Delay time compensation based on coefficient of restitution for collision hybrid motion simulator

A hybrid motion simulator embeds a hardware experiment in a numerical simulation loop. However, it is often subjected to the inherent problem of an energy increase in the collision of two pieces of hardware in a loop because of the delay time. This paper proposes a delay time compensation method based on contact dynamics model for a collision hybrid motion simulator under delay time and establishes a compensation method for coupled translational and rotational motion. The model developed in this paper describes linear uniform motion of a floating object during the period of the delay time until the force and torque are observed and non-linear motion according to environmental stiffness after the initial delay time period in contact. By using the above model, compensation parameters are designed based on desired coefficient of restitution with iterative calculation. The proposed method achieves accurate delay time compensation and simultaneously realizes a variable desired coefficient of restitution over a wide range of frequencies. Furthermore, the compensation method for multi-dimensional motion is established under the assumption that the friction effect is very small. The efficiency of the proposed method is verified through collision experiments for the coupled motion in two dimensions.     

基于Kalman滤波的谐波电流实时检测仿真分析

谐波电流的实时检测是有源电力滤波器实现的关键,数字化的实现引入了一定的时间延迟,影响了其滤波效果。将三相谐波电流进行Clark坐标变换到两相正交坐标系中,利用Kalman算法对系统进行建模,检测出各次谐波电流的幅值和相角。通过选取合理的Kalman状态变量,运用简单的代数运算向模型中增加了一个相位补偿角,来消除延时的影响。最后,利用Matlab进行仿真实验,验证了该方法的有效性和正确性。     

硅压阻式气压高度计的设计与实现

采用硅压阻式压力传感器,以ATmega88PA为控制器设计了气压高度计。内嵌全温度范围的曲面拟合算法进行温度补偿及线性化处理,解决了压力传感器的温漂和非线性问题,并用海拔高度与气压的关系计算高度。测量结果通过RS-485接口发送给上位机。测试结果表明,该气压高度计压力测量误差优于0.50‰,分辨率为0.01 h Pa,线性度为0.999 9;标准大气环境下高度测量误差为0.16 m,线性度为0.999 8。该气压高度计具有质量小、功耗低、精度高、工作可靠等优点。     

含温度补偿的便携式土壤水分测定仪研制

针对现有土壤水分测定仪的不足,研制了一种新型的便携式土壤水分测定仪。传感器快速测量出土壤温、湿度数据,GPS自动获取时间、经纬度信息,数据既可临时保存在仪器的存储芯片中,又可通过GPRS/GSM将数据及时发送到后台数据库和手机用户。通过温度补偿和野外验证实验得出,温度补偿项为Δy=0.0002 t3-0.011 t2+0.444 1 t-6.423 2,仪器所有功能运行正常,测量绝对误差为-3.64%~3.82%,平均绝对误差为2.24%,精度较高,适合在地方农技和水利部门推广应用,有助于农业水利信息化水平的提高。     

超声波传感器在沙子料位检测中的应用

为提高混凝土的质量,配比很重要,其中沙子精确计量是关键因素之一。提出并设计了超声波系统测量沙子料位;为保证测量精度,采取自动增益控制电路和温度补偿。经实验证明:该方法简单、可行,为沙子质量的检测提供了一种新的参考方法。     

基于集成温度传感器的硅微陀螺仪数字化温度补偿研究

提出了一种基于集成温度传感器的硅微陀螺仪数字化温度补偿方法。首先,介绍了集成温度传感器的硅微陀螺仪基本结构原理,分析了硅微陀螺仪动力学方程以及温度变化对硅微陀螺仪谐振频率、品质因数、标度因数和零偏的影响。然后,设计了基于FPGA的硅微陀螺仪数字化补偿电路。最后,经过温度特性实验得到标度因数和零偏随温度变化曲线,建立了温度补偿模型,提出分段温度补偿方法。经过温度补偿后,标度因数和零偏的温度系数分别由316.66×10-6/℃和366.22°/(h·℃)减小为69.67×10-6/℃和115.25°/(h·℃),证明了补偿方法的正确性和可行性。     

一种基于灰色系统理论的控制系统参数辨识算法的仿真研究

灰色预测补偿是一种对灰色系统进行白化的算法,该算法需要的信息少、计算量小。它可以克服常规PID控制存在超调的缺点。根据灰色PID控制算法,对系统不确定部分建立灰色模型,进行灰色预测补偿。通过仿真研究,该算法具有较强的鲁棒性,可以提高控制质量,减小控制系统的误差。     

Stability analysis and controller synthesis for discrete uncertain singular fuzzy systems with distinct difference matrices in the rules

This paper mainly studies an extended discrete singular fuzzy model incorporating the multiple difference matrices in the rules and discusses its stability and design issues. By embracing additional algebraic constraint, traditional discrete Takagi-Sugeno (T-S) fuzzy model can be extended to a generalised discrete singular Takagi-Sugeno (GDST-S) model with individual difference matrices E_i in the locally singular models, where it can describe a larger class of physical or non-linear systems. Based on the linear matrix inequality (LMI) approach, we focus on deriving some explicit stability and design criteria expressed by the LMIs for the regarded system. Thus, the stability verification and controller synthesis can be performed by the current LMI tools. Finally, some illustrative examples are given to illustrate the effectiveness and validity of the proposed approach.     

3D soft-tissue tracking using spatial-color joint probability distribution and thin-plate spline model

Visual tracking techniques based on stereo endoscope are developed to measure tissue motion in robot-assisted minimally invasive surgery. However, accurate 3D tracking of tissue surfaces remains challenging due to complicated deformation, poor imaging conditions, specular reflections and other dynamic effects during surgery. This study employs a robust and efficient 3D tracking scheme with two independent recursive processes, namely kernel-based inter-frame motion estimation and model-based intra-frame 3D matching. In the first process, target region is represented in joint spatial-color space for robust estimation. By defining a probabilistic similarity measure, a mean-shift-based iterative algorithm is derived for location of the target region in a new image. In the second process, the thin-plate spline model is used to fit the 3D shape of tissue surfaces around the target region. An iterative algorithm based on an efficient second-order minimization technique is derived to compute optimal model parameters. The two processes can be computed in parallel. Their outputs are combined to recover 3D information about the target region. The performance of the proposed method is validated using phantom heart videos and in vivo videos acquired by the daVinci^®${\mathrm{daVinci}}^{\circledR }$ surgical robotic platform and a synthesized data set with known ground truth.     

受端电网区域无功自动控制调控策略研究

要确保受端电压的稳定性,就要保证有足够的无功补偿。静态无功补偿可以有效降低网损,并提供稳定的无功功率。但在电网系统变得越来越复杂的情况下,静态无功补偿已经很难满足需求,这时,动态无功补偿作为一种更为有效的无功补偿方式应运而生了。