基于RSI的工业机器人开放式控制系统设计

为提高工业机器人的柔性化及智能化水平,同时满足数据的实时共享、监控,使控制系统具有可扩展性与可移植性,设计了一种基于x86平台和RSI的工业机器人开放式控制系统。引入RSI后可载入应用程序包,实现PC工控机与KUKA机器人系统的实时性数据交换。运用模块化设计思路,针对硬件系统,制定软件系统平台的各功能模块,配合Windows操作系统的数据处理能力,在保证工业机器人实时性的前提下,实现了功能的扩展性和增减性。该系统在KUKA工业机器人力反馈实验平台上进行了可行性验证,试验表明,此开放式控制系统的实时响应性良好,满足预期控制要求。     

基于扩展AD理论的下肢康复机器人概念设计研究

为辅助康复医师为患者提供科学、安全、交互性的康复训练,需要运用现代设计理论开发新型融合感知康复机器人。基于传统AD理论,结合最终理想解、进化法则、裁剪法,提出一种对相关属性进行迭代匹配与合并的扩展AD理论设计矩阵,应用该扩展AD理论进行了新型康复机器人设计开发。经验证,该扩展AD理论可有效降低设计参数所含的信息量,保证设计方案的前瞻性和先进性,所提出的新方法对该类产品的设计研发具有指导意义。     

基于MODBUS串行通信的非接触式恒温控制系统

针对传统红外理疗器温控系统存在的受环境影响大、控温精度低、无法安全稳定运行的问题,设计了一种恒温控制系统。系统测温和加热都采用红外方案,实现了与被加热物体之间的完全非接触;基于MODBUS串行通讯协议,实现了温度传感器与控制器STM32之间的通讯;针对多温区/大温区温控环境下的恒温控制问题,采用滞回式多温区PID控制方案。测试结果表明,系统实现了多温区下的非接触式恒温控制,在控温测试范围内超调量≤0.5℃、误差带≤1.2℃、稳态误差≤0.7℃,系统运行安全、稳定。     

气动恒力控制系统的自抗扰控制

针对磨削和抛光等对恒力控制装置的迫切需求,开展气动恒力控制系统研究。由于气动系统存在比例流量阀死区、气缸摩擦力以及气体可压缩等非线性问题,提出了一种二阶线性PID自抗扰控制器,并加入了死区补偿器。该控制器采用跟踪微分器对输入信号进行过渡,利用扩张状态观测器对非线性参数影响进行估计,并通过线性PID反馈控制律进行补偿,同时引入死区补偿器快速跳过死区范围。试验结果表明,相比传统PID控制和积分型线性自抗扰控制(I-LADRC),线性PID自抗扰控制具有更好的动态响应以及更强的鲁棒性,并且稳态误差小于2 N。     

旋转倒立摆参数辨识与建模方法研究

旋转倒立摆是典型的高阶次、多变量和非线性的复杂系统，是控制理论研究和教学中的经典模型。准确的数学模型是研究和教学中使用旋转倒立摆的前提，然而，由于旋转倒立摆的复杂性通常难以建立和实际样机吻合的数学模型。利用Lagrange方程建立旋转倒立摆系统的数学模型，再对实际样机进行参数辨识确定模型具体参数，建立旋转倒立摆准确的数学模型。该方法具体呈现了如何为实际机电系统建立准确的数学模型。在此基础上，利用MATLAB的S函数对模型进行了仿真，验证了上述方法的有效性。     

活动渠化测流法

山区小河流平时水淺,不能用流速仪施測。如整理一次河床,不仅費工,一遇漲水又易被冲垮,間北站用油毛毡試制活动渠化槽,能大能小,漲水时可以去掉,水过后还可安到河槽里,十分方便,而且省工省料(如圖)。其作法用油毛毡数塊搭槎連在一     

High-performance wall-climbing robot for inspection and maintenance

A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mechanism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high adhesion efficiency, light body in weight, small size in structure and good capability in payload, is tested in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption performance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstanding locomotion ability and payload capacity.     

Two types of coaxial self-balancing robots

Two types of coaxial self-balancing robots （CSBR） were proposed, one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas, and the other can be used as a personal transporter ridden in cities. Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots. A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors, respectively. The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg. Furthermore, the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.