基于多代理系统的侦察机器人监控系统研制

针对半自主侦察机器人监控系统应该具有分布的智能、局部的自主能力和开放的系统构架的要求，建立了基于多代理机制的监控系统。系统主要分成感知代理、车体驱动代理、事务执行代理、操作员接口代理、数据管理代理等部分，这些代理又可以是由若干个代理协同工作的组合代理，代理之间采用控制驱动的协调方法。然后，分别介绍了感知代理、事务执行代理、人一机器人接口代理中主要代理的功能和实现方法。实验测试表明，系统满足侦察机器人的监控要求，具有很好的灵活性和扩展性。     

激光制导测量机器人斜面爬行稳定性分析

激光制导测量机器人是基于“光束运动—光靶跟踪”理论提出的,本文利用测量机器人斜面爬行时的受力分析,对影响机器人爬行时的稳定性因素进行分析,为机器人的机械结构设计和驱动系统设计提供了理论依据,从而为高效完成测量任务打下基础。     

管外喷涂机器人的行走系统设计

管外喷涂机器人的行走系统采用双驱动轮式行走方式,设计了管外喷涂机器人的行走系统及行走轮的管径适应调节与锁紧装置,该行走系统能适应于管径变化范围在60mm以内的管外机器人,该行走系统具有可避障、管径自适应调节、结构简单等优点.     

Robust control of robot manipulator with actuators

A Robust controller is designed for cascaded nonlinear uncertain systems that can be decomposed into two subsystems; that is, a series connection of two nonlinear subsystems, such as a robot manipulator with actuators. For such systems, a recursive design is used to include the second subsystem in the robust control. The recursive design procedure contains two steps. First, a fictitious robust controller for the first subsystem is designed as if the subsystem had an independent control. As the fictitious control, a nonlinearH∞ control using energy dissipation is designed in the sense ofL ₂-gain attenuation from the disturbance caused by system uncertainties to performance vector. Second, the actual robust control is designed recursively by Lyapunov’s second method. The designed robust control is applied to a robotic system with actuators, in which the physical control inputs are not the joint torques, but electrical signals to the actuators.     

An implementation methodology for supervisory control theory

In this study, a methodology for PLC implementation of Supervisory Control Theory is introduced and realized on a pneumatic manufacturing system. The implementation methodology resolves the problem of avalanche effect and enhances program readability. We use local modular approach, which exploits modular structure of the plant and of the specifications. Local modular approach, together with the implementation methodology presented in this study provides an effective way for synthesizing and realizing supervisors for Discrete Event Systems (DES) control problems. The resulting PLC program is also modular in structure, making it handable for modification and error detection.     

基于Web的嵌入式远程数据采集与监控系统

介绍了一种基于Web的嵌入式远程数据采集与监控系统(SCADA),该系统用于对无人值守的动力设备、环境状况、安防消防等进行信息采集、管理和监控.系统集成了现场数据采集、故障告警、联动控制、网络数据存储(黑匣子)、Web服务器、协议转换、图像采集等多项功能,采用了嵌入式技术和开放的网络平台,支持TCP(UDP)/IP、XML、Socket等多种协议标准和数据格式,支持二次开发,可替代专用的RTU、PLC或通用低速数据采集工控机等设备.在该系统基础上,可进一步构建通用、统一的信息采集与监控平台,实现现场监控与管理.     

模糊离散事件系统的自适应监督控制

针对基于模糊自动机的模糊离散事件系统模型在实际工程应用中的不足,从产生式规则出发,建立了该类系统的模糊规则化模型.通过定义结构化的模糊因子并以其构成模糊规则,实现了对模糊状态转移函数的描述.提出了一种包含模糊监控器和模糊控制器的系统闭环监控结构,并针对模糊推理环节给出了具体的实现方法.通过定义一种可动态调整的模糊规则允许发生度,实现了系统的自适应监控机制.借助电动汽车电池均衡管理系统对方法进行了验证.结果表明,系统的运行过程符合预定的目标.     

采用Trio运动控制器的搬运机器人控制系统研究

介绍一种自主开发的三直角坐标机器人机械结构及其可实现的功能.针对机器人所完成的货物搬运过程与动作,研究开发一种开放式控制系统.该系统采用运动控制器+PC机+触摸屏结构,其中,Trio公司的Eur0205X型运动控制器为控制系统核心部件,保证了PC机软件程序对机器人硬件本体的控制作用及触摸屏的离线控制功能.各种传感器的使用,提高了系统的运动与控制精度.实验表明,该机器人工作稳定可靠,性能、精度均能满足设计要求,为实验室机器人的进一步研究奠定了基础.     

Automated supervisory control systems for major hazard facilities

A method of constructing supervisory control systems for major hazard facilities is proposed. The hardware architecture and software based on these principles are described. An automated system for controlling the motion of trains of the Novosibirsk subway is presented.     

