Friction compensation controller for load varying machine tool feed drive

The load applied to a machine tool feed drive changes during the machining process as material is removed. This load change alters the Coulomb friction of the feed drive. Because Coulomb friction accounts for a large part of the total friction the friction compensation control accuracy of the feed drives is limited if this nonlinear change in the applied load is not considered. This paper presents a new friction compensation method that estimates the machine tool load in real time and considers its effect on friction characteristics. A friction observer based on a Kalman filter with load estimation is proposed for friction compensation control considering the applied load change. A specially designed feed drive testbed that enables the applied load to be modified easily was constructed for experimental verification. Control performance and friction estimation accuracy are demonstrated experimentally using the testbed.     

Creating the brain and interacting with the brain: an integrated approach to understanding the brain

In the past two decades, brain science and robotics have made gigantic advances in their own fields, and their interactions have generated several interdisciplinary research fields. First, in the ‘understanding the brain by creating the brain’ approach, computational neuroscience models have been applied to many robotics problems. Second, such brain-motivated fields as cognitive robotics and developmental robotics have emerged as interdisciplinary areas among robotics, neuroscience and cognitive science with special emphasis on humanoid robots. Third, in brain–machine interface research, a brain and a robot are mutually connected within a closed loop. In this paper, we review the theoretical backgrounds of these three interdisciplinary fields and their recent progress. Then, we introduce recent efforts to reintegrate these research fields into a coherent perspective and propose a new direction that integrates brain science and robotics where the decoding of information from the brain, robot control based on the decoded information and multimodal feedback to the brain from the robot are carried out in real time and in a closed loop.     

用于有源电力滤波器的IGBT驱动及保护研究

介绍有源电力滤波器设计中EXB841型绝缘栅场效应晶体管(IGBT)驱动器的驱动原理和电路特点,对IGBT的栅极驱动特性、栅极串联电阻进行了探讨,给出过流保护和过压吸收的有效办法。样机试运行证明此种设计方案可靠、有效。     

Numerical Study of Finite Element Method Based Solutions for Propagation of Wetting Fronts in Unsaturated Soil

The accurate prediction of the propagation of a wetting front in an unsaturated soil subjected to surficial infiltration is of practical importance to many geotechnical and geoenvironmental problems. The finite element method is the most common solution technique as the hydraulic soil properties are highly nonlinear. Two important issues are often found to create difficulties in such analyses. First, numerical oscillations are usually observed in the calculated pore pressures at the wetting front. Second, when a reasonable mesh size and time step are used, the elevation of the wetting front may be seriously overpredicted. This paper is focused on the second issue. The under-relaxation (UR) technique used in the iterative process within each time step is found to have a serious impact on rate of convergence with refinement in mesh size and time step. Two different techniques are typically used; the first evaluates the hydraulic conductivity using an average of heads calculated from the preceding time node and the most recent iteration of the current time node (UR1), and the second evaluates the hydraulic conductivity using the average of heads calculated from the two most recent iterations of the current time nodes (UR2). The study shows that UR1, which is adopted in programs such as SEEP/W, ensures that the solution converges rapidly to a stable solution within a time step, but may converge to the wrong wetting front at a given elapsed time unless a sufficiently refined mesh is used. UR2 converges much more slowly within a time step, but the error in the wetting front is smaller than that generated by UR1.     

谐波齿轮机构在商业表格印刷机中的应用

从商业表格印刷机特殊要求出发，以某一具体机型的传动系统为例，提出采用谐波齿轮机构解决纵向套准的问题。并且分析研究了谐波齿轮机构的工作原理及其在商业表格印刷机中的使用。     

硅微机械梳齿静电谐振器的建模与分析

基于参数化的计算机辅助设计（CAD）软件，对硅微机械梳齿静电谐振器进行了实体建模，以有限元分析软件为工具，进行了谐振器的模态分析，静态分析和谐响应分析，初步揭示了谐振器的静、动态特性，有助于改善设计效率和质量，展示了计算机辅助工程（CAE）技术在微机电系统（MEMS）研究中的重要作用。     

开关磁阻电机调速系统在煤矿井下的应用

随着开关磁阻电机的调速控制系统日臻完善，因其优越性能使得在各行业得到迅速推广，但在煤矿井下的特定环境中使用该调速系统仍存在着诸多问题有待分析研究。     

基于通信的港口管理系统的研究

讨论了如何利用Access7.0设计包含有通信的管理信息系统，并结合生产管理系统的实例。利用微软公司的Visual Basic中包含的通信控件，实现Windows95环境下通信程序的设计方法，介绍了通信控件的属性以及使用方法，给出了基本的通信程序。     

基于数字信号处理器的直流电机控制系统

介绍了定点数字信号处理器（DSP）TMS320F240的一般性能及其在永磁无刷直流电机控制上的应用，给出了硬件设计方案、软件策略及输出结果。     

轴向磁场无铁心无刷永磁盘式电机的设计

介绍了轮用轴向磁场无铁心无刷永磁盘式电机的结构形式，探讨了这种新电机的设计特点，重点解决了电机主要尺寸确定和磁路分析计算问题，最后给出了一种磁极形状和线圈形状的优选方案。