Advanced Materials Research Vols. 1006-1007

Abstract: A novel path-following control method of under-actuated AUV is proposed in this paper. Under the Serret-Frenet coordinate system, dynamics equations of path-following error were established based on virtual target AUV. And then combined with dynamics equations of AUV, controller was designed based on Lyapunov stability theory and backstepping technique. Simulation results showed that path-following error could converge to zero rapidly by using the proposed non-linear feedback control law, to make the AUV navigate along the referenced path.

Abstract: This paper introduces the principle of automotive active collision safety protection system. Establish the speed relationship that our car with the car of before and after model for calculating the safe distance. Introducing the visibility, coefficient of road adhesion and other factors. The model of calculating the safe distance closer to the actual driving environment, the model of calculating the safe overcome the existing safety distance model in some special environment the safety distance small or large defects.

Abstract: A 3-axis parallel loading mechanism, which works as a multi-axis load simulator, is proposed for reliability test of multi-axis CNC machine tools by exerting specific load spectrums on the spindle. To achieve efficient loading force control, dynamic model of the 3-DOF translational parallel robot is derived via the virtual work principle and is embedded into the control strategy to build a model-based control scheme. A mass distribution factor is introduced and the rotating inertia of the limbs is neglected to simplify the dynamics equations for better real-time control performance. This simplification method is verified by comparison with the complete dynamics model. Then the simplified dynamic model is integrated with a PI (proportional–integral) controller with feedforward to control the moving platform’s output force in the task space and this control strategy is verified through co-simulations with MATLAB/Simulink and ADAMS. Simulation results show that the proposed model-based PI controller is effective to control the three-dimensional output force of the 3-DOF translational parallel robot.

Abstract: The technologies of Web-based teleoperation and somatosensory Human-Computer Interaction have become a hot technology in recent years. Combining with these two technologies, this paper is based on the web server, using Kinect as the front-end of the robot teleoperation human-computer interaction equipment to acquire human-interactive data. Data transfer by using the WebSocket based on HTML 5 and establish the model by using WebGL to realize the remote teleoperation of robot. After the test of the function and performance of the system, indicating the practicality of the system.

Abstract: During coal mining, the working space in thin and medium thick coal seam of 1.5-2.0m is narrow, resulting in walking and working hard for workers, labour-intensive, low degree of security. Therefore, this paper presented automatic cutting technology and explained the key composition and working principle in detail, followed the field practice in working face of 22-204, with a satisfying result.

Abstract: CAN bus was used as the data transferring channels in the two–level controllers, and the real-time,dexterity,expansibility and security for the Gluing control system based on CAN bus can be improved obviously.The system structure, principle and software design were introduced.The experiment shows that it is a reliable control system and it can meet the requirements of automatic gluing tasks.

Abstract: The authors consider the problem of numerical inversion of Laplace transform using its values of the Laplace-image defined on the positive real half-axis of the complex plane. The main distinction of the proposed path associated with the method of forming these values. This path is based on a special case of the direct formula of the Laplace transform, when complex variable degenerates into a real variable. As a result, they continue getting image-function, but these functions have an important feature for numerical problems – they have a real argument. The presence of a continuous-time function allows implementing her sampling more reasonably, for example, taking into account the properties of the differentiating features. One more attractive possibility – generalization sampling, conversion and interpolation algorithms for transfer functions with irrational and transcendental expressions. The paper presents the necessary information about obtaining of real functions images and their usage in problems of the Laplace transform inversion. The method is based on the representation of function originals as a segment of series on the exponential Chebyshev polynomials. An example is given.

Abstract: The purpose of the solenoid current control is to decrease holding current of the solenoid by selecting suitable frequency and duty, to keep the solenoid opening reliably for a long time and reduce power consumption and improve the solenoid close feature. In this paper, the high frequency signal in oil pressure holding process is determined by theoretical analysis and experimental study. The purpose of the study is to determine the ideal current in the working process of the solenoid.

Abstract: Plate mills hydraulic system is made up of several hydraulic stations, lubrication stations and grease stations, these hydraulic stations and lubrication stations are distributed around the mills. Each hydraulic station possesses qualities of successive long working time, high reliability and signal complexity, and it can satisfy diverse demands of high grade pressure or temperature control, etc. This paper is based on these demands, assembling control missions of hydraulic and lubricating stations. Several PLC S7-300 were chosen to match the need of controlling mills hydraulic and lubricating system for a certain plate factory, and the HMI monitoring system for mill hydraulic and lubricating stations was developed by WINCC, which achieved central control and monitoring the hydraulic and lubricating system of plate mills.

Abstract: The research on the motor controller is the key link in the process of the development of electric vehicles. The motor controller can make the data exchange between the power systems to meet the requirements of simple and rapid with high reliability, strong anti-interference ability, good real-time performance, error detection and good isolation capability, which plays a vital role in the development of electric vehicles. High reliability of motor controller is very important, in order to work safety, besides the reliable software and hardware system, it is necessary to control the motor controller with some convenient devices. Handheld programmer of electric vehicles has been developed for this purpose. For the operator operating the equipment effectively and conveniently, provide effective safety guarantee for the controller, programmable handheld programmer can be operated simply through buttons on the programmer by operators, so as to control the operation of motors and the operation of electric vehicles.