Control of a Spherical Robot: Path Following Based on Nonholonomic Kinematics and Dynamics

This paper presents the controller design for the path following of a spherical mobile robot,BHQ-1.Firstly,a desired velocity for the reference path is deduced from the kinematic model,which cannot be transformed into the classic chained form.Secondly,a necessary torque for the desired velocity is obtained based on the dynamic model.As to the kinematics,a one-dimensional function is selected to measure the two-directional tracking error,and the velocity of rolling forward is reasonably assumed to be constant;therefore the multiple-input multiple-output (MIMO) system is transformed into a single-input single-output (SISO) system.As to the dynamics,both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account,based on which a proportional-derivative (PD) controller and a sliding mode controller with adaptive parameters are proposed respectively.Finally,convergence analysis and simulation results are provided to validate these controllers.     

一个超冗余度移动操作臂机器人系统的实现与运动控制

冗余度或超冗余度移动操作臂机器人可在空间站上为宇航员提供很大的帮助.对一个超冗余度移动操作臂机器人系统的设计和实现作了介绍,这个系统由一个8自由度的模块机器人和一个1自由度的电机驱动的导轨组成;对该系统的逆运动学解法进行了讨论,提出了一种基于避关节极限与位形优化的简化逆运动学控制方法;并提供了仿真和实验结果.     

直升机驾驶舱人机功效设计

直升机驾驶舱人机功效的设计主要是指有人驾驶的直升机。人机功效的设计成功与否直接影响到直升机的使用效能、驾乘安全性、可操纵性和可维修性。人机功效涉及面很广,在设计应用上它对整机及各个系统都有相关的技术要求,因此人机功效设计是一个多学科、集成的综合应用技术。本文重点就直升机驾驶舱的人机功效设计做如下探讨。     

薄翼型阵风响应的数值模拟

 采用有限体积法来数值求解非定常Euler和N-S方程，并在非定常计算中通过引入“网格速度”来计入阵风的影响，实现了对刚性薄翼型阵风响应的有效数值模拟。采用该方法来对薄翼型迎角突然增大的阵风、陡边型阵风这两种典型阵风情况下的翼型气动力响应进行了计算，结果表明：计算结果与现有的一些理论结果都符合较好，与文献中计算结果也吻合。同时通过计算也表明厚翼型的阵风响应需根据工况开展进一步的计算分析。     

机翼设计软件的完善及商用化研究

在对原有的机翼设计软件进一步完善的基础上,开发了基于Windows操作系统的设计软件工程包;通过图形用户界面实现了设计过程的菜单式选择和设计变量的模块化输入;开发了设计过程中目标压力分布的可视化修改模块,设计过程的实时显示模块,及与其它图形绘制软件的接口;提高了软件的可视化程度,使原有的机翼设计软件的商用性得到了很大的提高,探讨了国产CFD软件商用化的可行性。     

一种基于模糊遗传算法的多传感器多目标跟踪数据关联算法

基于模糊遗传算法发展了一种新的数据关联算法。数据关联的静态部分靠一个模糊遗传算法来得出量测组合序列和S-D分配的m个最优解。在数据关联的动态部分，将得到的S-D分配的m个最优解在一个基于多种群模糊遗传算法的动态2D分配算法中依靠一个卡尔曼滤波估计器估计出移动目标各个时刻的状态。这一基于分配的数据关联算法的仿真试验内容为被动式传感器的航迹形成和维持的问题。仿真试验的结果表明该算法在多传感器多目标跟踪中应用的可行性。另外，对算法发展和实时性问题进行了简单讨论。     

泡沫型干扰幕特种纳米粉制备技术

基于SAS过程制备特种纳米粉的基本原理,阐明了特种纳米粉晶核生成机制,提出了制备特种纳米粉的基本方法和相应的包覆技术。为满足特种纳米粉高比表面积和高纯度的性能指标制备要求,降低成本和实现大量生产提供了一种较为可行的技术方法。     

基于现场总线技术的智能小区控制系统

现场总线被誉为自动化领域的局域网,它开启了自动控制领域的新时代.本文简要介绍了现场总线的概念及特点,讨论了LonWorks应用于智能小区的关键技术,较详细地介绍了基于LonWorks现场总线的智能小区控制系统的结构,并对本小区控制系统的功能作了简要说明.     

Kinematics-based four-state trajectory tracking control of a spherical mobile robot driven by a 2-DOF pendulum

Spherical mobile robot has compact structure, remarkable stability, and flexible motion,which make it have many advantages over traditional mobile robots when applied in those unmanned environments, such as outer planets. However, spherical mobile robot is a special highly under-actuated nonholonomic system, which cannot be transformed to the classic chained form. At present, there has not been a kinematics-based trajectory tracking controller which could track both the position states and the attitude states of a spherical mobile robot. In this paper, the four-state(two position states and two attitude states) trajectory tracking control of a type of spherical mobile robot driven by a 2-DOF pendulum was studied. A controller based on the shunting model of neurodynamics and the kinematic model was deduced, and its stability was demonstrated with Lyapunov's direct method. The control priorities of the four states were allocated according to the magnification of each state tracking error in order to firstly ensure the correct tracking of the position states. The outputs(motor speeds) of the controller were regulated according to the maximum speeds and the maximum accelerations of the actuation motors in order to solve the speed jump problem caused by initial state errors, and continuous and bounded outputs were obtained. The effectiveness including the anti-interference ability of the proposed trajectory tracking controller was verified through MATLAB simulations.     

2195铝锂合金应力松弛时效成形工艺制度

以2195-T8态铝锂合金为研究对象,探究工艺参数对其应力松弛时效行为的影响规律。试样经过固溶、淬火,进行不同预变形、时效温度及时效时间条件下的应力松弛时效实验。通过室温拉伸,测得应力松弛时效后试样的力学性能。基于正交试验的极差分析和方差分析,探究了预变形、时效温度和时效时间3个工艺参数对应力松弛量、屈服强度和延伸率的影响权重占比;进一步研究发现预变形不仅可以提高2195铝锂合金时效后的强度,还降低了应力梯度对材料力学性能不均匀性的影响;查明了实现2195铝锂合金应力松弛时效形性协同制造的合理工艺制度:180℃+4%预变形+时效时间12～16 h。研究工作为大型铝锂合金构件应力松弛时效形性协同制造工艺窗口的确定提供了重要支撑。