工业无线技术在大型石油化工罐区自动化的应用

随着无线技术的迅速发展，在工业自动化领域的应用越来越广泛。本文介绍工业无线技术标准ISA100．11a及无线解决方案，霍尼韦尔基于ISA100．11a工业无线标准的解决方案在大型石油化工罐区自动化的应用。     

A new approach for evaluating sheet metal forming based on sheet drawing test. Application to TRIP 700 steel

Sheet formability has usually been evaluated by experimental tests that act under different conditions to those the material is subjected to during industrial processing. The different variables acting on the process are not split up sufficiently to be separately analysed. In this work, a new approach to evaluate formability in pure shear deformation has been developed. For this purpose, a new apparatus has been devised to do drawing tests to thin sheets which permits the calculation of deformation work as a function of the drawing strain. Moreover, the coefficient of friction under high pressure values can be modelled. One application to TRIP 700 steel and the friction results have been considered up to an apparent pressure of 1900 MPa. Deformation work has been analysed and inhomogeneity deformation has been evaluated in terms of redundant work as a function of the geometry of the die. The obtained results agree with the theory of plasticity and demonstrate the utility of the methodology presented herein.     

A novel sheet metal forming method—Millipede forming

Millipede forming, a novel sheet metal forming method, has been proposed and developed recently to overcome fundamental limitations in conventional roll forming. For this new method, there are two main aspects: use of an optimal transitional surface and implementation of a method to feed the strip through the transition surface. Achieving the optimal transitional surface involves defining the change of surface shape between a flat strip and a final shaped product conceptualised to the strip's mid-surface, regardless of the strip's thickness.In this paper, one method of implementing a transition surface, Millipede forming, is introduced. A prototype has been built to demonstrate the working principle and can be used to produce some simple profiles, within a short forming length of 200 mm.     

Intelligent control for avoiding the joint limits of redundant planar manipulators

This article presents an intelligent control system for a redundant manipulator to avoid physical limits such as joint angle limits and joint velocity limits. In this method, a back-propagation neural network (NN) is introduced for the kinematic inversion of the manipulator. Since this inverse kinematics has an infinite number of joint angle vectors, a fuzzy-neuro system is constructed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector in order to guide the output of the NN within the self-motion. Simulations and a comparative study are made based on a four-link redundant manipulator to prove the efficacy of the proposed control system.     

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．     

确定凸多面体全部顶点和非多余约束的一种算法

本文提出一种有效算法,不重复地循着由一个线性不等式系统所决定的凸多面体棱线仅一次访遍全部顶点,同时确定此系统中全部非多会约束。     

Generation and application of prestress in redundantly full-actuated parallel manipulators

This paper addresses the inverse dynamics of redundantly actuated parallel manipulators. Such manipulators feature advantageous properties, such as a large singularity-free workspace, a high possible acceleration of the moving platform, and higher dexterity and manipulability. Redundant actuation further allows for prestress, i.e., internal forces without generating end-effector wrenches. This prestress can be employed for various goals. It can potentially be used to avoid backlash in the driving units or to generate a desired tangential end-effector stiffness. In this paper, the application of prestress is addressed upon the inverse dynamics solution. A general formulation for the dynamics of redundantly actuated parallel manipulators is given. For the special case of simple redundancy, a closed-form solution is derived in terms of a single prestress parameter. This yields an explicit parametrization of prestress. With this formulation an open-loop prestress control is proposed and applied to the elimination of backlash. Further, the generation of tangential end-effector stiffness is briefly explained. The approach is demonstrated for a planar 4RRR manipulator and a spatial heptapod.     

提高茂名调度自动化系统电源可靠性的方案

针对广东茂名电网调度自动化系统运行率低的问题,对该系统的电源稳定性进行分析,明确了系统输入电源的不稳定和缺少可靠的冗余电源导致系统运行率低,并对此提出了有效的解决方案,大大提高了该调度自动化系统的运行率。     

基于状态空间法的MEMS静电驱动控制方案

采用状态空间分析法,研究MEMS静电驱动平行板结构的运动特性,实现了平行板机械子系统和静电子系统状态空间矩阵参数分离,制定了状态反馈控制方案以改善平行板系统的运动特性,在Simulink仿真平台上完成了控制方案的计算机仿真实验。结果表明,状态反馈控制方案能较好地提高系统的操作精度并改善瞬时特性。     

基于关节优先级的冗余机械臂柔顺控制方法

针对冗余机械臂柔顺控制过程中某些关节运动可能超出安全范围导致安全事故的问题，提出一种基于关节优先级的冗余机械臂柔顺控制方法。此方法通过雅可比矩阵的加权广义逆矩阵与阻抗控制中机械臂的末端速度相结合，计算出关节角度增量，并对关节角度进行迭代更新。在机械臂运动过程中，为减小超限关节的角度增量，将相应关节设置较小的关节优先级，将超限关节角度变化保持在安全范围内。最后使用一种八自由度的冗余机械臂进行柔顺控制实验验证。结果表明：将相应关节设置较小优先级后，该关节角度增量减小，证明了该柔顺控制方法的可行性和有效性。