工业监控中的无线网络设计与应用

结合当前工业监控软件技术的发展，重点讨论了工业监控中的无线组网方案，指出了无线网络相对于当前普遍采用的有线网络的独特优势和广阔的应用前景。同时也讨论了使用无线网络带来的传输速度、可靠性、拓扑结构以及安全性的问题。最后根据工厂实际，提出一个综合了无线局域网和广域网的移动工业监控平台网络设计方案。     

基于模糊监督器的混杂系统控制

针对一类混杂系统的对象,提出了应用多模型控制的方法实现混杂系统控制的思想.借助于模糊监督控制中模糊监督器的设计规则,设计了适用于混杂控制系统的监督控制器,在该监督器的作用下,实现了控制系统中局部控制器之间的切换.仿真结果表明了该设计方法的有效性,被控对象在超调量和调节时间上都具有很好的性能.     

基于分布式配置的智能化配电监控系统

文章以北京亦庄经济技术开发区某小区电力监控管理系统为例,详细介绍了一种基于分布式配置的智能化配电监控系统的系统结构、系统功能及特点。     

Decentralized supervisory based switching control for uncertain multivariable plants with variable input-output pairing

In this paper, the design of decentralized switching control for uncertain multivariable plants is considered. In the proposed strategy, the uncertainty region is divided into smaller regions with a nominal model and specific control structure. The underlying design is based on the quantitative feedback theory (QFT). It is assumed that a MIMO-QFT controller exists for robust stability and performance of the individual uncertain sets. The proposed control structure is made up by these local decentralized controllers, which commute among themselves in accordance with the decision of a high level decision maker called the supervisor. The supervisor makes the decision by comparing the local models' behaviors with the one of the plant and selects the controller corresponding to the best fitted model. A hysteresis switching logic is used to slow down the switching to guarantee the overall closed loop stability. It is shown that this strategy provides a stable and robust adaptive controller to deal with complex multivariable plants with input-output pairing changes during the plant operation, which can facilitate the development of a reconfigurable decentralized control. Also, the multirealization technique is used to implement a family of controllers to achieve bumpless transfer. Simulation results are employed to show the effectiveness of the proposed method.     

循迹机器人控制系统设计

基于单片机控制的自动循迹机器人系统可广泛涉及于探测、工业、生活中。循迹机器人是一个应用传感器、控制器、驱动及外加扩展的自动化技术,按照预先设定的模式或者轨迹来进行自动循迹导航的高新技术。设计简易循迹小车,采用STC89C52单片机作为小车的控制芯片;采用TCRT5000红外光电对管对地面黑色轨迹进行检测,将其信号反馈回单片机,单片机对其反馈信号进行分析并采用PWM控制直流电机的转速修正小车的移动方向,实现小车自动循迹的目的。     

不确定机器人鲁棒自适应控制

针对不确定、时变和非线性机器人系统的实时性要求,提出了采用滑模变结构和RBF神经网络相结合来构造控制器.用带有符号函数的滑模变结构控制器来产生一个控制输入信号,同时利用具有快速学习能力的RBF神经网络来学习外界的不确定性,增强系统的自适应能力,使之达到更佳的控制效果,并在文中证明了系统的稳定性.最后给出了对两连杆机器人的仿真,验证了控制效果.     

Decentralized supervisory control of continuous timed discrete event systems

<正>In this paper,we presented the decentralized supervisory control problem of discrete event system with continuous-time variable.By presenting the definition of coobservability for the timed specification,a necessary and sufficient condition for the existence of decentralized supervisors is obtained.Finally,a numerical example is given.     

A hybrid supervisory control approach for virtual production systems

With the development of computer technology, the anticipated extensive use of virtual production systems (VPSs) in the future has encouraged its intensive research recently. However, a limited amount of research has been made on its efficient control. In this paper, a hybrid supervisory control approach based on autonomy and coordination is proposed for VPSs to enhance the efficiency of control. Its three primary advantages are: (1) application of supervisory control theory, which can efficiently obtain the desired property through closed-loop feedback; (2) use of hybrid control structure combining hierarchical and distributed ones, which can avoid the exponential explosion of state space due to synthesis of models; and (3) utilization of autonomous and coordination mechanisms, which can keep the balance of local quick response and global optimization. A case study is used to illustrate how to implement the proposed approach, and is finally analyzed and simulated by an integrated tool named UPPAAL.     

具有力觉感的主从医疗机器人双向控制系统的动力学模型研究

本文基于对主从机器人控制系统的动力学分析,研究了借助力觉临场感技术实现主从医疗机器人遥操作的控制理论和设计方法。在力和运动的双向控制中采用了新型控制方案,从理论上分析了该方案的可行性,显示了临场感技术在增强人机交互能力方面的优越性。     

嵌入式电梯远程监控系统的研究与应用

在简要分析电梯远程监控系统发展现状以及嵌入式Web Server实现方案的基础上,描述了一套电梯远程监控系统,通过该系统监控人员可以远程控制电梯的开关状态并能调整其工作模式,当电梯发生工作故障时可以自动向远程监控中心报警。     

具有超前特性的移动机器人跟踪截获控制算法

针对移动机器人跟踪截获运动目标问题,本文提出了具有超前瞄准的跟踪截获控制算法。在已知直线恒速运动目标特性的情况下,推导出了直线跟踪截获目标的超前瞄准角的计算公式。在目标特性未知的情况下,提出了基于目标视线角的修正PD控制算法。仿真试验结果表明该方法与常规的基于目标视线角的方法比较,能有效地改善机器人跟踪特性,其跟踪轨迹平直,目标截获时间短。