This paper introduces a kind of Feeder Control Units (FCUs) which treat feeders or main transformers as its objects. Being carefully designed, the FCU can separately meet the requirements such as signals’ acquisition...This paper introduces a kind of Feeder Control Units (FCUs) which treat feeders or main transformers as its objects. Being carefully designed, the FCU can separately meet the requirements such as signals’ acquisition, local control, on-time switchgear interlocking, etc. Equipped with a sort of high-speed serial communicahon interface, the FCUs can be distributively arranged near or into the switchgear, therefore a kind of distributed substation supervisory system can be formed.展开更多
The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the ...The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol （XCP） and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network （CAN） are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP, with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.展开更多
A 32 kbit OTP(one-time programmable)memory for MCUs(micro-controller units)used in remote controllers was designed.This OTP memory is used for program and data storage.It is required to apply 5.5V to BL(bit-line)and 1...A 32 kbit OTP(one-time programmable)memory for MCUs(micro-controller units)used in remote controllers was designed.This OTP memory is used for program and data storage.It is required to apply 5.5V to BL(bit-line)and 11V to WL(word-line)for a OTP cell of 0.35μm ETOX(EEPROM tunnel oxide)type by MagnaChip.We use 5V transistors on column data paths to reduce the area of column data paths since they require small areas.In addition,we secure device reliability by using HV(high-voltage)transistors in the WL driver.Furthermore,we change from a static logic to a dynamic logic used for the WL driver in the core circuit.Also,we optimize the WD(write data)switch circuit.Thus,we can implement them with a small-area design.In addition,we implement the address predecoder with a small-area logic circuit.The area of the designed 32 kbit OTP with 5V and HV devices is 674.725μm×258.75μm(=0.1745mm2)and is 56.3% smaller than that using 3.3V devices.展开更多
This paper proposes a fault ride-through hybrid controller(FRTHC)for modular multi-level converter based high-voltage direct current(MMC-HVDC)transmission systems.The FRTHC comprises four loops of cascading switching ...This paper proposes a fault ride-through hybrid controller(FRTHC)for modular multi-level converter based high-voltage direct current(MMC-HVDC)transmission systems.The FRTHC comprises four loops of cascading switching control units(SCUs).Each SCU switches between a bang-bang funnel controller(BBFC)and proportional-integral(PI)control loop according to a state-dependent switching law.The BBFC can utilize the full control capability of each control loop using three-value control signals with the maximum available magnitude.A state-dependent switching law is designed for each SCU to guarantee its structural stability.Simulation studies are conducted to verify the superior fault ride-through capability of the MMC-HVDC transmission system controlled by FRTHC,in comparison to that controlled by a vector controller(VC)and a VC with DC voltage droop control(VDRC).展开更多
[Objeetive] We aimed to calculate the flow of controlling units in a small watershed based on GIS technology. [Method] Hydrologic analysis on Qingyi River was conducted by using ArcGIS9.0, and the controlling units wi...[Objeetive] We aimed to calculate the flow of controlling units in a small watershed based on GIS technology. [Method] Hydrologic analysis on Qingyi River was conducted by using ArcGIS9.0, and the controlling units with response of water-land were divided according to the riv- er monitoring sections of Xuchang City; considering the wastewater entering the river and the water from its upper reach, the runoff of controlling sections in the driest month （ with guarantee rate of 90% ） was calculated by means of isoline, runoff coefficient and hydrologic analogy method, and the calculated value of Gaocun Bridge section in Linying was contrasted with the measured value in 2010. [Result] The results showed that the cal- culated value and measured value of Gaecun Bridge section in Linying in the driest month of 2010 were 6.03 and 5.93 m^3/s respectively, with relative error of 1.69%, which revealed that the result of calculated runoff was reasonable. [ Conclusion] The way to divide controlling units was reason- able, and the calculation result of runoff was accurate and can meet the precision of water environment capacity calculation.展开更多
The stable operation of thermal power plants is the core condition to ensure the stable power supply. Therefore, the application of unit centralized control technology around the three parts of the electromechanical f...The stable operation of thermal power plants is the core condition to ensure the stable power supply. Therefore, the application of unit centralized control technology around the three parts of the electromechanical furnace system layout, system principle, fixed value parameters, operation mode, logic and operation procedures control can improve the power generation stability of thermal power plants. Based on this, this paper first summarizes the concept of centralized control of thermal power plants and generating units, and then focuses on the principles and technical solutions of the application of centralized control technology of generating units.展开更多
