Applied Mechanics and Materials Vols. 241-244

Abstract: Although Active Power Filter can achieve good filtering effect and accurately compensate harmonic current, it dependents on the proposed current detection algorithm. The paper first discusses the method which is based on transient reactive power theory; the detection method is based on coordinate transformation. After the coordinate transformation is analyzed, the paper advances an harmonic method, this method can remove three-phase to two-phase and two-phase to three-phase coordinate transformation, and effectively reduce the computation, improve the detection speed. At last, the feasibility and validity of the new algorithm have been showed by MATLAB simulation

Abstract: In this paper, a design method that teaching and playback of motion trajectory based on 5R parallel stacking mechanism is introduced. Analysis the inverse kinematics of the 5R mechanism, we can concluded that the 5R is given two original moving parts, you can uniquely identify the pose of the rod end of the implementation of parts, but in seeking the position and orientation inverse solution, the only connecting rod track can not determine the only two original moving parts. We can solve this problem with the minimum principle that the square of the residuals between the prime mover rotation angle of adjacent track points. Finally, we show the program diagram of teaching and playback. The system has such advantages as simple structure, movement speed, large workspace, motor casing fixed, load drive capability and light weight.

Abstract: In accordance with the characteristic of radial running an algorithm for distribution network reconfiguration based on Hopfield neural network is put forward. The in-degree of each node is determined by Hopfield neural network, it is determined whether the lines run according to the in-degree of the nodes, and the state of each loop switch is determined according to whether the lines run, and thus the distribution network reconfiguration scheme is determined finally. The energy function of the neural network and its solution method are presented. In the energy function are considered the radial running of distribution network, the lowest distribution network loss and no loop switch in some lines. The IEEE distribution network structure with three power sources obtained by the algorithm is basically consistent to that obtained by genetic algorithm, but the time spent using the former is shorter than that the latter.

Abstract: To improve the joint control of the air-duct cleaning robot, an advanced control strategy of the brushless DC motor has been proposed to substitute the traditional PID control. The novel optimization algorithm based on the improved particle swarm optimization (PSO) is used to modify the normal incomplete derivative PID algorithm and globally optimize its parameters. Simulation results show that the proposed algorithm achieves a well control performance and can effectively satisfy the high accuracy and real-time requirement of the air-duct cleaning robot.

Abstract: In the industrial control system, the communication framework of the master-slave mode is usually set up according to the general requirement of the control system. This paper mainly introduces the design and implementation of the PLC master-slave mode control system, using the MPI communication mode to realize data transmission between the master station and slave station, so as to realize the requirement of control system.

Abstract: The robot visual servo control is the current robot control of a main research direction, this design based on the analysis of the theory of compression sensing, distributed video decoding and image super-resolution reconstruction. Simulation and experimental results show that the compression sensing theory applied to image super-resolution reconstruction, make high resolution image reconstruction can fully exert the original low resolution image of the structural characteristics, in order to protect the original low resolution image edge details such as information, and the traditional calibration approach compared with high resolution image can improve the image edge, texture, and other details of the characteristics of reconstruction effect and improve the precision of the recognition.

Abstract: The paper develops an autonomous navigation system with Visual C++ 6.0, combining all-terrain and all-weather mobile robot platform with the high-precision dual-frequency RTK-GPS. The intelligent mobile robot achieves autonomous navigation control. Owing to the four-wheel drive, path tracking is better implemented; Owing to the use of high-precision GPS, position locating is more accurate; Owing to the multithreaded design of the program, real-time requirements of the navigation is better achieved; By the way of map matching of GIS, the path tracking is real-time and the navigation of the robot is more visual and intuitive. The result of experiment shows that this navigation system can meet the requirements of accuracy and real-time and complete the navigation task very well.

Abstract: In this paper, we used a probabilistic roadmaps(PRM) method to plan a motion path for a 4 degrees of freedom(DOF) robot in static workspace. This methods includes two phases: a learning phase and a query phase. In learning phase, a roadmap is constructed and stored as a graph , in which stores all of the random collision-free configurations in free configuration space denoted by and keeps all of the edges corresponding to feasible paths between these configurations. In query phase, the algorithm tries to connect any given initial and goal configuration to the nodes in the graph. And then the Dijkstra's algorithm searches for a shortest path to concatenate these two nodes. The experiment result demonstrates that this method applying to this 4 degrees of freedom robot works well.

Abstract: Programmable Logic Device(PLD) has been widely used in hardware circuit, and it has evolved into two types: Complex Programmable Logic Device(CPLD) and Field Programmable Gate Array(FPGA). This paper takes small current grounding in electric power system as background, uses xc95144, a representative CPLD of Xilinx Company in the signal collecting circuit to collect voltage and current signals, and do some other operations to spare circuit board area. This paper also tries to translate the schematic into VHDL-described text and do simulation to the text.

Abstract: Because of many present problems of the intelligent switch in the intelligent substation, it is necessary to study on intelligent switch components device. The hardware platform of the components device was based on high-speed low-voltage differential bus (BLVDS). By improving real-time characteristics, real-time communication was available for the substation process bus. It is also described that the solution to online condition monitoring of the components device. Research on these aspects laid a solid foundation for the intelligent switch components device.