥,形成服务机器人为智能家居网络提供服务的控制回路.最后通过一些实际操作来验证UPnP Rovio虚拟桥的性能,旨在探索服务机器人集成到智能家居的可能性和一些衍生的先进服务.通过路径跟踪、垃圾检测等一些先进服务的实际演示验证了通过UPnP方式将服务机器人集成到智能家居网络中的可行性,并展示了智能家居互通后的巨大潜在利益.     

半封闭连通管式差压传感器在桥梁挠度测量中的应用

挠度是评价桥梁结构安全性的重要指标。根据桥梁结构特点,选用半封闭连通管式差压传感器进行实际工程应用。论述了传感器的基本原理,介绍了实际的半封闭连通管式差压传感器及其系统的构成,并将该传感系统应用于荆岳长江公路大桥通车鉴定试验的静载挠度测量中,测量结果表明:半封闭连通管式差压传感器的测量数据能够有效地反映桥梁结构状态变化,且具有较高的测量效率和准确度。     

增压风机用高速无刷直流电机控制系统设计

根据增压用无刷直流电机的具体需求,设计了一套无刷直流电机H桥驱动电路;建立了无刷直流电机的数学模型,分析了变积分PID的优点;在Matlab环境下,设计了实际系统的变积分PID控制器;最后,将系统的运行数据上传至上位机,并对实际运行情况进行了分析。分析表明,控制系统设计较合理,并具有一定的参考价值。     

Frictional wear in high temperature thermotropic liquid crystalline polymers: correlation with glass transitions

Wholly aromatic thermotropic main chain liquid crystalline copolymers (LCPs) with varying glass transitions (T_g) were tested for wear resistance, particularly under high friction conditions, where surface temperatures can rise. Dynamic mechanical spectroscopy and DSC were used to characterize molecular relaxations. Three copolyester LCPs which all contain a substantial fraction of main chain 1,4-phenyl groups were chosen for this study. These included semi-crystalline Vectra^® A900, a semi-crystalline LCP containing phenyl hydroquinone (phHQ-LCP), and a low crystallinity LCP containing t-butyl substituted hydroquinone (t-butylLCP). These have glass transitions of 100, 160 and 175 °C, respectively, and heat deflection temperatures (HDTs) of 170, 260 and 174 °C, respectively. HDT is dependent in part on crystallinity. The wear performance was found to depend mainly on T_g and not HDT, suggesting a microscopic failure mechanism related to the amorphous phase. This is supported by the relatively poor elevated temperature wear performance of Vectra^® compared to the higher T_g LCPs. Shear strength measurements on the neat LCP resins did not correlate with wear properties of the blends, most likely because the measurements were made at room temperature and not elevated temperatures.     

聚氨酯软泡压陷性能的测试

介绍了软质聚氨酯泡沫塑料压陷性能的测试标准，不同厚度样品的压陷硬度测试值的差异，采用50%压缩负荷估计压陷硬度的简易测试方法，以及压陷性能测试的影响因素，并对测试聚氨酯软泡压陷性能的国家标准与国外标准的差别进行了比较。     

柔性管设计中允许竖向变形的合理取值

本文分析了地下埋设的柔性管的竖向变形与管壁弯曲性能的关系，讨论了几类不同材质管道承受一定的工作压力时它们的竖向变形的合理取值。     

斜拉桥预应力混凝土索塔锚固结构受力性能分析

为了研究U形与直线预应力束混合布置索塔锚固结构的受力特性,以国内某姊妹塔斜拉桥的菱形桥塔为例,采用通用有限元程序建立索塔锚固结构的节段有限元模型,分析索塔锚固结构在预应力荷载与斜拉索水平力共同作用下的受力情况。结果表明:在索塔锚固结构中采用U形与直线预应力束混合布置能较好的满足设计要求,使锚固区整体处于较为合理的压力状态之下,除局部的应力集中外,基本消除了斜拉索作用下顺桥向塔柱的拉应力;在齿块与塔柱内壁的结合处存在应力集中现象,应当引起足够的重视,施工时应严格控制施工质量。     

指数曲线贮仓的设计剖析

贮仓是许多工业过程中的常用设备，起拱是贮仓使用时常出现的故障，如何解决起拱问题是贮仓设计的关键，除常采取增大仓壁倾角、设置破拱装置等方法外，设计成曲线贮仓也是行之有效的措施之一。分析了指数曲线贮仓的工作原理和特点，建立了仓壁指数曲线方程，阐述了设计步骤与注意事项，并举例说明。