The Cooling Storage Ring of the Heavy Ion Research Facility in Lanzhou(HIRFL-CSR)was constructed to study nuclear physics,atomic physics,interdisciplinary science,and related applications.The External Target Facility(...The Cooling Storage Ring of the Heavy Ion Research Facility in Lanzhou(HIRFL-CSR)was constructed to study nuclear physics,atomic physics,interdisciplinary science,and related applications.The External Target Facility(ETF)is located in the main ring of the HIRFL-CSR.The gamma detector of the ETF is built to measure emitted gamma rays with energies below 5 MeV in the center-of-mass frame and is planned to measure light fragments with energies up to 300 MeV.The readout electronics for the gamma detector were designed and commissioned.The readout electronics consist of thirty-two front-end cards,thirty-two readout control units(RCUs),one common readout unit,one synchronization&clock unit,and one sub-trigger unit.By using the real-time peak-detection algorithm implemented in the RCU,the data volume can be significantly reduced.In addition,trigger logic selection algorithms are implemented to improve the selection of useful events and reduce the data size.The test results show that the integral nonlinearity of the readout electronics is less than 1%,and the energy resolution for measuring the 60 Co source is better than 5.5%.This study discusses the design and performance of the readout electronics.展开更多
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
A hardware-in-the-loop simulating platform is developed to avoid designing defects caused by the complicated logical structure and multiple-functional buildup of the dectronic control unit（ECU）in modem diesel engine...A hardware-in-the-loop simulating platform is developed to avoid designing defects caused by the complicated logical structure and multiple-functional buildup of the dectronic control unit（ECU）in modem diesel engines, and to diminish potential damages on components or human exposure to dangers in R＆D en- deavor. This plat-form consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A typical model of diesel engine with turbocharger and intercooler is presented. Based on this model our research is carried out with a real ECU to test its software control strategies. Results show that by using the diesel engine model downloaded inside, the hardware-in-the-loop platform can simulate diesel engine＇s working conditions and generate all kinds of sensor signals which ECU needs on a real-time basis. So the ECU control strategies can be validated and relevant parameters roughly calibrated.展开更多
By means of circuit simulation, hardware of electronic control unit （ECU） of high pressure common-rail electronic control fuel system for diesel engine is designed. According to the system requirements for hardware ...By means of circuit simulation, hardware of electronic control unit （ECU） of high pressure common-rail electronic control fuel system for diesel engine is designed. According to the system requirements for hardware of ECU, signal-processing circuit of variable reluctance （VR） sensor, filter circuit for input signal, high voltage power circuit and driver and protection circuit of solenoid are simulated as emphases. Difficulties of wide scope of VR sensor output signal, efficiency of high voltage power and reliable and swift driver of solenoid are solved. The results of simulation show that the hardware meets the requirement of the fuel system. At the same time, circuit simulation can greatly increase quality of the design, alleviate design labor and shorten design time.展开更多
The kinetic characteristics of the clamping unit of plastic injection molding machine that is controlled by close loop with newly developed double speed variable pump unit are investigated. Considering the wide variat...The kinetic characteristics of the clamping unit of plastic injection molding machine that is controlled by close loop with newly developed double speed variable pump unit are investigated. Considering the wide variation of the cylinder equivalent mass caused by the transmission ratio of clamping unit and the severe instantaneous impact force acted on the cylinder during the mold closing and opening process, an adaptive control principle of parameter and structure is proposed to improve its kinetic performance. The adaptive correlation between the acceleration feedback gain and the variable mass is derived. The pressure differential feedback is introduced to improve the dynamic performance in the case of small inertia and heavy impact load. The adaptation of sum pressure to load is used to reduce the energy loss of the system. The research results are verified by the simulation and experiment, The investigation method and the conclusions are also suitable for the differential cylinder system controlled by the traditional servo pump unit.展开更多
The high working junction temperature of power component is the most common reason of its failure. So the thermal design is of vital importance in electronic control unit （ECU） design. By means of circuit simulation...The high working junction temperature of power component is the most common reason of its failure. So the thermal design is of vital importance in electronic control unit （ECU） design. By means of circuit simulation, the thermal design of ECU for electronic unit pump （EUP） fuel system is applied. The power dissipation model of each power component in the ECU is created and simulated. According to the analyses of simulation results, the factors which affect the power dissipation of components are analyzed. Then the ways for reducing the power dissipation of power components are carried out. The power dissipation of power components at different engine state is calculated and analyzed. The maximal power dissipation of each power component in all possible engine state is also carried out based on these simulations. A cooling system is designed based on these studies. The tests show that the maximum total power dissipation of ECU drops from 43.2 W to 33.84 W after these simulations and optimizations. These applications of simulations in thermal design of ECU can greatly increase the quality of the design, save the design cost and shorten design time展开更多
