Advanced Materials Research Vol. 748

Abstract: The obstacle avoidance system is an important part of the intelligent inspection robot. According to the special environmental requirements for substation inspection robot, the inspection robot obstacle avoidance detection system was designed. The system takes MCU as the controller core, selects many sets of ultrasonic sensors to detect the obstacle information around the robot, designs the transmitting and receiving circuit of the ultrasonic signal, and completes the system software program. In consideration of the substations effect of EMI to the electronic equipments, when designing circuit, using a large of filter circuit, improve systems anti-interference performance, realize real-time and veracity of measurement. Using on substation shows that the system run steadily, have high measurement precision, its important for improving the robot using on substation.

Abstract: At present, the majority of enterprise technology management and production management have entered the network era. The demand for people who are occupied in 3D product design, numerical control advanced engineering technology is gradually increased. In order to speed up the production development of factories, we need to greatly improve the productivity of CNC machine. Therefore, CNC networking and management is imperative. This article describes background of the implementation of the numerical network management as well as its necessity. According to the industry characteristics of design and manufacturing and production management, this paper analyzes proposals on the network management system of CNC and describes the main functions of the machine network system and the results after the implementation. The network system of CNC is to improve the productivity of CNC machine, and give references to the application of CNC machine networking in large machine manufacturing industry.

Abstract: An easy method for camera intrinsic parameters and one order radial distortion parameter is studied by the mathematical model of camera on the basis of projective theory. It is not necessary to translate or rotate camera in this method, but it only uses several specially points to derive the equations and get the parameters. The results show that this method could quickly and conveniently calibrate camera intrinsic parameters and one-degree radial distortion parameter with good stability and precision, which can be used in servo mechanical arm system.

Abstract: Through simulating the feelings of vision, hearing, motion and force during flight, the flight simulator can build a realistic flight environment on the ground. Therefore, Flight simulators have an important role in pilot training field. Audio simulation system is a key component of the flight simulator, it has direct impact on the realism and immersion of flight simulation. In this paper, we introduced the development procedure of audio simulation system shortly. Software implementation and its key development technology were mainly focused for expressing the necessity of extracting sound sources from original cockpit recordings. Based on the development method and practical recording conditions, we dicussed sound short-time Fourier analysis and synthesis technology, and sound linear prediction analysis and synthesis technology in detail. The objective of using these technologies was to extract sound sources from original recordings and this was also the preparation step of sound simulation.

Abstract: The tracking camera is very important to the whole test tasks of space robot. Aiming at the vision processing problems of space robots tracking camera, a new method of vision processing LabVIEW+DLL is present in this article. Based on the method, a set of vision processing system of space robots tracking camera is researched and developed. This system can better meet the index requirements of space robots vision processing and precisely measure the position and posture data from the target star relative to space robots body coordinate system in the process of the ground air-float test for the space robot, guaranteeing the smooth completion of the ground test mission.

Abstract: Autonomous helicopter flight presents challenges in flight control system design with scalability. In this paper, we present the integration architecture of hardware and software for the flight control system based TREX 600 helicopter. In order to enhance scalability, the flight control system uses the PC104 and the ARM which is exerted to process the measurement data, including the position, attitude, height etc. The flight control is developed based multi-loop decoupling PID control which is easy to be implemented. Finally, the flight control system is successfully verified in the actual autonomous flight control experiment.

Abstract: directional antenna is widely used in the measurement and control for Short range UAV because of its high gain in the range of beam angle, the speed of UAV is very fast, so the requirements for speed and acceleration of directional antenna is very high, step motors are usually in the traditional directional antenna systems, which works in the open loop and has low positioning accuracy, slow speed response and dynamic regulation, In order to meet the requirements of the directional antenna servo system, the design of servo control system for Azimuth of directional antenna based on PMSM and CAN bus communication is introduced in this paper . The test results indicate that the dynamic response of antenna servo system is very quick and tracking accuracy is very high. which can be well applied in the target tracking system.

Abstract: In the basis of the rolling angle inside loop controller stability, this paper using genetic algorithm to optimize the parameters of PID, in order to get the flight course outside loop controller parameters constituted by course angle feedback signal. Aiming at the small unmanned helicopter course stability control model features, we choose the rise time of system, the steady-state error and proportion of combination as an optimum target function. To ensure the effect of the controller and reduce the system shock, we introduce system shock times and multiply punishment function. It has better flexibility, adaptability, stability and can guaranty the system controller effect and improves the system capability by adopting the genetic algorithm to develop the PID controller. The simulation results verify the effectiveness of the method that we put forward.

Abstract: According to the requirement of high precision and high speed in an AC servo system, based on sliding mode control theory, a cascade control is put forward. Sliding mode controller of the speed loop is applied to reduce the system steady state error and increases system response speed, and the sliding mode control of the position loop is applied to improve the system dynamic tracking accuracy and system robustness. According to the simplified mathematical model of the position loop and speed loop, system control law is derived. Experiment results show that the proposed sliding mode cascade controller can guarantee the dynamic performance of the servo system.

Abstract: First, using the analytical method to estimate the natural frequency of a permanent magnet synchronous motor core, the focus of the winding and the winding end of the natural frequency of the motor, respectively, the finite element method and experimental modal analysis method verify the correctness of the analytical method, this article resolve modal analysis method in the motor design stage can be used to quickly estimate the natural frequency of the motor.