In real machining, the tool paths are composed of a series of short line segments, which constitute groups of sharp corners correspondingly leading to geometry discontinuity in tangent. As a result, high acceleration ...In real machining, the tool paths are composed of a series of short line segments, which constitute groups of sharp corners correspondingly leading to geometry discontinuity in tangent. As a result, high acceleration with high fluctuation usually occurs. If these kinds of tool paths are directly used for machining, the feedrate and quality will be greatly reduced. Thus, generating continuous tool paths is strongly desired. This paper presents a new error-controllable method for generating continuous tool path. Different from the traditional method focusing on fitting the cutter locations, the proposed method realizes globally smoothing the tool path in an error-controllable way. Concretely, it does the smoothing by approaching the newly produced curve to the linear tool path by taking the tolerance requirement as a constraint. That is, the error between the desired tool path and the G01 commands are taken as a boundary condition to ensure the finally smoothed curve being within the given tolerance. Besides, to improve the smoothing ability in case of small corner angle, an improved local smoothing method is also proposed by symmetrically assigning the control points to the two adjacent linear segments with the constrains of tolerance and G3 continuity. Experiments on an open five-axis machine are developed to verify the advantages of the proposed methods.展开更多
We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utiliz...We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utilize quadratures for singular integrals using graded points. One has a polynomial order of accuracy if the integrand has a polynomial order of smoothness except at the singular point and the other has exponential order of accuracy if the integrand has an infinite order of smoothness except at the singular point. We estimate the order of convergence and computational complexity of the corresponding approximate solutions of the equation. We prove that the second technique preserves the order of convergence and computational complexity of the original collocation method. Numerical experiments are presented to illustrate the theoretical estimates.展开更多
In this paper, we propose the nonconforming virtual element method (NCVEM) discretization for the pointwise control constraint optimal control problem governed by elliptic equations. Based on the NCVEM approximation o...In this paper, we propose the nonconforming virtual element method (NCVEM) discretization for the pointwise control constraint optimal control problem governed by elliptic equations. Based on the NCVEM approximation of state equation and the variational discretization of control variables, we construct a virtual element discrete scheme. For the state, adjoint state and control variable, we obtain the corresponding prior estimate in H<sup>1</sup> and L<sup>2</sup> norms. Finally, some numerical experiments are carried out to support the theoretical results.展开更多
To control the robot and track the designed trajectory with uncertain disturbances in a specified precision range, an adaptive fuzzy control scheme for the robot arm manipulator is discussed. The controller output err...To control the robot and track the designed trajectory with uncertain disturbances in a specified precision range, an adaptive fuzzy control scheme for the robot arm manipulator is discussed. The controller output error method （COEM） is used to design the adaptive fuzzy controller. A few or all of the parameters of the controller are adjusted by using the gradient descent algorithm to minimize the output error. COEM is adopted in the adaptive control system for the robot arm manipulator with 5-DOF. Simulation results show the effectiveness of the method and the real time adjustment of the parameters.展开更多
In the twin-roll strip casting process, hot cast strips can be broken or tom if the casting speed does not match the rolling speed. Usually, a certain length of hot steel strip is hung freely between the caster and ro...In the twin-roll strip casting process, hot cast strips can be broken or tom if the casting speed does not match the rolling speed. Usually, a certain length of hot steel strip is hung freely between the caster and rolling mill to deal with the effect of this speed difference. In this paper,the freely hanging hot steel strip is referred to as the free loop of hot steel strip. Accurately measuring and controlling the height of this free loop is the key factor in maintaining a stable casting operation. Several methods for measuring the loop height of a steel strip are discussed and a method for accurately measuring and controlling the free loop height of hot steel strip is presented. Based on the results of the casting loop quantity change curve, this control method is confirmed to be effective and able to meet the requirements of continuous casting strip production.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos.51675440 and 11620101002National Key Research and Development Program of China under Grant No.2017YFB1102800the Fundamental Research Funds for the Central Universities under Grant No.3102018gxc025
文摘In real machining, the tool paths are composed of a series of short line segments, which constitute groups of sharp corners correspondingly leading to geometry discontinuity in tangent. As a result, high acceleration with high fluctuation usually occurs. If these kinds of tool paths are directly used for machining, the feedrate and quality will be greatly reduced. Thus, generating continuous tool paths is strongly desired. This paper presents a new error-controllable method for generating continuous tool path. Different from the traditional method focusing on fitting the cutter locations, the proposed method realizes globally smoothing the tool path in an error-controllable way. Concretely, it does the smoothing by approaching the newly produced curve to the linear tool path by taking the tolerance requirement as a constraint. That is, the error between the desired tool path and the G01 commands are taken as a boundary condition to ensure the finally smoothed curve being within the given tolerance. Besides, to improve the smoothing ability in case of small corner angle, an improved local smoothing method is also proposed by symmetrically assigning the control points to the two adjacent linear segments with the constrains of tolerance and G3 continuity. Experiments on an open five-axis machine are developed to verify the advantages of the proposed methods.
基金The NNSF (10371137 and 10201034) of Chinathe Foundation (20030558008) of Doctoral Program of National Higher Education, Guangdong Provincial Natural Science Foundation (1011170) of China and the Advanced Research Foundation of Zhongshan UniversityThe US National Science Foundation (9973427 and 0312113)NSF (10371122) of China and the Chinese Academy of Sciences under the program of "Hundred Distinguished Young Chinese Scientists."
文摘We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utilize quadratures for singular integrals using graded points. One has a polynomial order of accuracy if the integrand has a polynomial order of smoothness except at the singular point and the other has exponential order of accuracy if the integrand has an infinite order of smoothness except at the singular point. We estimate the order of convergence and computational complexity of the corresponding approximate solutions of the equation. We prove that the second technique preserves the order of convergence and computational complexity of the original collocation method. Numerical experiments are presented to illustrate the theoretical estimates.
文摘In this paper, we propose the nonconforming virtual element method (NCVEM) discretization for the pointwise control constraint optimal control problem governed by elliptic equations. Based on the NCVEM approximation of state equation and the variational discretization of control variables, we construct a virtual element discrete scheme. For the state, adjoint state and control variable, we obtain the corresponding prior estimate in H<sup>1</sup> and L<sup>2</sup> norms. Finally, some numerical experiments are carried out to support the theoretical results.
文摘To control the robot and track the designed trajectory with uncertain disturbances in a specified precision range, an adaptive fuzzy control scheme for the robot arm manipulator is discussed. The controller output error method （COEM） is used to design the adaptive fuzzy controller. A few or all of the parameters of the controller are adjusted by using the gradient descent algorithm to minimize the output error. COEM is adopted in the adaptive control system for the robot arm manipulator with 5-DOF. Simulation results show the effectiveness of the method and the real time adjustment of the parameters.
文摘In the twin-roll strip casting process, hot cast strips can be broken or tom if the casting speed does not match the rolling speed. Usually, a certain length of hot steel strip is hung freely between the caster and rolling mill to deal with the effect of this speed difference. In this paper,the freely hanging hot steel strip is referred to as the free loop of hot steel strip. Accurately measuring and controlling the height of this free loop is the key factor in maintaining a stable casting operation. Several methods for measuring the loop height of a steel strip are discussed and a method for accurately measuring and controlling the free loop height of hot steel strip is presented. Based on the results of the casting loop quantity change curve, this control method is confirmed to be effective and able to meet the requirements of continuous casting strip production.