This study presents a decoupling control scheme of fluid catalytic cracking unit to account for the high interaction between two temperature control loops. The feed flow rate load disturbance is introduced to test the...This study presents a decoupling control scheme of fluid catalytic cracking unit to account for the high interaction between two temperature control loops. The feed flow rate load disturbance is introduced to test the proposed decoupling control scheme. Through simulation study shown that the decoupling is effective, stable and it presents advantage over controller without decoupler. Also, this scheme is able to offer good dynamic performance for most disturbances.展开更多
The number of electronic devices connected to agricultural machinery is increasing to support new agricultural practices tasks related to the Precision Agriculture such as spatial variability mapping and Variable Rate...The number of electronic devices connected to agricultural machinery is increasing to support new agricultural practices tasks related to the Precision Agriculture such as spatial variability mapping and Variable Rate Technology （VRT）. The Distributed Control System （DCS） is a suitable solution for decentralization of the data acquisition system and the Controller Area Network （CAN） is the major trend among the embedded communications protocols for agricultural machinery and vehicles. The application of soil correctives is a typical problem in Brazil. The efficiency of this correction process is highly dependent of the inputs way at soil and the occurrence of errors affects directly the agricultural yield. To handle this problem, this paper presents the development of a CAN-based distributed control system for a VRT system of soil corrective in agricultural machinery. The VRT system is composed by a tractor-implement that applies a desired rate of inputs according to the georeferenced prescription map of the farm field to support PA （Precision Agriculture）. The performance evaluation of the CAN-based VRT system was done by experimental tests and analyzing the CAN messages transmitted in the operation of the entire system. The results of the control error according to the necessity of agricultural application allow conclude that the developed VRT system is suitable for the agricultural productions reaching an acceptable response time and application error. The CAN-Based DCS solution applied in the VRT system reduced the complexity of the control system, easing the installation and maintenance. The use of VRT system allowed applying only the required inputs, increasing the efficiency operation and minimizing the environmental impact.展开更多
This paper presents a systematic method of designing the calibration toolbox of automotive electronic control unit（ECU）based on real-time workshop（RTW）.To break the strong coupling of each functional layer,the hie...This paper presents a systematic method of designing the calibration toolbox of automotive electronic control unit（ECU）based on real-time workshop（RTW）.To break the strong coupling of each functional layer,the hierarchical architecture of the calibration system is divided into the bottom driver layer,the intermediate interface layer and the top application layer.The driver functions meeting the specification of the automotive open system are sent and received in the intermediate interface layer.To reduce the development costs,the portable user codes are generated by RTW which provides a development environment from system simulation to hardware implementation.Specifically,the calibration codes yielded from the controller area network（CAN）calibration protocol（CCP）module are integrated into the control codes,called by a compiler in the daemons to build a corresponding project,and then downloaded into the object board to provide the A2L file.The experiments illustrate that the different drive modules are only needed to be replaced for the implementation of the calibration system applied in different hardware platforms.展开更多
The performance of the electronic unit pump (EUP) diesel engine is studied, it will be used in the integrated powertrain and its multi parameters are controllable. Both the theoretical analysis and experiment research...The performance of the electronic unit pump (EUP) diesel engine is studied, it will be used in the integrated powertrain and its multi parameters are controllable. Both the theoretical analysis and experiment research are taken. A control unit for the fuel quantity and timing in crankshaft domain is designed on this basis and the engine experiment test has been done. For the constant speed camshaft driving EUP system, the fuel quantity will increase as the supply angle goes up and injection timing has no effect. The control precision can reach 1°CA. The full injection timing MAP and engine peak performance curves are made successfully.展开更多
