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41.
以不锈钢列车车体点焊机器人作业路径规划编程为研究对象,针对车体对称部件,如左右侧墙点焊的的问题,提出点焊路径规划编程镜像的方法,引入X,Y,Z主轴以及龙门架E1轴系统偏差的修正和A,B,C旋转轴镜像处理的方法来调整焊钳位姿同时对焊接路径点焊位置修正镜像,并依据镜像规则在Windows环境下使用VC++语言开发了镜像程序生成器.通过仿真结果表明,该软件生成的镜像程序可与作业基准点完美衔接,最后在车间复杂环境下的实际运行验证了该方法的有效性. 相似文献
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Hao Fang Lihua DouJie Chen Roland LenainBenoit Thuilot Philippe Martinet 《Control Engineering Practice》2011,19(5):468-478
Path following control problem of autonomous vehicles is investigated, concerning both unmeasurable sliding effects and lateral disturbances which lead to some difficulties in designing autonomous control under complex environment. To deal with the sliding effects, sideslip angles are modeled and reconstructed by estimating the tire cornering stiffness, which plays important role in analyzing the sliding effects. To this end, a Luenberger-type observer is designed, which is able to identify the tire cornering stiffness adaptively even in presence of time-varying lateral disturbances. Furthermore, to guarantee high-precision guidance, a sliding mode controller is designed based on chained system theory, and this controller is shown to be robust to both the lateral disturbances and the inaccuracy of the sliding reconstruction. Simulations illustrate that the proposed methods can reconstruct the sliding angles and provide high-accuracy anti-sliding control even in presence of the time-varying lateral disturbances. 相似文献
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为了提高应急车辆的通行效率,针对应急车辆需要“绝对优先”路权的特点进行了信号控制的研究,提出了一种基于相位差渐进循环协调的信号控制策略,并将其与应急车辆优先信号配时转换策略相结合进行应急车辆优先信号控制,给出了应急车辆优先信号配时转换控制策略和动态相位差的计算方法。在由三交叉口组成的城市道路系统中,采用三种应急车辆的信号控制策略进行了微观仿真实验,结果表明,文章提出的基于相位差渐进循环协调的应急车辆优先信号控制策略通过对各交叉口相位动态循环渐进微调后,再采用应急车辆优先信号配时转换策略进行控制,可以使应急车辆安全不停车地通过交叉口,且达到了对非应急车辆影响最小的效果。 相似文献
46.
Hui Xie 《International journal of control》2016,89(5):892-908
In this paper, we propose a visual servoing control for a quadrotor unmanned aerial vehicle (UAV) which is based on a state transformation technique. The UAV is equipped with a single downwards facing camera, and the motion control objective is the regulation of relative displacement and yaw to a stationary visual target located on the ground. The state transformation is defined by a system of partial differential equations (PDEs) which eliminate roll and pitch rate dependence in the transformed image feature kinematics. A method for computing the general solutions of these PDEs is given, and we show a particular solution reduces to an established virtual camera approach. We treat point and line cases and introduce image moment features defined in the virtual camera image plane. Robustness of the control design is improved by accounting for attitude measurement bias, and uncertainty in thrust gain, mass, and image feature depth. The asymptotic stability of the closed-loop is proven. The method is based on a simple proportional-integral-derivative (PID) structure which can be readily implemented on-board. Experimental results show improved performance relative to previous work. 相似文献
47.
刘洲洲 《计算技术与自动化》2013,(2):133-136
传统的人工势场法由于存在局部极小值问题,使智能无人车无法到达目标点。本文提出一种角度偏移的改进人工势场方法来进行避障的路径规划。介绍传统人工势场模型,详细介绍改进人工势场方法,并且对改进人工势场法进行仿真,实验证明方法的有效性。 相似文献
48.
In this paper an adaptive guidance law based on the characteristic model is designed to track a reference drag acceleration for reentry vehicles like the Shuttle. The characteristic modeling method of linear constant systems is extended for single-input and single-output (SlSO) linear time-varying systems so that the characteristic model can be established for reentry vehicles. A new nonlinear differential golden-section adaptive control law is presented. When the coefficients belong to a bounded closed convex set and their rate of change meets some constraints, the uniformly asymptotic stability of the nonlinear differential golden-section adaptive control system is proved. The tracking control law, the nonlinear differential golden-section control law, and the revised logical integral control law are integrated to design an adaptive guidance law based on the characteristic model. This guidance law overcomes the disadvantage of the feedback linearization method which needs the precise model. Simulation results show that the proposed method has better performance of tracking the reference drag acceleration than the feedback linearizaUon one. 相似文献
49.
充分利用计算机技术和Internet技术,开展车辆管理和网上服务已成为一种发展趋势,重点介绍了区域车辆信息管理系统的建设设想及软件体系构架。 相似文献
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