Abstract: Recently the parallel manipulator with less DOFs has attracted industry and academia, but the research on its dynamics is still an open problem. In this paper, the inverse dynamic of a spatial parallel manipulator with two translational degrees of freedom and one rotational degree of freedom is studied based on the Newton-Euler approach. The kinematics analysis is firstly performed in a closed form. The inverse dynamic equation of this manipulator is formulated by using the Lagrange multiplier approach and choosing the Cartesian position and orientation as the generalized coordinates. Finally a numerical example is given for the kinematic and dynamic simulation of this manipulator. The model will be useful to improve the design of the mechanical components and the control algorithm.
Abstract: A velocity blending method is devised for micro-segment line high-speed machining. The model is constructed for blending velocity, and the blending curve equation is established under the constraint of maximized contour error. According to MATLAB simulation, the proposed model and its solving algorithm can achieve the high-speed linking between micro-segment lines, and the efficiency is promoted distinctly.
Abstract: With the development of manufacturing techniques and the size of the economy, the heavy duty truck market competition is becoming increasingly fierce. Higher requirements on the welding equipment have been forward in the present market environment. Welding robot which has been used in main welding production line of Shanxi Automobile Delong is characterized by good quality of welding seam, high productive efficiency and good flexibility. This paper summarizes useful experience and existing problem of welding robot technology in practical application.
Abstract: In this paper, we propose an approach to automatic great-scene 3D reconstruction based on UAV sequence images. In this method, Harris feature point and SIFT feature vector is used to distill image feature, achieving images match; quasi-perspective projection model and factorization is employed to calibrate the uncalibrated image sequences automatically; Efficient suboptimal solutions to the optimal triangulation is plied to obtain the coordinate of 3D points; quasi-dense diffusing algorithm is bestowed to make 3D point denseness; the algorithm of bundle adjustment is taken to improve the precision of 3D points; the approach of Possion surface reconstruction is used to make 3D points gridded. This paper introduces the theory and technology of computer vision into great-scene 3D reconstruction, provides a new way for the construction of 3D scene, and provides a new thinking for the appliance of UAV sequence images.
Abstract: Based on matrix theory and inequality techniques, feedback control with two states is proposed to realize the globally exponential synchronization of two Genesi-Tesi chaotic systems. Some new sufficient algebraic criteria for the globally exponential synchronization of two chaotic systems are obtained analytically. The controllers here designed have simple structure. Numerical simulations are presented to show the effectiveness of the proposed chaos synchronization scheme.
Abstract: Based on sliding mode dynamic surface method and disturbance attenuation technique, the nonlinear adaptive robust controllers of power systems coordinated control for SVC and generator excitation is proposed in this paper. In the sliding mode dynamic surface method, parameter adaptive laws are not based on the certain equivalent criterion. Because during controller design procedure besides the external disturbances are considered, the parametric uncertainties are mainly considered also, thus it can guarantee the whole errors system asymptotically stable under the derived controller.
Abstract: Focusing on scheduling of multi-objective optimization in the elevator group control system(EGCS), this article gives a different strategy for dispatching elevator based on improvement of service quality and low energy consumption. Multi-objective evaluation function is modeled base on three factors for average waiting time, average operation time and energy consumption.By making use of particle swarm optimization algorithm to finish the model and simulation of EGCS. Virtual simulation platform should be built by using C++builder6.0.Simulation result indicates the superiority of optimal algorithm
Abstract: An adaptive control scheme based on neural networks is presented for control of hyper-chaotic systems. Parameters of neural networks and controllers are adjusted automatically to ensure the stability of the closed-loop system. Numerical simulation illustrates that the proposed control scheme is valid for hyper-chaotic system.
Abstract: In order to enhance the reliability of small power generating units, a strategy of the self-tuning control of nonlinear PID for the digital governor is presented. By analyzing the control system of the diesel engine, the basic control parameters are confirmed. Compared the digital PID with the traditional PID, a novel self-tuning control strategy is proposed, which uses the nonlinear PID algorithm. The principle of the nonlinear PID parameters is proposed, the tables of the detailed data are presented. The hardware platform of this structure is composed of host-computer and servo-controller. Using this system, the response speed could be enhanced. For the better performance of this system, the Smith Prediction is used in the control strategy at the proportional process. At the end of this paper, the experiment results verified that the control strategy is reliable, the nonlinear PID parameters are rational, and the system has better dynamic response.
Abstract: The structure and function of Siemens communication protocol chip DPC31 are introduced in this paper, a development scheme of DP smart slave station based on DPC31 is proposed, and the design method for software and hardware of PROFIBUS-DP slave station is put forward, solving the problem of DP slave station based on SPC3 used for motion control.