Applied Mechanics and Materials Vols. 496-500

Abstract: Based on Industrial Ethernet, PLC and Industrial Computer, Monitoring and Control System of Underground Coal Gasification (UCG) were developed. Distributed measured sensor signals and complex monitoring tasks are realized by a PLC and an Industrial Computer. Star topology network is used. The connection between Monitoring system and PLC is realized by an industrial Ethernet module. The solution in laboratory condition appears reliability and quick data exchange was realized between PLC and Monitoring system.

Abstract: The digital Semiconductor Laser’s Driving Source is designed in this paper, in order to gain a constant current source, which the maximize output electric current is 40A; voltage is from 2V to 10V. Based on the requirement of very task, the part of driving and the part of constant temperature control, which is auxiliary designed, are made of the controller of semiconductor laser diode. As the result, the whole of designs ensure the diode laser to work stably.

Abstract: In order to strengthen the ability of nuclear safety regulatory and avoid nuclear accident, full scope V&V simulator is designed and developed. By using RELAP-3D and MELCOR procedures coupled with the simulation platform, it achieves a whole conditions simulation which contains steady-state condition, transient condition and severe accident condition. The full scope V&V simulator can be used to do the design verification, operation verification, nuclear emergency and severe accident management program verification.

Abstract: After the equipment of a new equipment, the cambat effectiveness has been greatly improved. The lack of a intelligent fault diagnosis system delayed the generation of equipment support ability, so a kind of detection equipment which can intelligently and quickly diagnose the fault was urgently needed .Based on the field programmable gate array (FPGA) and ARM platform, this paper gives a design of a high-speed digital processing detector. Using the serial communication, it can not only transmit a variety of common signal at a high speed, but also eliminate the interference between the transmission lines. As serial communication has no synchronous problem, there's more room to improve the transmission speed.

Abstract: The thesis puts forward an inter-stator synchronous combined control algorithm based on Space Vector Modulation Direct Thrust Control (SVM-DTC), which can overcome the difficulties of conventional SVM-DTC method applied in PWD-PMLSM. Because the electromagnetic parameters of the motor will change significantly when the shuttle pass through the junction of the two stators. Therefore, it must process the two stators flux linkage and thrust simultaneously. Theoretical analysis illustrates that this algorithm not only maintains high-transient response of DTC but also minimizes the inherent problems of thrust ripple in DTC. Ultimately, the simulation shows this method presents the favorable effects of the transient and steady state including excellent thrust stability in the process of shuttle transits between stators.

Abstract: Missile control system is not block strict feedback system which is suitable to use backstepping method. So in this paper, a backstepping control method is proposed to design a missile longitudinal autopilot and is proved to be asymptotically stable by Lyapunov stability theory. The simulation results show that the designed system can still track commands quickly and accurately and is robust with aerodynamic perturbation and control input saturation.

Abstract: Servo hydraulic system is important one of driving patterns of quadruped robot. While servo hydraulic system has characteristics of parameters time-varying and strong nonlinearity, so traditional PID control pattern cannot meet all the control demands well. To solve these problems, a set of control hardware is designed for a quadruped robot and a new control algorithm which can adjust PID parameters in real-time condition based on fuzzy control theory is proposed. By deducing transfer function, establishing system model and using MATLAB simulation tools to simulate the two algorithms, we compared the two algorithms and the simulation result turns out that compared with traditional PID control algorithm, the fuzzy PID control algorithm has features such as low overshoot, high stability precision, strong robustness. At the same time, the result turns out that the fuzzy PID control algorithm is much fitter for the joint control of quadruped robot.

Abstract: A gravity compensation algorithm for master manipulator used in minimally invasive robot surgery is proposed in this paper. The Lagrange dynamic equation is used to solve the motor output torque for balancing the master gravity. To avoid time delay in signal processing, multi-thread and multi-event technology are used in software control system. With the algorithm, the force by hand is very small under the condition of exist gravity compensation, less output more than 90% of the external force compared with the lack of gravity compensation.

Abstract: The System is at the core of TMS320F2812DSP from TI company to design the control system for BLDC motor, the control segment of it take advantage of the event manager EVA of the DSP to compare and produce six ways signal control.And utilize the capture module to acquire the state situation of the rotor-position sensor.Acording to the condition of hall sensor to control motor commutation.And solve the PWM signal system in the generation and motor speed feedback.It's easy to realize the motor closed-loop control, greatly simplify the system hardware design, improves the reliability of the system, reduces the volume of the system. Through the experiments,we gain the PWM waveform, and finally realize the purpose of reverse control .

Abstract: The paper draws out the keywords co-occurrence maps in robot research field by CiteSpaceII, and analyze the hot-topics and the development trend in robot field by keywords co-occurrence frequency. The research found the hot-topics in robot field are mainly in the medical direction and manufacturing direction. This research can help us to grasp the whole development of the field and provide the decision making support for introduction of high-level talent.