一种非完整移动机器人开环迭代学习控制研究

针对非完整移动机器人的轨迹重复跟踪问题,提出了一种开环P型迭代学习控制算法。首先给出非完整移动机器人的运动学模型,并结合离散时域对轨迹跟踪问题进行描述,然后设计迭代学习控制器并在给定条件下证明了其收敛性;MATLAB仿真结果表明,随着迭代次数的增加,该算法能够有效改善动态不确定环境中系统的稳定性与收敛的快速性。     

Cooperative co-evolution based distributed path planning of multiple mobile robots

This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution, which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2D path planning problems.     

Dynamic velocity feed-forward compensation control with RBF-NN system identification for industrial robots

A dynamic velocity feed-forward compensation control (DVFCC) approach with RBF neural network (RBF-NN) dynamic model identification was presented for the adaptive trajectory tracking of industrial robots.The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model.The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accuracy.The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can convert torque signal into velocity in the standard industrial controller.Then,the need for a torque control interface was avoided in the real-time dynamic control of industrial robot.The simulations and experiments were carried out on a gas cutting manipulator.The results show that the proposed control approach can reduce steady-state error,suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space,especially under highspeed condition.     

车削加工中的振动及防控措施

振动是车削加工中常见的现象,给正常的生产加工带来负面影响。本文在详细分析车削加工中振动的主要类型及产生原因的基础上,从工艺系统的抗振性、切削用量及刀具几何角度的选取等方面提出控制各类振动的有效措施。     

Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

INTRODUCTION Modular self-reconfigurable (MSR) robots con-sisting of a set of standardized electromechanical modules which can independently and dynamically change their aggregate geometric structure to com-plete different task requirements. Compared with the traditional fixed architecture robot, this kind of robot has several potential advantages: versatility, adapta-bility, robustness, and low cost. MSR robots’ ability in self-reconfiguration makes them particularly useful for applica…     

图像跟踪平台与其控制系统的设计与实现

通过对图像跟踪平台控制系统的基本结构、组成、控制原理和控制算法等分析后,进行了系统设计.并介绍了运动控制器模块,以及伺服控制系统的软件结构和功能;最后对控制系统的软件设计有关问题进行了分析和处理.     

模糊控制理论浅析

模糊控制是人工智能控制领域的一个重要分支，它是以模糊数学为基础，理论性很强的一门科学技术。模糊控制系统的核心是模糊控制器，它主要包括输入量模糊接口、知识库、推理机、输出清晰化接口。     

Kinematic Control of Wheeled Snake—Like Mobile Robot

From a bionics viewpoint,this paper proposes a mechanical model of a wheeled snake-like mobile mechanism.On the hypothesis of the existing non-holonomic constraints on the robot kinematics,we set up the relationship among the kinetic control parameters in the snake-like movement using Lie group and Lie algebra of the principle fiber bundle and provide some theoretical control methods to realize the snake-like locomotion.     

砂浆泵的节能调速控制系统研究

为提高砂浆泵的工作效率,降低其能耗,对砂浆泵的调速控制系统展开研究,使泵在达到设计要求并提高性能的基础上尽可能节约能源。通过分析不造成泵性能严重下降的可调速范围,对砂浆泵系统建模,设计关于节能调速的模糊控制器,采用模型参考自适应模糊算法对砂浆泵节能调速系统进行仿真。仿真结果表明：相比传统PID控制,模型参考自适应模糊控制的反应时间和稳定时间大幅缩短,效果更为理想,因此可采用模型参考自适应模糊控制为实现泵节能调速的控制方案。     

基于流量控制的压缩机智能控制系统的研究与应用

介绍了基于流量控制的压缩机智能控制系统的整体方案设计,包括整体架构、控制算法设计、流量信号采集,并重点介绍了其模糊控制器的设计。该流量控制系统将从源头达到节能的目的。     

鲁棒自适应飞行跟踪控制系统设计

针对具有外部扰动的一类非线性飞行控制系统提出了一种在线神经网络控制的方法,应用3个在线神经网络分别实时抵消系统中的非线性部分、与控制量耦合的非线性项以及外部扰动,使受控系统的输出可以完全跟踪给定输入参考信号。文中以一个实际的验证机非线性模型为仿真对象,验证了这种方法的有效性,由于在线神经网络的动态补偿特性,即使飞机在不同的高度和速度下,在模型参数发生改变时,控制过程并不需要改变增益表就可以完成全包络的飞行跟踪控制,相关的定理证明了整个神经自适应飞行闭环控制系统的稳定性,仿真示例表明了该设计方法的有效性。     

可编程序控制器在水玻璃炉换向控制中的应用

介绍了可编程序控制器在水玻璃炉换向控制中的应用。给出了PLC应用程序的设计方法     

方便面油炉温度控制系统的设计

该文主要介绍了华丰集团油炉温度控制系统控制方案的确定,仪表的选型及安装,现场投试与运行.仅供其它单位在设计温度控制系统时参考.     

