共查询到20条相似文献,搜索用时 93 毫秒
2.
自动小车存取系统中轨道导引小车环路死锁控制的研究 总被引:2,自引:0,他引:2
为防止自动小车存取系统中轨道导引小车环路死锁现象,提出了一种基于Petri网和有向图的死锁控制方法.该方法首先应用有色赋时Petri网建立了自动小车存取系统的动态模型,并结合有向图工具,阐述了导致环路死锁的原因.在此基础上,针对单一轨道双向运行的轨道导引系统,探讨了其环路死锁的主要表现形式,给出了轨道导引小车无死锁运行的充要条件,并提出了包含临界状态在内的死锁避免控制策略.最后,结合实例说明了环路死锁控制的有效性. 相似文献
3.
赫磊 《现代制造技术与装备》2021,(6):72-73
介绍了一种轨道车辆牵引小车的工作原理及结构,对牵引小车的牵引能力进行计算,并通过试验进行了验证.设计的轨道车辆牵引小车具有牵引力大、质量轻、尺寸小、操作灵活方便以及作业效率高等优点,适用于轨道车辆的转场、移动和牵引作业. 相似文献
4.
5.
6.
为了实现自动小车在书库内的避障功能,应用虚拟力场法建立了避障模型,描述了目标点的虚拟引力和障碍物的虚拟斥力之间的关系及其功能设计,实现了从自动小车的运动坐标值到控制量的转变,完成了自动小车在多变的周边环境中实现自动避障的功能. 相似文献
7.
《机械制造与自动化》2017,(4):192-194
设计了一种基于S3C6410处理器的医用智能轨道物流小车控制系统。该轨道小车采用轮毂电机驱动,基于RFID的路径识别技术作为定位方案,并且使用了Zig Bee无线技术来与中央控制器和系统中的其他对象进行交互。根据控制系统实时性和多任务划分的原则,合理划分了小车控制系统的任务组成结构。经试验验证该小车控制系统实时性好,可靠性高,能够高效率完成物流任务。 相似文献
8.
谭季秋 《机电产品开发与创新》2003,(6):74-76
自动控制系统中,根据输出量的不同,有速度伺服系统、位置伺服系统等。本文分析了微机控制的位置伺服系统。介绍了步进电机开环控制的零件长度尺寸自动测量装置,分析了其工作原理和参数设计。测量装置是计算机数控机床的配套设备,本文给出了系统结构框图、关键部件图及部分控制程序。 相似文献
9.
为了解决相控阵扫查架对焊缝扫查过程中存在误差较大、无固定扫查路径、检验人员容易出现疲劳等问题,结合国内外相控阵扫查架的设计思路,运用轨道导向设计理念,设计一种以轮毂电机作为驱动轮,以轨道槽轮作为限位导向装置的新型相控阵超声焊缝检测三槽轨道扫查架小车。该装置由三槽轨道、车架、轮毂电机、导向轮、车架、电池及电池架、编码器架、探头架、编码器和探头等组成。该装置在使用过程中,将轨道吸附于罐体外壁,随后将电动牵引小车放置于轨道上,小车的轮毂驱动轮与轨道外槽配合,小车上下两排导向限位轮与轨道上下槽配合,通过调整探头与罐体焊缝间的间隙,获得最优检测距离,小车运行速度可以适时调整,以得到最为合适的检测速度。小车运用轨道可实现小车沿环形焊缝运动,运用轮毂电机可极大减小整体装置的体积同时便于调速,运用限位导向轮可使小车在运动过程中平稳可靠。小车设置可调式编码器架及探头架可快速调节编码器及探头位置,设置车载锂电池为轮毂电机供电,使其拥有操作简单、性能可靠以及具备高效的续航能力。 相似文献
10.
11.
为有效解决城市轨道列车速度曲线跟踪控制问题,提出了一种速度曲线预测函数控制改进算法IPFC。所提出的预测函数控制改进算法选用阶跃函数和Morlet小波函数作为基函数,其依据目标速度曲线的变化程度,给出了一种预测函数控制的基函数选择策略,该策略可实现小波与阶跃基函数的切换。除此之外,给出了一种基于系统性能模糊满意度与优化因子的柔化因子非线性自适应在线调整策略,通过调整优化因子能够进一步提升跟踪控制性能。基于大连城市轨道交通12号线中旅顺新港至铁山镇的城市轨道列车速度曲线跟踪控制场景,在硬件在环实验环境下得到的实验结果表明,所提出的IPFC能够显著改善控制系统的控制性能,节能、准时、停车精确、舒适4个性能指标都有明显的改善,特别是准时与精确停车,相比广泛应用于实际的传统改进算法均大幅提升超过了55%。 相似文献
12.
轿车侧装饰条设计及失效分析 总被引:1,自引:0,他引:1
轿车侧装饰条的作用是在开车门或碰到障碍物时,用以保护车门的其他部分免于擦伤。按照其与钣金配合方式不同,分为卡扣卡接、胶带粘接、胶带和定位销以及卡扣胶带连接四种,对四种配合方式进行了详细的描述和分析,并对常见的配合失效模式加以阐述。 相似文献
13.
