现场总线智能电动执行机构的研制

主要介绍了基于现场总线的智能电动执行器特点、结构原理和软件设计,具体对电子控制器的输入输出回路、控制电路、驱动电路以及位置发送电路等作了分析、介绍。     

含饱和作动器的主动TMD振动控制研究

以含主动调谐质量阻尼器(TMD)的建筑结构为研究对象,研究作用于TMD上的作动器输出力小于设计控制力时的控制方法.为了确定系统控制率,在满足线性矩阵不等式约束的前提下,通过优化控制目标函数来达到.同时,为了保证控制效果,采用了峰-能量控制器.最后,以一座六层建筑物为例来说明本文方法的可行性.     

MEMS执行机构在微小力传感器量值溯源中的应用

对一种基于微电子机械系统（MEMS）执行器结构的非接触式三维微小力装置测量原理、装置结构、标定方法、力学特性及使用方法等进行分析。结果表明：该装置可产生空间任意方向微小力,实现空间非竖直方向微小力传感器量值溯源;利用该装置对微小力传感器进行量值溯源时,能大幅减小极板间距离测量与控制不确定度对输出微小力影响,装置无需配备复杂昂贵的位移控制与测量辅助装置便可达较高精度。对简化微小力传感器量值溯源装置结构具有较大实际意义。     

Reliable control for a class of uncertain singular systems with interval time‐varying delay

This paper is concerned with the reliable controller design problem for a class of singular systems with interval time‐varying delay and norm‐bounded uncertainties. A more practical model of actuator failures than outages is considered. First, by constructing a novel Lyapunov–Krasovskii functional combined with Finsler's Lemma, an improved delay‐range‐dependent stability criterion for the nominal unforced singular time‐delay system is established in terms of linear matrix inequality (LMI). Then, based on this criterion, an LMI condition for the design of a reliable state feedback controller is presented such that, for all parameter uncertainties and actuator failures, the resultant closed‐loop system is regular, impulse‐free and stable. Numerical examples are proposed to illustrate the effectiveness of the proposed method. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Robust reliable control for a near space vehicle with parametric uncertainties and actuator faults

Based on fuzzy control techniques, this article is concerned with the problem of robust reliable control for a near space vehicle (NSV) with parametric uncertainties and actuator faults. The nonlinear dynamics of a NSV is represented by the Takagi–Sugeno fuzzy models, and then the actuator fault model and fuzzy state-space observer are developed. Next, the fuzzy observer-based robust reliable control strategy is proposed. It is proved that the fuzzy control systems for the NSV is reliable in the sense that the closed-loop system is asymptotically stable and the actuator components can operate well in the presence of some actuator faults. The developed theoretical results are in the form of linear matrix inequalities, which can be readily solved via standard numerical software. Finally, simulation results are given to illustrate the applicability of the proposed approach.     

Adaptive fuzzy decentralised fault-tolerant control for nonlinear large-scale systems with actuator failures and unmodelled dynamics

This paper discusses the adaptive fuzzy decentralised fault-tolerant control (FTC) problem for a class of nonlinear large-scale systems in strict-feedback form. The systems under study contain the unknown nonlinearities, unmodelled dynamics, actuator faults and without the direct measurements of state variables. With the help of fuzzy logic systems identifying the unknown functions and a fuzzy adaptive observer is designed to estimate the unmeasured states. By using the backstepping design technique and the dynamic surface control approach and combining with the changing supply function technique, a fuzzy adaptive FTC scheme is developed. The main features of the proposed control approach are that it can guarantee the closed-loop system to be input–to-state practically stable, and also has the robustness to the unmodelled dynamics. Moreover, it can overcome the so-called problem of ‘explosion of complexity’ existing in the previous literature. Finally, simulation studies are provided to illustrate the effectiveness of the proposed approach.     

Event‐triggered control design for nonlinear systems with actuator failures and uncertain disturbances

Traditional adaptive event‐triggered design methods compensated for the event‐triggered error are not direct, and the stability analysis of resulting close‐loop systems is rather complicated. To alleviate the above restrictions, we propose a direct and simple event‐triggered co‐design method to solve the tracking control problem for parameter strict‐feedback systems with actuator faults and uncertain disturbances. By introducing a compensating terms in a smooth function form of a conventional control law and certain positive integrable functions, the effects of actuator faults and event‐triggered error can be compensated completely. Such a direct design method has the following features: (i) a direct compensation of the event‐triggered error is achieved without introducing any extra design parameters; (ii) it is not necessary to know any bound information on the parameters of event‐triggered threshold, and global asymptotic tracking control of the overall closed‐loop system is achieved; and (iii) the resulting stability criteria of the proposed event‐triggered control design are much simpler and easier to fulfill by virtue of the introduced co‐design method. Simulations are then carried out to validate the proposed schemes.     

Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots

A pneumatic actuator is suitable and safe for in-pipe inspection robots in inflammable circumstances because of its ability to withstand explosions. However, ordinary pneumatic actuators limit driving speed because of their slow response. In this paper, we propose a novel pneumatic drive mechanism that can produce a high-impact force to move the in-pipe robot forward with sufficient speed by a catastrophic phenomenon using rapid release between a magnet and springs. We also introduce an anisotropic friction mechanism that uses a self-locking phenomenon to transmit the impact force to the pipe walls efficiently. A pin retraction mechanism that releases the self-locking condition is applied to retrieve the robot from the pipes. Optimizations of the proposed design were conducted based on a motion simulation model and verified in experiments. The experimental results obtained for maximum driving speeds in a straight pipe with different material types were approximately 90 and 50 mm/s for horizontal and vertical pipes, respectively. Stable strokes were also observed at different driving frequencies from 0.5 to 2.0 Hz.     

双向气动软体执行器的设计与分析

设计了由两种尺寸气囊交替连通而成的新型软体执行器,该结构可实现两个方向固定角度摆动.首先建立双向弯曲软体执行器的非线性力学模型,得到形式为三段的分段函数,每一段表示软体执行器在相应阶段的弯曲角度和驱动气压的函数关系.其次,应用仿真软件描绘出软体执行器的摆动角度和驱动气压的线性关系,并与经典软体执行器进行了对比,发现两者...     

共轭多孔聚合物应用于近红外光热转换材料

近红外光热转换材料在光热治疗、光驱动智能器件等医学和能源领域受到广泛重视.本文以商业化芳香小分子为单体,通过一步简单的交联聚合方法制得了四种共轭多孔聚合物,并首次系统研究了它们的光热转换性能.结果表明,它们均具有灵敏的近红外光热响应性,且材料的光热转换效率与单体结构中共轭苯环数有很大关系,其中两种聚合物的光热转换效率可...