Arithmetic Logic Unit(ALU) as one of the main parts of any computing hardware plays an important role in digital computers. In quantum computers which can be realized by reversible logics and circuits, reversible ALUs...Arithmetic Logic Unit(ALU) as one of the main parts of any computing hardware plays an important role in digital computers. In quantum computers which can be realized by reversible logics and circuits, reversible ALUs should be designed. In this paper, we proposed three different designs for reversible 1-bit ALUs using our proposed 3×3 and 4×4 reversible gates called MEB3 and MEB4(Moallem Ehsanpour Bolhasani) gates, respectively. The first proposed reversible ALU consists of six logical operations. The second proposed ALU consists of eight operations, two arithmetic, and six logical operations. And finally, the third proposed ALU consists of sixteen operations, four arithmetic operations, and twelve logical operations. Our proposed ALUs can be used to construct efficient quantum computers in nanotechnology, because the proposed designs are better than the existing designs in terms of quantum cost, constant input, reversible gates used, hardware complexity, and functions generated.展开更多
This paper describes a research project that uses embedded systems design principles to construct and simulate an Engine Control Unit （ECU） for a hybrid car. The ECU is designed to select a fuel type based on the st...This paper describes a research project that uses embedded systems design principles to construct and simulate an Engine Control Unit （ECU） for a hybrid car. The ECU is designed to select a fuel type based on the stress level of the simulated engine. The primary goal of the project was to use a robotics kit, connected to sensors, to simulate a hybrid car under certain stress conditions such as hill climbing or full throttle. The project uses the LEGO~ Mindstorms~ NXT robotics kit combined with a Java-based firmware, a pressure sensor to simulate a gas pedal, and a tilt sensor to determine when the car is traveling uphill or downhill. The objective was to develop, through simulation, a framework for adjusting the ratios/proportions of fuel types and mixture under the stress conditions. The expected result was to establish a basis for determining the ideal/optimal fuel-mix-stress ratios on the hybrid car＇s performance. Using the NXT robotics kit abstracted the low level details of the embedded system design, which allowed a focus on the high level design details of the research. Also, using the NXJ Java-based firmware allowed the incorporation of object oriented design principles into the project. The paper outlines the evolution and the compromises made in the choice of hardware and software components, and describes the computations and methodologies used in the project.展开更多
With the rapid development of economy and society, people's living standard has been continuously improved, but the impact of development on the ecological environment is also huge. In order to further build a goo...With the rapid development of economy and society, people's living standard has been continuously improved, but the impact of development on the ecological environment is also huge. In order to further build a good natural ecological environment, we can explore the application of "three lines and one list" ecological environment zoning management and control technology, and improve the overall level of ecological environment protection and control. The article mainly focuses on the "three lines and one list" ecological environment zoning management and control technology and methods for in-depth exploration.展开更多
Train network system is a distributed bus system based on MVB bus, and its core component is vehicle control unit (VCU). The software architecture of VCU is developed in a flat and distributed way based on function or...Train network system is a distributed bus system based on MVB bus, and its core component is vehicle control unit (VCU). The software architecture of VCU is developed in a flat and distributed way based on function orientation, which is convenient for expansion, upgrading and testing.展开更多
文摘This paper introduces a kind of Feeder Control Units (FCUs) which treat feeders or main transformers as its objects. Being carefully designed, the FCU can separately meet the requirements such as signals’ acquisition, local control, on-time switchgear interlocking, etc. Equipped with a sort of high-speed serial communicahon interface, the FCUs can be distributively arranged near or into the switchgear, therefore a kind of distributed substation supervisory system can be formed.
文摘The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol （XCP） and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network （CAN） are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP, with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.
基金Project supported by the Second Stage of Brain Korea 21 Projects,Korea
文摘A 32 kbit OTP(one-time programmable)memory for MCUs(micro-controller units)used in remote controllers was designed.This OTP memory is used for program and data storage.It is required to apply 5.5V to BL(bit-line)and 11V to WL(word-line)for a OTP cell of 0.35μm ETOX(EEPROM tunnel oxide)type by MagnaChip.We use 5V transistors on column data paths to reduce the area of column data paths since they require small areas.In addition,we secure device reliability by using HV(high-voltage)transistors in the WL driver.Furthermore,we change from a static logic to a dynamic logic used for the WL driver in the core circuit.Also,we optimize the WD(write data)switch circuit.Thus,we can implement them with a small-area design.In addition,we implement the address predecoder with a small-area logic circuit.The area of the designed 32 kbit OTP with 5V and HV devices is 674.725μm×258.75μm(=0.1745mm2)and is 56.3% smaller than that using 3.3V devices.
