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991.
Industrial robots are used for automatic drilling and riveting.The absolute position accuracy of an industrial robot is one of the key performance indexes in aircraft assembly,and can be improved through error compensation to meet aircraft assembly requirements.The achievable accuracy and the difficulty of accuracy compensation implementation are closely related to the choice of sampling points.Therefore,based on the error similarity error compensation method,a method for choosing sampling points on a uniform grid is proposed.A simulation is conducted to analyze the influence of the sample point locations on error compensation.In addition,the grid steps of the sampling points are optimized using a statistical analysis method.The method is used to generate grids and optimize the grid steps of a Kuka KR-210 robot.The experimental results show that the method for planning sampling data can be used to effectively optimize the sampling grid.After error compensation,the position accuracy of the robot meets the position accuracy requirements. 相似文献
992.
Flow separation control on swept wing with nanosecond pulse driven DBD plasma actuators 总被引:3,自引:2,他引:1
A 15° swept wing with dielectric barrier discharge plasma actuator is designed.Experimental study of flow separation control with nanosecond pulsed plasma actuation is performed at flow velocity up to 40 m/s. The effects of the actuation frequency and voltage on the aerodynamic performance of the swept wing are evaluated by the balanced force and pressure measurements in the wind tunnel. At last, the performances on separation flow control of the three types of actuators with plane and saw-toothed exposed electrodes are compared. The optimal actuation frequency for the flow separation control on the swept wing is detected, namely the reduced frequency is 0.775, which is different from 2-D airfoil separation control. There exists a threshold voltage for the low swept wing flow control. Before the threshold voltage, as the actuation voltage increases, the control effects become better. The maximum lift is increased by 23.1% with the drag decreased by 22.4% at 14°, compared with the base line. However, the best effects are obtained on actuator with plane exposed electrode in the low-speed experiment and the abilities of saw-toothed actuators are expected to be verified under high-speed conditions. 相似文献
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996.
Multi-sensor image matching based on salient edges has broad prospect in applications, but it is difficult to extract salient edges of real multi-sensor images with noises fast and accurately by using common algorithms. According to the analysis of the features of salient edges, a novel salient edges detection algorithm and its rapid calculation are proposed based on possibility fuzzy C-means (PFCM) kernel clustering using two-dimensional vectors composed of the values of gray and texture. PFCM clustering can overcome the shortcomings that fuzzy C-means (FCM) cluster- ing is sensitive to noises and possibility C-means (PCM) clustering tends to find identical clusters. On this basis, a method is proposed to improve real-time performance by compressing data sets based on the idea of data reduction in the field of mathematical analysis. In addition, the idea that kernel-space is linearly separable is used to enhance robustness further. Experimental results show that this method extracts salient edges for real multi-sensor images with noises more accurately than the algorithm based on force fields and the FCM algorithm; and the proposed method is on average about 56 times faster than the PFCM algorithm in real time and has better robustness. 相似文献
997.
李轶明 《气动实验与测量控制》2014,(5):7-12
为了研究自由下落物体的速度震荡现象,基于相对运动原理,应用立式风洞研究了5种典型形状的物体在上升气流中的悬浮特性。模型包括球形、正方体、长方体、短圆柱体和碟形等刚体。风速的平均值由皮托管风速计测得,同时通过CCD相机记录了物体达到悬浮状态前后的运动状态并进行了定量分析。实验结果表明:对称性较好的物体具有较稳定的悬浮特性;而非对称性物体,由于不同姿态角下的阻力系数和扭矩系数不同,很难维持一个稳定的悬浮状态,将伴随姿态的变化不断发生振荡运动。从而说明,空间形体对称的物体自由下落过程中可以达到较稳定的最大下落速度,而形体非对称的物体则难以达到确定的最大速度。除实验研究之外,还采用动态网格数值模拟手段计算了二维方形模型下落过程中的姿态角及运动轨迹,同时得到模型不同姿态角下的阻力和扭矩,计算结果也进一步解释了物体下落速度会发生振荡的原因。 相似文献
998.
微纳米尺度流动实验研究的问题与进展 总被引:6,自引:0,他引:6
微纳米实验流体力学研究的流动特征尺度在1mm~1nm范围,处于宏观流动到分子运动的过渡区。连续介质力学与量子力学这两个经典理论的衔接,提出了诸如连续性假设适用性、边界滑移等基本理论问题。同时从微纳米尺度研究界面处液/固/气的耦合,化学、电学性质对流动的影响值得关注。微纳米实验测量仪器融入了力、电等测量手段,要求测量空间精度达到nm量级,力的测量精度达到pN,时间分辨率达到ns。本文围绕连续性假设适用性、边界滑移、微纳米粒子布朗运动及微尺度涡旋测量等问题,介绍了 Micro/Nano PIV、示踪粒子流场显示等技术应用于微纳流场观测的进展与难点。目前微纳米流动测量仍然沿着经典流体力学测量“小型化”的思路开展,而纳尺度的测量期待着新的实验方法与技术的提出。 相似文献
999.
To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms(ISPs) with DC motor direct-drive, the methods of modeling and compensation of the nonlinear friction are proposed. Firstly, the inapplicability of LuGre model when trying to interpret the backward angular displacement in the prestiction regime is observed experimentally and the reason is deduced theoretically. Then, based on the dynamic model of direct-drive ISPs, a modified LuGre model is proposed to describe the characteristic of the friction in the prestiction regime. Furthermore, the state switch condition of the three friction regimes including presliding, gross sliding and prestiction is presented. Finally, a composite compensation controller including a nonlinear friction observer and a feedforward compensator based on the novel LuGre model is designed to restrain the nonlinear friction and to improve the control precision. Experimental results indicate that compared with those of the conventional proportion–integration–differentiation(PID) control method and the PID plus LuGre model-based friction compensation method, the dwell-time has decreased from 0.2 s to almost 0 s, the position error decreased to 86.7%and the peak-to-peak value of position error decreased to 80% after the novel compensation controller is added. It concludes that the composite compensation controller can greatly improve the control precision of the dynamic sealed ISPs. 相似文献
1000.
The main goal of this paper is to study the characteristics of regression rate of solid grain during thrust regulation process. For this purpose, an unsteady numerical model of regression rate is established. Gas–solid coupling is considered between the solid grain surface and combustion gas.Dynamic mesh is used to simulate the regression process of the solid fuel surface. Based on this model, numerical simulations on a H2O2/HTPB(hydroxyl-terminated polybutadiene) hybrid motor have been performed in the flow control process. The simulation results show that under the step change of the oxidizer mass flow rate condition, the regression rate cannot reach a stable value instantly because the flow field requires a short time period to adjust. The regression rate increases with the linear gain of oxidizer mass flow rate, and has a higher slope than the relative inlet function of oxidizer flow rate. A shorter regulation time can cause a higher regression rate during regulation process. The results also show that transient calculation can better simulate the instantaneous regression rate in the operation process. 相似文献