Applied Mechanics and Materials Vols. 494-495

Abstract: The design of fuzzy control system is one of the important problems of the application of fuzzy control system. And the system simulation is an important step in the design of and the necessary guarantee. This paper briefly introduces the MATLAB language, the fuzzy logic toolbox, and SILMULINK toolbox. Then the examples, this method overcome the traditional in c language simulation of complex and inconvenient shortcoming. It is easy to fuzzy control system simulation, direct and fast. Finally also introduced several methods of create SILMULINK user s function module.

Abstract: Robot control is of great importance in modern industrial manufacture. This paper introduces a motion planning of one kind of six-axis robot. D-H Model and transfer matrices are constructed based on a certain kind of six-axis robot. Inverse kinematics method is applied to obtain every angle of axes, which can work out the space trajectory in DSP with an interpolation method. Experiments and simulations show that the motion planning achieves a quick response and high accuracy.

Abstract: Based on the characteristics of releasing loads for many times, the attitude dynamics model of MIRV has established by using the Rodrigues representation, and we proposed a method of indirect multi-model adaptive attitude control. It was proved that the adaptive controller we designed can ensure the control system globally uniformly and bounded stable according to the Lyapunov stability theory, and the effectiveness of the controller was demonstrated by the numerical simulation results.

Abstract: The thesis put forward a new maglev positioning platform whose structure, theories of operation and modeling were discussed. Applying finite elements methods in electromagnetic simulation and thermal simulation of the structure, the feasibility of the new platform was proved.

Abstract: This paper took the coal mine detection robot model TUT-CMDR for research. First of all, the three degrees freedom mechanical arm was installed on the robots body. By the same time, the theory of Euler angle and D-H method were established to analysis the posture and position of robot body and mechanical arm. After the integration, the centroid coordinates on the robot in any location was calculated. In the next place, mechanical arm angle change and the size of the load effect on both forward obstacle-surmounting and the barrier height were discussed. In the end, the three dimensional relationship diagrams of barrier height, barycenter, pitch angle, arms' swing angle and mechanical arms swing angle were drawn and the results of mechanical arm gesture planning were compared with the initial state. The theory will provide basis for robot obstacle-navigation control.

Abstract: Rapid and automatic extraction of pollutants is of great importance for mobile camera in real-world scenarios. In the moving process of robot, the camera is treated as dynamic background, and the pollutants on the camera are treated as static target. So as to realize the detection of static target in dynamic scene, this paper presents an automatic extraction algorithm for pollutants based on frame difference accumulation. Firstly, this algorithm can determine whether pollutants exist or not by the overall trend of gray histogram of the cumulative frame difference images. And then if existing pollutants, Otsu algorithm was adopted to adaptively calculate threshold to convert the gray image into binary image. In this paper, analysis of the important parameters of the algorithm - cumulative frame number and frame difference threshold was implemented. Moreover, feasibility of the algorithm was verified by experiments on the automatic extraction of pollutants for gun-type camera.

Abstract: In order to measurement frequency characteristic of the missile three loop autopilot, three loop autopilot system model of the missile pitch channel was established. Then the autopilot system open-loop model was analyzed , and also open-loop frequency calculation formula was deduced. On the basis of the autopilot system model, half physical frequency characteristic measurement system was built, and the experimental data were processed by using correlation analysis method. Experimental results shows that when the time delay of measurement system was compensated, three loops autopilot actual cut-off frequency was 47.5rad/s, phase margin was 93°, amplitude margin was infinte, compared with the theoretical value, errors was less than 5%. The correctness of three loops autopilot frequency characteristic measurement method was verified.

Abstract: Temperature control is critical temperature and the temperature of the two aspects. Temperature measurement is based on temperature control. However, due to the control object becomes more and more complex, temperature control, there are still many problems. In this paper, based on the use PID, Smith predictive control, Dalin algorithm comparative study of three algorithms for industrial resistance furnace temperature control system computer simulation design, and the use of simulation software MATLAB / SIMULINK simulation of the control algorithms, but also on advanced control algorithm is studied.

Abstract: Support Vector Machine Regression is a nonlinear modeling method with a simple structure and shows excellent performance compared with other nonlinear-linear regression methods. Unfortunately, most users always select the SVMR parameters by rule of thumb, so they frequently fail to get the optimal model. This paper propose to use the immune genetic algorithm to adjust the SVMR parameters and use the RMSE of the cross validation as the fitness of IGA. At last, this method was applied to modeling satellite attitude control system to detect the faults of the system. Simulation shows the high fitting precision to the system models which insures the correctness of the fault detection.

Abstract: A PID temperature control system was designed with the LabVIEW graphical programming language and the PID toolkit. Data collection, PID control, data record and data check were experimented to a practicable instrument with the purchased programming power supply and data collection record system. The hardware and software of the computer with the virtual instrument system was proofed to be practical and the smooth control of the system temperature with the accuracy of 1 was available.