Theory and characteristics of novel variable reluctance 1X resolver

Although brushless resolvers have been used widely as angular position transducers, they are expensive due to their intricate construction, involving a rotary transformer to supply the exciting coils wound on the rotor poles with the current. It is shown theoretically in this paper that the resolver without rotary transformer or brushes can be realized by simple construction, which consists of the stator core with both 4-poles exciting windings and 2-poles output ones and the rotor core carrying no windings. In this resolver the rotor core has minimum gap at one side and a maximum gap at another side of the diameter. It is characterized by an outer surface form that makes the fluctuation part of gap permeance very in proportion to cos θ, where θ represents the angular position of a point in the air gap with respect to the origin on the rotor, the point of minimum air gap. The method determining the rotor form to embody the aforementioned gap permeance variation is also shown. It has been confirmed not only by simulation but also experiment that the 2-phase output voltages of a model designed based on the theory have sinusoidal waveforms with very small harmonic contents. Moreover, the rotor position detected by processing the output voltages through the conventional resolver/digital converter was within acceptable engineering accuracy.     

谐波治理的方法(一)

总结了治理谐波的一些基本方法,列出了变频器、UPS及各种家用电器的谐波实测数据,介绍了谐波治理方案确定的步骤:首先对谐波源设备进行评估,初步确定参数或实际测量谐波值。然后根据谐波源设备分布的情况确定补偿位置、容量及相关参数,最终选定较完整的补偿方案。较详细地介绍了:①补偿位置的确定原则;②补偿容量确定的两种方法:估算法和计算法;③有源滤波器的三相三线或三相四线的确定和性能比较;④有源滤波器的主要技术参数及与无源滤波器的比较;⑤串行通信问题。     

折反光学系统最佳红外像面位置的研究

较深入地研究了折反光学系统的红外像面,为确定实际的红外像面提出了一个新方法—计算从可见光边缘无色的弥散圆到红外最佳像面的距离。实践证明,这是确定这类光学系统最佳像面的一个方便、可靠的方法。     

A three-dimensional measurement system for robot applications

This paper presents a 3D noncontacting sensor system designed to measure the position and orientation of a robot end effector. This measurement system includes two parts: a tridimensional object including four spheres placed along the axes of a tetrahedron and a set of three orthogonally pointed cameras. The purpose is to design a measurement system characterized by easy relationships in order to satisfy real-time constraints. The system has been used in two experiments: first, to calibrate a parallel robot and validate the geometrical control performance, then as an exteroceptive sensor in an assembly task. The system computes position and orientation of the tetrahedron in 100 ms time. The position and orientation accuracy are, respectively, 0.6 mm and 0.2 deg in a workspace, being a cube with 0.3 m sides.     

成品油罐车智能管理系统

针对当前成品油配送运距及运行线路的管理缺陷,以及传统物理签封、电子签封的不足,给出了结合物联网技术和无线通信技术,将GPS定位、射频签封、车载液位仪、车辆行驶路线、车辆行驶运距、车载摄像等功能模块有机结合起来,共同组成成品油罐车智能管理系统的设计方案。该方案改变了以往电子签封仅仅具有路途防偷盗的功能弱点,实现了全过程、全时段、多功能的车辆监控,从而全面提升了油品数质量及物流管理水平。     

一种新的坡位定量描述方法及其与滑坡发生的关系

滑坡发生与地形因子的关系是区域滑坡静态规律研究的重点,但以往的研究多注重考虑其与反映几何形态的基本地形属性因子(几何形态属性因子)之间的关系,如坡度和坡向等。首先提出一种新的基于子流域内相对位置定量描述坡位(相对位置因子)的方法,并以温州地区瓯江流域1990~2001年发生的滑坡为研究对象,使用证据权法对比滑坡发生与两种不同类型地形因子之间的关系。结果表明,相对位置因子与滑坡发生的相关性大于滑坡危险性评价经常使用的几何形态属性因子;并且滑坡大多发生在定量坡位值较低的区域,这些地区处在下游,遭受流水侵蚀的强度更大、频率更高。     

MEMS陀螺仪零位误差分析与处理

研究微机械陀螺仪的零位误差对提高惯性导航精度具有重要意义。采用Allan方差分析法对MEMS陀螺仪的零位误差做了综合评定,提出了一种动态的零值偏移误差补偿算法来滤除陀螺仪的零值偏移误差,还对启发式漂移消减法HDR(Heuristic Drift Reduction)做了改进,有效地提高了原算法的补偿精度。最后,再次采用Allan方差分析法对补偿后的零位误差进行评定,并以Voyager-IIA机器人为平台进行试验,结果证明了改进后的算法能显著的提高陀螺仪的输出精度。     

动态优化不等精度经纬仪交会方法

在多台不等精度经纬仪交会测量系统中,为提高数据的可靠性和精度,根据异面交会原理,提出空间定位精度及其误差的模型;提出采用定常异动算子算法和普通加权平均法相结合的处理方法;对该算法进行数学仿真,计算分别使用定常异动算子和普通加权平均法的交会角区间,并在实际任务中加以应用。试验结果表明,采用合理的算法对多台不等精度经纬仪进行交会测量,增加了测量基线数量从而提高了整体数据的稳定性,同时提高了测量精度。