An overview of dynamic parameter identification of robots

Due to the importance to model-based control, dynamic parameter identification has attracted much attention. However, until now, there is still much work for the identification of dynamic parameters to be done. In this paper, an overview is given of the existing work on dynamic parameter identification of serial and parallel robots. The methods for estimating the dynamic parameters are summarized, and the advantages and disadvantages of each method are discussed. The model to be identified and the trajectory optimization are reviewed. Further, the methods for validating the estimated model are summarized and the application of dynamic parameter identification is mentioned. The results of this review are useful for manufacturers of robots in selecting proper identification method and also for researchers in determining further research areas.     

Analysis,modeling, and design of cascaded defected microstrip structure for planar circuits

In this article, two cascaded defected microstrip structures (CDMSs) are proposed to increase the effective inductance. So the cutoff frequencies of filters made by CDMSs can be controlled. The proposed CDMSs have wider stopband characteristic and sharper transition from passband to stopband than defected microstrip structure (DMS). To show the behavior variations of the effective inductance, the DMS and CDMSs have been analyzed, compared, and their design parameters are formulated. These parameters are necessary for a fast filter design procedure. Also, the models of DMS and CDMSs using the very simple lumped element forms are presented according to the physical parameters. The results of the proposed models have been compared with those obtained by full wave analysis. To verify the proposed DMS model, the comparison in response not only has been considered in amplitude but also in phase of all S‐parameters of proposed model and full wave analysis. It is obvious that the stopband is enhanced by periodically cascading the DMS. Surviving of EMC aspects between DMS, DGS, and CDMS is considered and compared. Finally, the theoretical results are validated by comparison with simulations of the structures and experimental results. The simulations from modeling results are found to be in good agreement with the full wave analysis and measurement results in the range of 0.5–35 GHz. © 2010 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2010.     

Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing

This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers.     

轴承变载荷压力实验系统设计

针对现有轴承实验台的加载力不可按照任意载荷谱调节的缺陷,提出了PLC与虚拟仪器共同控制的方案.下位机采用PLC进行简单可靠控制,上位机采用虚拟仪器进行复杂的加载控制.详细阐述了控制方案及与PLC传输协议协调的实现方法.在允许的载荷输入范围内,该方案通过实验台加载力的可调输入,进行设定载荷谱试验,使试验时间有效缩短.试验结果表明,该方案灵活,且成本低,满足了产品测试需求.     

可整体或局部调控的C^3，C^4连续的插值曲线

首先运用两种方法构造了带多形状参数的C^3连续的插值曲线．其次,利用方法二把构造出的带多形状参数的C^4连续的B样条曲线与参数化的奇异多边形按某个因子调配,可自动生成C^4连续的插值曲线．所有这些曲线的形状既能整体又可局部调控．     

Theory and methodology on the global optimal solution to a General Reverse Logistics Inventory Model for deteriorating items and time-varying rates

In this paper, we present a unified general inventory model for integrated production of new items and remanufacturing of returned items for an infinite planning horizon. Our model considers a production environment that consists of three shops. The first shop is for remanufacturing returned items, the second shop is for manufacturing new items, while the third shop is for collecting returned items to be remanufactured in the first shop. The system is subject to joint production and remanufacturing options, the first one is to produce new items while the second one is to reproduce/recycle the returned items “as-good-as new”. Items deteriorate while they are in storage, and production, remanufacturing, demand, return, and deterioration rates are arbitrary functions of time. A closed form for the total relevant costs as well as a rigorous mathematical proof, which shows the global optimality of the solution to the underlying inventory system are introduced. Illustrative examples, which explain the application of the theoretical results as well as their numerical verifications, are also given.     

Stability analysis for discrete delayed Markovian jumping neural networks with partly unknown transition probabilities

This paper addresses the analysis problem of asymptotic stability for a class of uncertain neural networks with Markovian jumping parameters and time delays. The considered transition probabilities are assumed to be partially unknown. The parameter uncertainties are considered to be norm-bounded. A sufficient condition for the stability of the addressed neural networks is derived, which is expressed in terms of a set of linear matrix inequalities. A numerical example is given to verify the effectiveness of the developed results.     

模糊PID控制的柴油机调速系统仿真

PID控制是生产过程中应用最广泛的控制方式,但它对含变化参数的模型控制效果不理想。为了使舰船柴油机适应不断变化的工作环境,在传统PID控制的柴油机调速系统的基础上加入模糊控制环节,对PID参数进行在线整定。详细介绍了模糊PID算法在柴油机调速系统中的应用以及模糊控制器的设计,并通过MATLAB对模糊PID柴油机调速系统进行仿真,仿真结果表明,模糊自整定PID控制系统可以改善系统的动态特性,减小系统的振荡,提高系统的响应速度。     

基于DSP的电机伺服系统中的模糊PID控制

在电机控制的电动缸往返运动的伺服系统中,电机频繁换向会产生电动缸的幅值响应误差,严重影响了系统的控制精度.针对这一情况,采用新型DSP芯片TMS320F28335的eQEP模块和编码器来实时检测电机的运行位置,并将一种模糊PID技术引入其中,实时修正电机的运行误差,提高了系统的动态性能.详细介绍了系统的组成及控制原理,...     

基于PID反馈的高Q值加速度计闭环检测电路

高Q值加速度计由于能够很好地降低热机械布朗噪声,被广泛应用于高精度低噪声检测领域,相应的闭环接口电路却成为其应用的困难之一.通过分析传感器的器件结构和动态响应,提出了一种基于PID反馈的闭环检测电路来克服传感器因高Q值造成的不利影响,改善系统的频率特性和动态响应.根据设计原理设计和测试了基于PCB板级的闭环检测电路.电...