This paper focuses on the development of an embedded integrated servo-controller （EISC） for servomotors. Comprising of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range o...This paper focuses on the development of an embedded integrated servo-controller （EISC） for servomotors. Comprising of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complieated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator （IMA） that is essential to modern manufacturing industries. The development of such an EISC involves two major tasks： first, designing the hardware of a compact-sized and highly compatible EISC, and second, developing the software functions to facilitate its functionalities and capahilities. The developed EISC hence forms an integrated-servo-eontrol module, which determines the capability, functionality, flexibility and responsiveness of these IMAs.展开更多
This paper presents an environmental-friendly robotic system mimicking the undulating fins of a fish.To mimic the actual flexible fin of real fish,a fin-like mechanism with a series of connecting linkages is modeled a...This paper presents an environmental-friendly robotic system mimicking the undulating fins of a fish.To mimic the actual flexible fin of real fish,a fin-like mechanism with a series of connecting linkages is modeled and attached to the robotic fish,by virtue of a specially designed strip.Each link is able to turn and slide with respect to the adjacent link.These driving linkages are then used to form a mechanical fin consisting of several fin segments,which are able to produce undulations,similar to those produced by the actual fish fins.Owing to the modular and re-configurable design of the mechanical fin,we are able to construct biomimetic robotic fish with various swimming modes by fin undulations.Some qualitative and workspace observations by experiments of the robotic fish are shown and discussed.展开更多
Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have ...Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have a series of problems and unable to meet the requirements of the Antarctic expe- dition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and- disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is serious- ly analyzed, and a new hybrid position/force control method is adopted to make the manipulator per- form better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition.展开更多
The stop control strategy of modular multilevel converter based HVDC transmission system is proposed. This stop process is divided into stages of energy feedback and energy consumption. The DC voltage controller is co...The stop control strategy of modular multilevel converter based HVDC transmission system is proposed. This stop process is divided into stages of energy feedback and energy consumption. The DC voltage controller is coordinated to the used modules per phase when active power is transmitted prior to reactive power, so that the energy is fed back to the AC power grid connected to the converter station which uses the fixed dc voltage controller. In addition, in view of the different forms connected to the grid, specifically when the converter station supplies power for passive network, the passive converter station can take a certain auxiliary trigger strategy to make its maximum energy feedback to the grid. Finally, a simulation system of the MMC-HVDC system is constructed in Matlab/Simulink environment, and simulation results show that the proposed stop strategies are effective.展开更多
This paper studies a fault-tolerant control system for a space modular manipulator system mounted on space station or other spacecrafts such as satellites, located in low earth orbit. Design technologies for tradition...This paper studies a fault-tolerant control system for a space modular manipulator system mounted on space station or other spacecrafts such as satellites, located in low earth orbit. Design technologies for traditional industrial manipulator systems cannot be directly used to the space ones due to the special space environment and compactness. Considering the extremely tight constraints on mass, power consumption, volume, cost and ＂design-to-orbit＂ schedules, the fault-tolerant control system is developed mainly based on commercial-off-the-shaft components. The features of the hardware and software of the fault-tolerant control system are presented. The performance specifications are also discussed. Because many space proven design technologies and experiences are adopted, the fault-tolerant control system is characterized by high reliability and practicability.展开更多
基金Supported by the High Technology Research and Development Programme of China （No.2002AA421160） and the National Natural Science Foundation of China （No.50375008）.
文摘This paper focuses on the development of an embedded integrated servo-controller （EISC） for servomotors. Comprising of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complieated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator （IMA） that is essential to modern manufacturing industries. The development of such an EISC involves two major tasks： first, designing the hardware of a compact-sized and highly compatible EISC, and second, developing the software functions to facilitate its functionalities and capahilities. The developed EISC hence forms an integrated-servo-eontrol module, which determines the capability, functionality, flexibility and responsiveness of these IMAs.
文摘This paper presents an environmental-friendly robotic system mimicking the undulating fins of a fish.To mimic the actual flexible fin of real fish,a fin-like mechanism with a series of connecting linkages is modeled and attached to the robotic fish,by virtue of a specially designed strip.Each link is able to turn and slide with respect to the adjacent link.These driving linkages are then used to form a mechanical fin consisting of several fin segments,which are able to produce undulations,similar to those produced by the actual fish fins.Owing to the modular and re-configurable design of the mechanical fin,we are able to construct biomimetic robotic fish with various swimming modes by fin undulations.Some qualitative and workspace observations by experiments of the robotic fish are shown and discussed.
基金Supported by Beijing Science Foundation(4122065)National High Technology Research and Development Program of China("863" Program)(2011AA040202)National Science Foundation for Distinguished Young Scholar(60925014)
文摘Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have a series of problems and unable to meet the requirements of the Antarctic expe- dition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and- disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is serious- ly analyzed, and a new hybrid position/force control method is adopted to make the manipulator per- form better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition.
文摘The stop control strategy of modular multilevel converter based HVDC transmission system is proposed. This stop process is divided into stages of energy feedback and energy consumption. The DC voltage controller is coordinated to the used modules per phase when active power is transmitted prior to reactive power, so that the energy is fed back to the AC power grid connected to the converter station which uses the fixed dc voltage controller. In addition, in view of the different forms connected to the grid, specifically when the converter station supplies power for passive network, the passive converter station can take a certain auxiliary trigger strategy to make its maximum energy feedback to the grid. Finally, a simulation system of the MMC-HVDC system is constructed in Matlab/Simulink environment, and simulation results show that the proposed stop strategies are effective.
基金"863" National High Technology Foundation in Astronautics(2005AA742030)
文摘This paper studies a fault-tolerant control system for a space modular manipulator system mounted on space station or other spacecrafts such as satellites, located in low earth orbit. Design technologies for traditional industrial manipulator systems cannot be directly used to the space ones due to the special space environment and compactness. Considering the extremely tight constraints on mass, power consumption, volume, cost and ＂design-to-orbit＂ schedules, the fault-tolerant control system is developed mainly based on commercial-off-the-shaft components. The features of the hardware and software of the fault-tolerant control system are presented. The performance specifications are also discussed. Because many space proven design technologies and experiences are adopted, the fault-tolerant control system is characterized by high reliability and practicability.
