Applied Mechanics and Materials Vols. 602-605

Abstract: The optimal control of autonomous profiling monitoring underwater vehicle (APMUV) is investigated. Firstly, dynamics equations in vertical plane with disturbances are constructed, and the equations are converted into a linear system by feedback linearization method and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. To solve the unpractical problem of the control law, we construct a disturbance observer to observe the system states to make a quick convergance of the observed system states. Numerical simulations show the effectiveness of the control scheme

Abstract: This paper presents a motor loading method using an AC synchronous generator (abbreviated to ACSG) as the load device. By coaxially connecting ACSG rotor to the motor rotor, the motor provides power for ACSG. We analyze the electromagnetic torque characteristics of ACSG. By controlling the electromagnetic torque of ACSG, the motor receive constant or variable load torque. The load torque of the motor can be measured by the system and sent to the controller as feedback. The changing trend of the set torque and the load torque are similar. The feasibility of the loading method can be examined with the input power of the motor. According to the actual motor load changes, we can change the electromagnetic torque of ACSG to simulate real conditions.

Abstract: New scheme of the CNC system software subdivision based on grating signal is discussed; the subdivision error analysis, the hardware circuit and the speed control are discussed. The closed-loop position control system with stepping motor as driving component is implemented.

Abstract: A double-loop control system simulation model is created in Matlab/Simulink based on mathematical model of PMSM, as well, the structures and properties of each functional module are introduced in detail. The simulation results prove that the model was effective and it had good steady-state and dynamic tracking performance. Finally, experiments were carried out to prove the validity of the simulation model in the development of practical engineering.This model provides an effective auxiliary method for theoretical analysis and engineering design of PMSM double-loop control system.

Abstract: Micromouse is a small autonomous robot, which must navigate itself through an unknown maze from the start to the destination.One of the main challenges for micromouse is to control its two motors, which are used to control micromouse’s motion in solving the maze. Detailed design of an improved PD controller is given,which has to update the velocity and acceleration values of the motors when it wants to control the robot. Motion profile generator and motion command execution routine is designed to output a smooth motion for the robots.

Abstract: This paper presents a control scheme for the synchronization of switched chaotic systems. The general case that the error state information between master and slave chaotic systems is not available for design the controller, an adaptive observer-based error system is constructed and the controller is designed. Utilizing common Lyapunov function method, a synchronization criterion is given. Simulation shows the effectiveness and efficiency of the proposed scheme.

Abstract: The roller hemming system could be verified before it is put into operation by virtual manufacturing technology. This paper analyses roller hemming process, establish roller hemming system 3D models, include roller hemming tool system, roller hemming fixtures system and roller hemming robot. Finally verify the reasonableness of roller hemming system based on DELMIA.

Abstract: Based on STM32F407ZET6 microprocessor with ARM Cortex-M4 core, we designed a controller for servo motors and servo drivers of a 4-axis Selective Compliance Assembly Robot Arm (SCARA) robot. The forward and inverse kinematic equations are established, circular interpolation equations in three-dimensional space are derived by using the digital differential analyzer method. The adopted circular interpolation algorithm avoids to judge quadrant and feeding direction, which simplifies the program.

Abstract: In view of the common oriented logistics robot is difficult to adapt to the complex and changeable requirements of modern logistics environment, a highly mobile logistics robot is developed based on the omni-directional mobile mechanism. In the course of the study, the mechanical body of omni-directional mobile logistics robot is designed by the three Swedish wheels structure, then the forward and inverse kinematic is analyzed s, and the result is simulated numerically for validating, finally a set of physical prototype is developed. The development of logistics robot with omni-directional mobile capability can improve the flexibility of logistics transmission equipment, increase the operational efficiency of logistics system and intelligent degree. It has a certain value for the related research for the application field of the robot and logistics equipment field.

Abstract: This paper can introduce the general automation and conductor automate situation of training the terrace in radar intelligence report, training plat supervise and control the design of mold piece and carry out process in the terrace .It relates to the structure and workflow of radar intelligence report automation and analyze workflow, internal structure and function of design mold piece. With the development tool, the model realizes control the mold piece establishment and function. Through the demand to all improvement, this paper is also studying the command of automation to train terrace, supervision mold piece of realization and development function.