基金supported in part by the State Key Program of National Natural Science Foundation of China (No.U1866210)Young Elite Scientists Sponsorship Program by CSEE (No.CSEE-YESS-2018007)Science and Technology Projects in Guangzhou (No.202102020221)。
文摘This paper proposes a fault ride-through hybrid controller(FRTHC)for modular multi-level converter based high-voltage direct current(MMC-HVDC)transmission systems.The FRTHC comprises four loops of cascading switching control units(SCUs).Each SCU switches between a bang-bang funnel controller(BBFC)and proportional-integral(PI)control loop according to a state-dependent switching law.The BBFC can utilize the full control capability of each control loop using three-value control signals with the maximum available magnitude.A state-dependent switching law is designed for each SCU to guarantee its structural stability.Simulation studies are conducted to verify the superior fault ride-through capability of the MMC-HVDC transmission system controlled by FRTHC,in comparison to that controlled by a vector controller(VC)and a VC with DC voltage droop control(VDRC).
文摘[Objeetive] We aimed to calculate the flow of controlling units in a small watershed based on GIS technology. [Method] Hydrologic analysis on Qingyi River was conducted by using ArcGIS9.0, and the controlling units with response of water-land were divided according to the riv- er monitoring sections of Xuchang City; considering the wastewater entering the river and the water from its upper reach, the runoff of controlling sections in the driest month （ with guarantee rate of 90% ） was calculated by means of isoline, runoff coefficient and hydrologic analogy method, and the calculated value of Gaocun Bridge section in Linying was contrasted with the measured value in 2010. [Result] The results showed that the cal- culated value and measured value of Gaecun Bridge section in Linying in the driest month of 2010 were 6.03 and 5.93 m^3/s respectively, with relative error of 1.69%, which revealed that the result of calculated runoff was reasonable. [ Conclusion] The way to divide controlling units was reason- able, and the calculation result of runoff was accurate and can meet the precision of water environment capacity calculation.
文摘The stable operation of thermal power plants is the core condition to ensure the stable power supply. Therefore, the application of unit centralized control technology around the three parts of the electromechanical furnace system layout, system principle, fixed value parameters, operation mode, logic and operation procedures control can improve the power generation stability of thermal power plants. Based on this, this paper first summarizes the concept of centralized control of thermal power plants and generating units, and then focuses on the principles and technical solutions of the application of centralized control technology of generating units.
基金supported by the National Natural Science Foundation of China (Nos. 12222512, 12375193, U2031206, U1831206, and U2032209)the Scientific Instrument Developing Project of the Chinese Academy of Sciences (GJJSTD20210009)+1 种基金the CAS Pioneer Hundred Talent Programthe CAS Light of West China Program
文摘The Cooling Storage Ring of the Heavy Ion Research Facility in Lanzhou(HIRFL-CSR)was constructed to study nuclear physics,atomic physics,interdisciplinary science,and related applications.The External Target Facility(ETF)is located in the main ring of the HIRFL-CSR.The gamma detector of the ETF is built to measure emitted gamma rays with energies below 5 MeV in the center-of-mass frame and is planned to measure light fragments with energies up to 300 MeV.The readout electronics for the gamma detector were designed and commissioned.The readout electronics consist of thirty-two front-end cards,thirty-two readout control units(RCUs),one common readout unit,one synchronization&clock unit,and one sub-trigger unit.By using the real-time peak-detection algorithm implemented in the RCU,the data volume can be significantly reduced.In addition,trigger logic selection algorithms are implemented to improve the selection of useful events and reduce the data size.The test results show that the integral nonlinearity of the readout electronics is less than 1%,and the energy resolution for measuring the 60 Co source is better than 5.5%.This study discusses the design and performance of the readout electronics.
