含有非驱动关节机器人的学习控制

含有非驱动关节的机器人的运动控制比一般的机器人要困难得多．因为非驱动关节 不能直接控制，系统属于非完全可控系统，一般的光滑反馈控制方法对这样的系统是无效的 ．本文提出了一种学习控制的方法，通过学习获得高精度的前馈控制，实现欠驱动机器人的 高精度运动控制，并在一台实际的欠驱动机器人上进行了实验，给出了实验结果．     

感应式协调控制下绿信比优化方法

以固定协调控制下绿信比确定方法及感应控制原理为基础,设计了基于逻辑规则的感应式协调控制下绿信比优化流程,提出了感应协调控制下绿灯时间实时优化方法,确定了最大弹性绿灯时间计算方法。算例表明,该方法具有较好的实用性。     

基于位置索引的电力信息系统资源共享方案

为解决电力信息系统资源共享深度、广度和速度问题,针对国家电.力信息网(SPInet)分级分层拓扑结构,提出了一种基于位置索引的信息资源共享方案.通过各节点对共享资源构建基于位串的位置索引并冗余发布和汇聚,实现了基于查询多通道的目标节点快速准确定位.性能分析和仿真实验表明,该方案具有资源定位的高效性、可靠性和搜索的完备性,同时占用系统资源较少.     

Coordination of Networked Nonlinear Multi-Agents Using a High-Order Fully Actuated Predictive Control Strategy

This paper is concerned with the coordinative control problem of networked nonlinear multi-agents(NNM)with communication delays.A high-order fully actuated(HOFA)model is introduced to describe the nonlinear multi-agents.Based on this model,a HOFA predictive coordination method is proposed to compensate for the communication delays actively and achieve simultaneous stability and consensus.This method largely simplifies the design of networked nonlinear multi-agents and makes the control performance be same for networked nonlinear multi-agents with and without communication delays.The analysis on the closed-loop systems derives the simultaneous stability and consensus criteria of networked nonlinear multiagents using the HOFA predictive coordination method.With the presented way of designing HOFA predictive coordination controllers,a simulated example demonstrates the advantages of the proposed method.     

A Novel Robust Constraint Force Servo Control for Under‐actuated Manipulator Systems: Fuzzy and Optimal

We consider the control design for under‐actuated manipulator systems. The task is to drive the system to be close to a prescribed constraint. The system contains uncertainty. It is bounded where the bounding information is prescribed by a fuzzy set (e.g., the bound is close to 1). The initial condition is also prescribed by a fuzzy set. A class of robust control is proposed, which guarantees a deterministic performance. On top of that, the choice of a control design parameter is cast into a fuzzy‐theoretic setting. A performance index, consisting of accumulated fuzzy‐based system performance and control cost, is proposed. The optimal control design parameters, which minimize the performance index, can be obtained by solving two algebraic quartic (fourth‐order) equations. As a result, the control design problem, which addresses both fuzzy and optimal characteristics, is completely solved.     

微小机器人移动机构研究

对压电陶瓷激励振动框架式微小机器人移动机构进行了研究,用实验方法测定了不同粗糙度表面以及激励信号的频率,波形,电压幅值对移动性能的影响,用有限元分析方法得到了系统的固有频率和振型。     

Effects of temperature dependent air properties on the performances of a thermal actuated slider

Thermal actuated sliders have been widely used in today's hard disk drive industry for its advantages of easier control of flying height (FH) and less risk of contacts with the disk over the conventional slider. In this paper, we used a coupled-field analysis method, which includes an air bearing model, a heat transfer model and a thermal-structural finite element (FE) model to investigate the flying and thermal performances of a thermal actuated slider at various environmental temperatures. We also proposed a generalized mean free path model to incorporate various molecular dynamics models and consider temperature effects of the mean free path. Some temperature dependent air properties, such as the viscosity and the thermal conductivity are also considered in the simulation. It is found that the mean free path is a crucial parameter in determine air bearing and heat transfer across the head-disk interface (HDI). Our simulation results also show that the temperature effects of the viscosity and the thermal conductivity are contrary to that of the mean free path, which limit the variations of air bearing and heat transfer as the environmental temperature increases. However, their temperature effects still need to be considered for an accurate simulation, especially when the disk drives operate in a wide temperature range.     

状态反馈法改善MEMS静电驱动结构瞬时特性的研究

MEMS静电驱动结构的瞬时特性受其结构本身机械动态特性的影响,自然阻尼过高或者过低都可能会让系统发生操作偏差.利用状态空间分析法分析了MEMS静电驱动结构的工作机理.基于状态反馈原则设计了一种输入量控制方法,即根据系统要求指标来配置极点,实现最优控制.仿真实验结果证明,该方法能提高系统的瞬时特性.     

电磁温控液体粘性传动风扇离合器的发展

简要回顾液体粘性传动风扇离合器的发展历史;分析车辆电磁温控液体粘性传动风扇中器研究的发展和特点;讨论国内的发展状况和需要进行的工作。     

煤气化装置水煤浆气动控制球阀的设计

介绍了煤气化装置水煤浆气动控制球阀的研究过程,分析了煤气化工况系统的主要技术难点,给出了产品国产化研究的具体解决方案,并对产品结构的设计计算提出了新的思路。