Controlling aliased dynamics in motion systems? An identification for sampled-data control approach

Sampled-data control systems occasionally exhibit aliased resonance phenomena within the control bandwidth. The aim of this paper is to investigate the aspect of these aliased dynamics with application to a high performance industrial nano-positioning machine. This necessitates a full sampled-data control design approach, since these aliased dynamics endanger both the at-sample performance and the intersample behaviour. The proposed framework comprises both system identification and sampled-data control. In particular, the sampled-data control objective necessitates models that encompass the intersample behaviour, i.e., ideally continuous time models. Application of the proposed approach on an industrial wafer stage system provides a thorough insight and new control design guidelines for controlling aliased dynamics.     

Robust linear quadratic regulator applied to an inverted pendulum

The natural instability of an inverted pendulum and its dynamics richness, in terms of nonlinearity, provide a nice apparatus to reproduce behaviors of analogous systems. In this way, it is useful to perform benchmark tests for new control approaches developed. In this paper, we address the main inverted pendulum problems: pendulum stabilization, tracking, and catching swing-up control. We show how robust recursive, control and filtering, techniques improve the system performance. They are developed to solve stochastic problems based on deterministic approaches, in order to decrease the worst influence of uncertainties. Experimental results of the proposed robust approach provide robust stability and performance despite parametric uncertainties, disturbances, and noise effects.     

Optimal design and motion control of biomimetic robotic fish

This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.     

大型机电设备故障诊断装置的实现

为了解决大型机电设备电控系统故障诊断的难题，分析了采用分布式控制方式和模块化结构设计出的一种便携式电控系统故障诊断装置的硬件，介绍了利用多媒体技术的专家系统，该装置成功地解决了大型机电设备电控系统故障排除的难题，并且也可作为其它大型机电设备电控系统进行故障诊断的参考。     

液压传动实验机电一体化技术的探讨

提出了应用电液比例技术和微机控制实现液压传动实验机电一体化的方法。以节流调速系统实验为例，详细介绍了对其应用机电一体化技术进行更新的过程，为此类设备的技术改造提供了可行的措施。     

线控驻车制动系统驱动部件的动态模拟

论述了一种汽车线控驻车制动系统的基本结构、组成及功能.分析了此制动系统的驱动部件,即直流电动机和丝杠螺母传动装置的建模过程,建立了直流电动机的模型以及丝杠螺母间的接触压力和摩擦力的模型.在此基础上,利用AMESim仿真软件研制了线控驻车制动系统的模型并进行了动态模拟.通过与试验数据的比较,验证了模型的正确性和有效性.     

试论机电一体化的发展

说明了机电一体化是技术发展进步的一个新的重要阶段。由于它的到来给机械工业的模式、内涵、应用范围以及组织管理等方面带来巨大变化。结合我国国情阐述了对传统产品和技术的改造方法,以及开发研究新的和未来的机电一体化产品和技术的方向。     

机电一体化课程的仿真设计

机电一体化技术课程设计是机电一体化专业的实践课程。应用仿真软件,设计自动控制程序,丰富课程设计的内容。通过增加机电一体化设计的仿真设计环节,使学生的机电结合的知识更加巩固,同时对相关知识的理解也更趋向于立体化。这样的仿真环节,对同样有此课程的同行们,会有一定的启示作用。     

工程机械机电一体化技术的应用与发展探索

近年来我国工程机械机电一体化技术的发展速度加快,已经开始深入到各个行业,汽车机械领域中也开始应用机电一体化技术,取得了良好的成绩。基于此,下文就分析汽车机械领域中工程机械机电一体化技术的应用,提出几点未来发展的应用建议,旨在为相关的工程机械机电一体化技术的良好发展和应用夯实基础。     

基于激光的导轨直线度检测算法研究

直线导轨是一种机电一体化的导向装置,是生产加工的重要零件.研究一种简单的检测导轨直线度的方法,将激光安装在滑块上,照射导轨末端安装的位置传感器,读出光斑离坐标轴的距离.根据该距离得到导轨倾斜角,通过倾斜角计算得到导轨直线度.考虑导轨实际轴线偏离理想轴线而产生静态误差,利用最小二乘法和改进遗传算法消除该误差影响.详细给出...