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
基金Sponsored by the Ministerial Level Advanced Research(10660060220)
文摘A hardware-in-the-loop simulating platform is developed to avoid designing defects caused by the complicated logical structure and multiple-functional buildup of the dectronic control unit（ECU）in modem diesel engines, and to diminish potential damages on components or human exposure to dangers in R＆D en- deavor. This plat-form consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A typical model of diesel engine with turbocharger and intercooler is presented. Based on this model our research is carried out with a real ECU to test its software control strategies. Results show that by using the diesel engine model downloaded inside, the hardware-in-the-loop platform can simulate diesel engine＇s working conditions and generate all kinds of sensor signals which ECU needs on a real-time basis. So the ECU control strategies can be validated and relevant parameters roughly calibrated.
文摘By means of circuit simulation, hardware of electronic control unit （ECU） of high pressure common-rail electronic control fuel system for diesel engine is designed. According to the system requirements for hardware of ECU, signal-processing circuit of variable reluctance （VR） sensor, filter circuit for input signal, high voltage power circuit and driver and protection circuit of solenoid are simulated as emphases. Difficulties of wide scope of VR sensor output signal, efficiency of high voltage power and reliable and swift driver of solenoid are solved. The results of simulation show that the hardware meets the requirement of the fuel system. At the same time, circuit simulation can greatly increase quality of the design, alleviate design labor and shorten design time.
基金This project is supported by National Natural Science Foundation of China (No.50275102)Opening Foundation of State Key Lab of Fluid Power Transmission and Control of Zhejiang University, China (No.GZKF2002004).
文摘The kinetic characteristics of the clamping unit of plastic injection molding machine that is controlled by close loop with newly developed double speed variable pump unit are investigated. Considering the wide variation of the cylinder equivalent mass caused by the transmission ratio of clamping unit and the severe instantaneous impact force acted on the cylinder during the mold closing and opening process, an adaptive control principle of parameter and structure is proposed to improve its kinetic performance. The adaptive correlation between the acceleration feedback gain and the variable mass is derived. The pressure differential feedback is introduced to improve the dynamic performance in the case of small inertia and heavy impact load. The adaptation of sum pressure to load is used to reduce the energy loss of the system. The research results are verified by the simulation and experiment, The investigation method and the conclusions are also suitable for the differential cylinder system controlled by the traditional servo pump unit.
文摘The high working junction temperature of power component is the most common reason of its failure. So the thermal design is of vital importance in electronic control unit （ECU） design. By means of circuit simulation, the thermal design of ECU for electronic unit pump （EUP） fuel system is applied. The power dissipation model of each power component in the ECU is created and simulated. According to the analyses of simulation results, the factors which affect the power dissipation of components are analyzed. Then the ways for reducing the power dissipation of power components are carried out. The power dissipation of power components at different engine state is calculated and analyzed. The maximal power dissipation of each power component in all possible engine state is also carried out based on these simulations. A cooling system is designed based on these studies. The tests show that the maximum total power dissipation of ECU drops from 43.2 W to 33.84 W after these simulations and optimizations. These applications of simulations in thermal design of ECU can greatly increase the quality of the design, save the design cost and shorten design time
文摘This study presents a decoupling control scheme of fluid catalytic cracking unit to account for the high interaction between two temperature control loops. The feed flow rate load disturbance is introduced to test the proposed decoupling control scheme. Through simulation study shown that the decoupling is effective, stable and it presents advantage over controller without decoupler. Also, this scheme is able to offer good dynamic performance for most disturbances.
文摘The number of electronic devices connected to agricultural machinery is increasing to support new agricultural practices tasks related to the Precision Agriculture such as spatial variability mapping and Variable Rate Technology （VRT）. The Distributed Control System （DCS） is a suitable solution for decentralization of the data acquisition system and the Controller Area Network （CAN） is the major trend among the embedded communications protocols for agricultural machinery and vehicles. The application of soil correctives is a typical problem in Brazil. The efficiency of this correction process is highly dependent of the inputs way at soil and the occurrence of errors affects directly the agricultural yield. To handle this problem, this paper presents the development of a CAN-based distributed control system for a VRT system of soil corrective in agricultural machinery. The VRT system is composed by a tractor-implement that applies a desired rate of inputs according to the georeferenced prescription map of the farm field to support PA （Precision Agriculture）. The performance evaluation of the CAN-based VRT system was done by experimental tests and analyzing the CAN messages transmitted in the operation of the entire system. The results of the control error according to the necessity of agricultural application allow conclude that the developed VRT system is suitable for the agricultural productions reaching an acceptable response time and application error. The CAN-Based DCS solution applied in the VRT system reduced the complexity of the control system, easing the installation and maintenance. The use of VRT system allowed applying only the required inputs, increasing the efficiency operation and minimizing the environmental impact.