该文设计了一种新型PID控制算法,对其在电液比例位置控制系统上的应用进行研究。在介绍新型PID控制算法基本原理的基础上,通过实验比较该系统新型PID控制和常规PID控制对正弦信号的跟踪效果。结果表明,新型PID控制比常规PID控制有更好的精度和稳定性。 相似文献
14.
15.
This paper presents a new intelligent approach for adaptive control of a nonlinear dynamic system. A modified version of the brain emotional learning based intelligent controller (BELBIC), a bio-inspired algorithm based upon a computational model of emotional learning which occurs in the amygdala, is utilized for position controlling a real laboratorial rotary electro-hydraulic servo (EHS) system. EHS systems are known to be nonlinear and non-smooth due to many factors such as leakage, friction, hysteresis, null shift, saturation, dead zone, and especially fluid flow expression through the servo valve. The large value of these factors can easily influence the control performance in the presence of a poor design. In this paper, a mathematical model of the EHS system is derived, and then the parameters of the model are identified using the recursive least squares method. In the next step, a BELBIC is designed based on this dynamic model and utilized to control the real laboratorial EHS system. To prove the effectiveness of the modified BELBIC's online learning ability in reducing the overall tracking error, results have been compared to those obtained from an optimal PID controller, an auto-tuned fuzzy PI controller (ATFPIC), and a neural network predictive controller (NNPC) under similar circumstances. The results demonstrate not only excellent improvement in control action, but also less energy consumption. 相似文献
16.
由于超声电机压电材料、摩擦材料、接触界面的非线性,速度平稳性和位置控制精度不高,这在一定程度上制约了它在高端精密装备中的应用。本文介绍了一种实现超声电机速度、位置高精度控制的方法。从连续运动与步进运动两个维度分析了超声电机的速度调控机理,阐明了速度波动的误差来源,建立了以幅值、频率为输入量,融合稳态环节与动态环节的速度模型。为了准确预测步进位移量,建立并辨识了启动-关断两段式二阶速度模型;接着采用双环复合控制算法实现了高平稳性速度控制,并通过驱动参数优化实现了电机的高分辨率位置控制。最后,运用分段逼近策略实现了高精度定位。实验结果表明,在速度控制方面,采用双环复合方法控制的速度平稳性为0.44%,相比单速度环的控制效果提升了一倍;在位置控制方面,超声电机的开环位置分辨率达到了0.375μrad,定位精度达到了1.7μrad。本文提出的控制方法综合了不同参数及不同环路的调控特点,有效提高了超声电机的速度与位置控制精度,为超声电机在精密装备中的拓展应用奠定了基础。 相似文献
17.
18.
Position control system typical of machine tools and robots usually operate at relatively high torque and low speed. Although servo motors having these characteristics are now available, their cost, size, and weight generally exceed those of the traditional servo motor and gear reducer. Critical applications require transmissions with zero backlash and high stiffness, for which there are several solutions. This article reviews various anti-backlash techniques, discusses their subtleties and applications, develops models, and present design methodologies. Although presented in the context of geared transmissions, the ideas also apply to other machine elements and situations requiring precision and robustness. Two case studies, a robot revolute joint and a machine tool axis of rotation, help to reinforce the theory and raise practical issues. 相似文献
19.
Wongun Kim Kyongsu Yi Jongseok Lee 《Journal of Mechanical Science and Technology》2011,25(6):1573-1581
This paper describes a drive control algorithm based on optimal coordination of drive torque for an independent 8 in-wheel
motor drive vehicle. The drive controller improves lateral stability and maneuverability. The drive controller consists of
upper level controller and lower level controller. The upper level controller determines front, middle steering angle, additional
net yaw moment and longitudinal net force according to the reference velocity and steering commands. The lower level controller
coordinates additional tractive and braking forces to guarantee desired longitudinal net force and yaw moment. This controller
is based on optimal control theory and takes into consideration the friction circle related to the vertical tire force and
friction coefficient acting on the road and tire. Distributed tractive and braking forces are determined as proportional to
the size of the friction circle according to the changes at driving conditions. The response of the 8 in-wheel drive vehicle
implemented with this drive controller has been evaluated via computer simulations conducted using Matlab/Simulink dynamic
model. Computer simulations of an open-loop J-turn maneuver and a closed-loop driver model subjected to double lane change
have been conducted to demonstrate improved performance and stability of the proposed drive controller. 相似文献
20.
Jawad Aslam Shi-Yin Qin Muhammad Adnan Alvi 《Journal of Mechanical Science and Technology》2014,28(8):3301-3310
This research design and implement a robust dynamic feedback controller for a four-wheel skid steering vehicle (SSV) under highspeed cornering motion. First, SSV dynamics are modeled and analyzed to construct the simulation environment and to validate the performance of the proposed algorithm. A robust fuzzy-sliding mode controller is then designed to offset the effect of forces induced by wheel—soil interaction during skidding and ground-level fluctuations. It also eliminates the chattering phenomena encountered with conventional sliding mode control. Given P-3AT mobile robot parameters for trajectory tracking and velocity setting, extensive simulation results demonstrate the effectiveness of the proposed controller. 相似文献