应用于多旋翼MAVs的姿态测量系统

应用一个三轴加速度计、三个单轴角速率陀螺和一个三轴磁强计等微机械惯性传感器,设计廉价轻量姿态测量系统,研究了姿态角推算算法。在以往的姿态测量系统中,陀螺偏差和动加速度的影响限制其应用。将角速度陀螺的误差作为状态量导入到系统,动加速度作为噪音项导入到观测方程中,然后利用扩展卡尔曼滤波器来构成姿态估计算法来降低误差。实际飞行中对比商用高精度传感器和多次室外飞行测试表明,设计的系统能够应于旋翼MAVs。     

Visual recognition efficiency of handheld infrared thermometer interface information under low ambient illuminance

One of the symptoms of plagues, epidemics or pandemics is often a fever, so during such unprecedented times, handheld infrared thermometers are vital devices for monitoring symptomatic individuals. It is therefore very important to enhance reading efficiency when these thermometers are used for lengthy periods of time in a low illuminance environment. The need for the efficient reading of infrared thermometers or a fast reaction time when reading the information is even more relevant now during the COVID-19 pandemic. In this study, a target search experiment of digital characters is carried out through a simulated interface and use scenarios of a handheld thermometer based on three variables: the inclination angle or slant of the seven segment display characters, screen brightness, and ambient illuminance. The experimental results show that the inclination angle or slant of the characters and ambient illuminance have a significant effect on the reaction speed. In general, the slowest reaction time is found when reading characters with a slant of 10° to the left and the reaction time is the fastest with a right slant of 20°. A continued reduction in ambient illuminance does not affect the visual recognition performance but instead further enhances reading efficiency. Increasing the screen brightness increases the reaction time more in relatively low ambient illuminance conditions as opposed to relatively high ambient illuminance, which implies that in higher ambient illuminance conditions, a brighter screen needs to be used to obtain the same reaction speed as that in lower ambient illuminance conditions.     

Bicriteria scheduling of a material handling robot in an m-machine cell to minimize the energy consumption of the robot and the cycle time

This study considers a flowshop type production system consisting of m machines. A material handling robot transports the parts between the machines and loads and unloads the machines. We consider the sequencing of the robot moves and determining the speeds of these moves simultaneously. These decisions affect both the robot’s energy consumption and the production speed of the system. In this study, these two objectives are considered simultaneously. We propose a second order cone programming formulation to find Pareto efficient solutions. We also develop a heuristic algorithm that finds a set of approximate Pareto efficient solutions. The conic formulation can find robot schedules for small cells with less number of machines in reasonable computation times. Our heuristic algorithm can generate a large set of approximate Pareto efficient solutions in a very short computational time. Proposed solution approaches help the decision-maker to achieve the best trade-off between the throughput of a cell and the energy efficiency of a material handling robot.     

MMA7361L的高精度角度检测平台设计

倾角是许多控制系统中需要测量的一个重要参数。针对倾角测量,设计了一种基于ARM微控制器和加速度传感器的角度测量平台。该平台采用基于ARMCortex—M3内核的STM32F103VE为数据处理的核心,利用高精度加速度传感器MMA7361L为测角传感器,同时配置液晶屏和小型键盘实现了人机交互。该平台具有测量精度高、灵敏度高、价格低的特点,应用前景广阔。     

基于嵌入式技术的倾角传感器检测系统设计

介绍了加速度传感器MMA7260的工作原理、结构及功能,设计了一个基于ARM的实时嵌入式自动检测系统,使用μC/OS-II操作系统,构造一个具有角度测量、相关数据处理以及与上位机通信等功能的现场角度测量单元,上位机则主要完成系统监控和人机交互等功能。     

两轴稳定平台大俯仰角状态控制技术研究

在对两轴稳定平台一般构型分析的基础上,指出了其在俯仰方向大角度时稳定控制存在的不足,提出了采用三正交陀螺稳定控制方式解决大俯仰角控制问题的方法,最后利用MATLAB进行了数学仿真,结果表明该方法有效提高了系统的稳定精度。     

特高压直流送端系统的运行约束及新能源消纳挑战研究

针对特高压直流工程投运后电网特性的变化,分析了电力系统安全、经济运行面临的挑战及可采取的对策。首先在简要介绍直流系统故障的基础上,分别针对有功回退引起的暂态功角稳定问题与无功冗余造成的暂态过电压问题进行了理论分析,并根据陕西电网仿真计算结果进一步说明直流投运后对运行灵活性的制约。然后分析了运行灵活性下降对新能源消纳造成的影响,讨论了提高新能源消纳能力的对策。最后对所讨论问题进行归纳总结,并提出了未来工作与研究的展望。     

基于关联规则与PLC的同步电机高精度转角自适应控制方法

常规的转角自适应控制方法未能与同步电机的实际运行数据精准结合,导致实际控制中精度不足,因此提出基于关联规则与PLC设计的同步电机高精度转角自适应控制方法。计算同步电机的增益效率,将结果加权处理,得到同步电机转角理想传动比的计算方法。建立关联数据库,基于关联规则优化转角控制增益系数。以适应性系数判断算法终止条件,建立自适应模型结构,得到同步电机中的转角质心偏离距离,设计转角模糊自适应算法。在对比试验中,试验组中适应性系数均值为0.48/0.92 μm,3个对照组的均值分别为0.27/0.82、0.42/0.57、0.26/0.86 μm。通过试验数据可知,基于关联规则与PLC的同步电机高精度转角自适应控制方法比常规算法更适应同步电机的实际运行,具备更高的精度控制效果。     

西南山区交通工程弃渣的工程特性评价及其分类

山区交通工程弃渣力学参数的准确测定,一直是弃渣场边坡稳定性评价面临的基础科学问题。在山区交通工程弃渣场运行特点和弃渣固体废弃物特征认知的基础上,探讨弃渣取样和试验代表性问题的物理根源,依托实际工程累计数据尝试提出简单实用的弃渣工程特性评价和分类方法。结果表明:①常规交通工程弃渣的密度、颗粒分析和强度试验,由于弃渣的粒径范围差异大、颗粒空间分布不均、弃渣来源复杂等固体废弃物特征造成取样和试验代表性难题; 用多阶段坡角测量和颗粒分析试验代替传统的弃渣边坡试验,解决了试验和取样代表性难题。②利用弃渣粗细比可将弃渣分为细粒弃渣、混合型弃渣和粗粒弃渣。③根据弃渣粗细比、天然休止角和整形坡率,将西南山区交通工程弃渣分为细粒弃渣、混合型弃渣和粗粒弃渣等3类。细粒弃渣,弃渣粗细比小于0.3,天然休止角小于31.5°,整形坡率为1.00:2.00; 混合型弃渣,弃渣粗细比为0.3～1.0,天然休止角为31.5°～39.5°,整形坡率为1.00:2.00～1.00:1.50; 粗粒弃渣,弃渣粗细比大于1.0,天然休止角大于39.5°,整形坡率为1.00:1.50。④用多阶段坡角测量、颗粒分析试验和无黏性土边坡稳定性系数计算公式代替传统的弃渣边坡试验和稳定性系数计算方法,方法简单,结果保守,可以作为弃渣边坡稳定性评价和安全控制技术的有益补充。