基金Supported by the Youth Science and Technology Innovation Talents Project of Chongqing Science&Technology Commission(cstc2013 kjrc-qnrc40005)the Research Project of Chongqing Education Committee(KJ120511)
文摘This paper presents a systematic method of designing the calibration toolbox of automotive electronic control unit（ECU）based on real-time workshop（RTW）.To break the strong coupling of each functional layer,the hierarchical architecture of the calibration system is divided into the bottom driver layer,the intermediate interface layer and the top application layer.The driver functions meeting the specification of the automotive open system are sent and received in the intermediate interface layer.To reduce the development costs,the portable user codes are generated by RTW which provides a development environment from system simulation to hardware implementation.Specifically,the calibration codes yielded from the controller area network（CAN）calibration protocol（CCP）module are integrated into the control codes,called by a compiler in the daemons to build a corresponding project,and then downloaded into the object board to provide the A2L file.The experiments illustrate that the different drive modules are only needed to be replaced for the implementation of the calibration system applied in different hardware platforms.
文摘The performance of the electronic unit pump (EUP) diesel engine is studied, it will be used in the integrated powertrain and its multi parameters are controllable. Both the theoretical analysis and experiment research are taken. A control unit for the fuel quantity and timing in crankshaft domain is designed on this basis and the engine experiment test has been done. For the constant speed camshaft driving EUP system, the fuel quantity will increase as the supply angle goes up and injection timing has no effect. The control precision can reach 1°CA. The full injection timing MAP and engine peak performance curves are made successfully.
文摘Arithmetic Logic Unit(ALU) as one of the main parts of any computing hardware plays an important role in digital computers. In quantum computers which can be realized by reversible logics and circuits, reversible ALUs should be designed. In this paper, we proposed three different designs for reversible 1-bit ALUs using our proposed 3×3 and 4×4 reversible gates called MEB3 and MEB4(Moallem Ehsanpour Bolhasani) gates, respectively. The first proposed reversible ALU consists of six logical operations. The second proposed ALU consists of eight operations, two arithmetic, and six logical operations. And finally, the third proposed ALU consists of sixteen operations, four arithmetic operations, and twelve logical operations. Our proposed ALUs can be used to construct efficient quantum computers in nanotechnology, because the proposed designs are better than the existing designs in terms of quantum cost, constant input, reversible gates used, hardware complexity, and functions generated.
文摘This paper describes a research project that uses embedded systems design principles to construct and simulate an Engine Control Unit （ECU） for a hybrid car. The ECU is designed to select a fuel type based on the stress level of the simulated engine. The primary goal of the project was to use a robotics kit, connected to sensors, to simulate a hybrid car under certain stress conditions such as hill climbing or full throttle. The project uses the LEGO~ Mindstorms~ NXT robotics kit combined with a Java-based firmware, a pressure sensor to simulate a gas pedal, and a tilt sensor to determine when the car is traveling uphill or downhill. The objective was to develop, through simulation, a framework for adjusting the ratios/proportions of fuel types and mixture under the stress conditions. The expected result was to establish a basis for determining the ideal/optimal fuel-mix-stress ratios on the hybrid car＇s performance. Using the NXT robotics kit abstracted the low level details of the embedded system design, which allowed a focus on the high level design details of the research. Also, using the NXJ Java-based firmware allowed the incorporation of object oriented design principles into the project. The paper outlines the evolution and the compromises made in the choice of hardware and software components, and describes the computations and methodologies used in the project.
文摘With the rapid development of economy and society, people's living standard has been continuously improved, but the impact of development on the ecological environment is also huge. In order to further build a good natural ecological environment, we can explore the application of "three lines and one list" ecological environment zoning management and control technology, and improve the overall level of ecological environment protection and control. The article mainly focuses on the "three lines and one list" ecological environment zoning management and control technology and methods for in-depth exploration.
文摘Train network system is a distributed bus system based on MVB bus, and its core component is vehicle control unit (VCU). The software architecture of VCU is developed in a flat and distributed way based on function orientation, which is convenient for expansion, upgrading and testing.