步进电机的单片机智能化控制

本设计由两套独立的电源模块供电,利用E18-D80NK红外避障传感器和TCRT5000黑白线传感器采集路况信息,以宏晶科技的8位单片机STC89C52为核心控制器,控制步进电机驱动模块,达到路径识别的目的;并通过LCD1602液晶显示模块显示小车的运行状态;设计实现单片机对步进电机的智能控制,达到小车自主循线和避障的功能。     

Optimal state feedback control of brushless direct-current motor drive systems based on Lyapunov stability criterion

This paper develops a unified methodology for a real-time speed control of brushless direct-current motor drive systems in the presence of measurement noise and load torque disturbance. First, the mathematical model and hardware structure of system is established. Next, an optimal state feed back controller using the Kalman filter state estimation technique is derived. This is followed by an adaptive control algorithm to compensate for the effects of noise and disturbance. Those two algorithms working together can provide a very-high-speed regulation and dynamic response over a wide range of operating conditions. Simulated responses are presented to highlight the effectiveness of the proposed control strategy.     

化工仪表及自动控制实验系统的研制

化工仪表及自动控制实验系统由控制对象、智能操作台和计算机监控系统组成,它用于工艺参数的测量与自动控制实验。该文介绍该系统的组成、特点及应用。     

非完整轮式移动机器人运动控制系统的设计与实现

通过对非完整轮式移动机器人运动学模型的分析，以Elmo HARmonica伺服驱动控制器为核心，设计了轮式移动机器人的运动控制系统。基于Visual C 和OpenGL平台开发了轮式移动机器人轨迹跟踪仿真系统，并进行了轨迹跟踪的仿真试验，取得了满意的控制效果。实验结果表明了运动控制系统设计的有效性。     

Nonlinear stochastic optimal bounded control of hysteretic systems with actuator saturation

A modified nonlinear stochastic optimal bounded control strategy for random excited hysteretic systems with actuator saturation is proposed. First, a controlled hysteretic system is converted into an equivalent nonlinear nonhysteretic stochastic system. Then, the partially averaged Itoe stochastic differential equation and dynamical programming equation are established, respectively, by using the stochastic averaging method for quasi non-integrable Hamiltonian systems and stochastic dynamical programming principle, from which the optimal control law consisting of optimal unbounded control and bang-bang control is derived. Finally, the response of optimally controlled system is predicted by solving the Fokker-Planck-Kolmogorov （FPK） equation associated with the fully averaged Itoe equation. Numerical results show that the proposed control strategy has high control effectiveness and efficiency.     

工程导向下机械设备电气控制课程的项目化教学改革

为了进一步提高学生的PLC控制技术应用能力,进而改善机械设备电气控制课程的教学效果,以工程为导向,开展了课程的理论和实践教学改革。一方面将课程知识与工程技术相结合,利用工程项目背景来推进课堂知识点的教学;另一方面基于项目任务,利用实验和课程设计来强化学生的设计和动手能力。实践结果表明,基于工程导向的项目化教学调动了学生的学习积极性,加深了学生对课堂知识点的理解和掌握,提高了学生PLC控制技术的应用能力。     

PLC控制电梯教学模型的研发

介绍了用梯形图设计并制作了用可编程控制器（PLC）控制的现代电梯控制装置的实验模型.该模型为5层楼电梯控制,电机的正反转由一个正负12V的电源供电,所有指示灯由一个正5V的电源供电;楼层信息由一个74LS48译码芯片驱动的共阴极的数码管显示.在硬件电路连接好后,向PLC传送编好的控制程序,它能按预先的逻辑较好地完成电梯的控制.实践证明,可编程控制器在工业自动化中的运用和实现工业控制的智能化、稳定性和安全性都具有重要的实际意义.