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Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have a series of problems and unable to meet the requirements of the Antarctic expe- dition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and- disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is serious- ly analyzed, and a new hybrid position/force control method is adopted to make the manipulator per- form better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition. 相似文献
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交流伺服系统的工作性能受电机参数及负载扰动的影响很大,有必要对其转动惯量和负载转矩进行在线辨识和观测,并在辨识转动惯量时考虑负载扰动,并据此调整速度PI调节器参数以改善和提高系统的稳态和动态性能。本文提出一种转动惯量辨识的改进方法,用状态观测器对负载转矩进行实时观测,然后再利用模型参考自适应算法对系统的机械参数即系统转动惯量进行辨识。研究了自适应增益对辨识结果的影响。根据转动惯量的在线辨识量,利用最小峰值响应方法对系统速度PI调节器参数进行了自整定。仿真结果验证了算法的有效性。 相似文献
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本文提出了一种无需检测电感电流及其过零点的简单数字控制方案,实现了临界连续模式功率因数校正器的控制。取得了功率开关管的ZVZCS,消除了整流二极管和快恢复二极管的反向恢复带来的损耗,提高了变换器的效率和可靠性;另外,数字控制器克服了模拟IC控制器的开关频率限制问题,消除了输入电流的低频畸变,提高了功率因数;同时,也降低了输入电感的值,降低了成本的同时提高了功率密度。为实现中小功率数字控制功率因数校正器的产品化提供了一个良好的解决方案。 相似文献
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基于DSP的DC/DC Boost PFC模块的并联交错控制研究 总被引:13,自引:5,他引:8
本文提出了一种简单的PFC模块并联交错数字控制方案.以三个模块并联为例,利用平均电流控制策略,仅用一个控制器实现了DC/DC Boost PFC模块的并联控制,开关频率为120kHz,取得了良好的均流性能,降低了功率开关管的电流应力;同时,使它们的高频开关相位均匀错开120°,实现了电感电流的交错,减小了输入电流的高频纹波,减小了输入EMI滤波器的差模电感.实验结果证明了该控制方案的可行性,为并联的功率因数校正模块的数字控制提供了一个良好的解决方案. 相似文献
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文中根据小区的用电负荷情况进行负荷优化设计,将小区划分为多个用电区域,确定各区域的容量和设备;采用分层安全设计,将电力系统分为高压层、变电站层和低压层,并采取相应保护措施防止电力故障扩散;根据用电负荷和设计需求,确定电缆路径、规格和支架,保证电缆的安全敷设和维护。最后以白银市平川区棚户改造项目为例进行验证,结果表明,该设计和措施能保障电力供应的高效、稳定和可靠。 相似文献
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Parallel robot is used in many different fields nowadays,but the singularity of 3-RRUR parallel robot is more complicated,so a method to analyze the singularity of the 3-RRUR parallel robot is very necessary.First,the Jacobian matrix was built based on the differential transform method through the transfer matrixes between the poles.The connection between the position parameters and singularity condition was built through the analysis of the Jacobian matrix.Second,the effect on the singularity from the position parameters was analyzed,and then the singularity condition was confirmed.The effect on the singularity condition from position parameters was displayed by the curved surface charts to provide a basic method for the designing of the parallel robot.With this method,the singularity condition could be got when the length of each link is firmed,so it can be judged that if a group of parameters are appropriate or not,and the method also provides warrant for workspace and path planning of the parallel robot. 相似文献
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With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. In this study, a new five-fingered dexterous robot hand is developed. Having flexible palm with 17 degree of freedoms ( DOFs), the hand can grasp more stably and firm- ly. First, the forward kinematics and inverse kinematics of the fingers and the hand are calculated. Then, the connection between the force exerting on the end effectors and the torque exerting on the joint is set up, laying the foundation for the following control. Finally, through the analysis and sim- ulation of the position, velocity and acceleration, the trajectory planning has a better performance. 相似文献
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为了提高飞行器的可靠性和安全飞行,对基于无刷直流电机的两余度电动作动器进行了研究,提出采用差动式的运动合成构成机械输出两余度,无需负载均衡控制器便可消除通道间的负载均衡问题,可较为容易地实现两余度运行,同时,系统的局部余度设计可保证当一个通道局部出现故障时,作动器系统工作时仍具有一定的余度性.为了解决低速转矩脉动和补偿机械摩擦与齿隙等带来的非线性问题,提出速度偏置和采用变参数控制器的方法,可取得较好的控制效果.另外,采用PWM信号与转子位置信号结合的方法构成系统故障自检测(BIT)模块,可实现系统的故障上电预检测和在线动态检测.实验结果表明研究的两余度作动器具有较高的稳态精度、稳定性能和可靠性. 相似文献
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我国房地产金融近年来随着房地产业的繁荣取得了长足的发展,同时也暴露一些问题,本文从我国房地产金融市场的现状以及存在问题原因的分析,探讨如何可持续、健康发展。 相似文献