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Global integration design method of acceleration and deceleration control schedule for variable cycle engine
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作者 Ying CHEN Sangwei LU +1 位作者 Wenxiang ZHOU Jinquan HUANG 《Chinese Journal of Aeronautics》 2025年第5期248-261,共14页
Variable Cycle Engine(VCE)serves as the core system in achieving future advanced fighters with cross-generational performance and mission versatility.However,the resultant complex configuration and strong coupling of ... Variable Cycle Engine(VCE)serves as the core system in achieving future advanced fighters with cross-generational performance and mission versatility.However,the resultant complex configuration and strong coupling of control parameters present significant challenges in designing acceleration and deceleration control schedules.To thoroughly explore the performance potential of engine,a global integration design method for acceleration and deceleration control schedule based on inner and outer loop optimization is proposed.The outer loop optimization module employs Integrated Surrogate-Assisted Co-Differential Evolutionary(ISACDE)algorithm to optimize the variable geometry adjustment laws based on B-spline curve,and the inner loop optimization module adopts the fixed-state method to design the open-loop fuel–air ratio control schedules,which are aimed at minimizing the acceleration and deceleration time under multiple constraints.Simulation results demonstrate that the proposed global integration design method not only furthest shortens the acceleration and deceleration time,but also effectively safeguards the engine from overlimit. 展开更多
关键词 Control schedule design acceleration and deceleration Variablecycle engine Fixed-states method Co-differential evolutionary algorithm
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NURBS CURVE INTERPOLATOR WITH ADAPTIVE ACCELERATION-DECELERATION CONTROL 被引量:2
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作者 刘凯 赵东标 陆永华 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2008年第4期241-247,共7页
The feedrate profile of non-uniform rational B-spline (NURBS) interpolation due to the contour errors is analyzed. A NURBS curve interpolator with adaptive acceleration-deceleration control is presented. In interpo-... The feedrate profile of non-uniform rational B-spline (NURBS) interpolation due to the contour errors is analyzed. A NURBS curve interpolator with adaptive acceleration-deceleration control is presented. In interpo- lation preprocessing, the sensitive zones of feedrate variations are processed with acceleration-deceleration control. By using the proposed algorithm, the machining accuracy is guaranteed and the feedrate is adaptively adjusted to he smoothed. The mechanical shock imposed in the servo system is avoided by the first and the second time derivatives of feedrates. A simulation of NURBS interpolation is given to demonstrate the validity and the effectiveness of the algorithm. The proposed interpolator can also be applied to the trajectory planning of the other parametric curves. 展开更多
关键词 numerical control systems INTERPOLATION adaptive algorithms NURBS curve interpolator adaptive acceleration and deceleration limited jerk
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Research on cubic polynomial acceleration and deceleration control model for high speed NC machining 被引量:11
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作者 Hong-bin LENG Yi-jie WU Xiao-hong PAN 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2008年第3期358-365,共8页
To satisfy the need of high speed NC (numerical control) machining, an acceleration and deceleration (acc/dec) control model is proposed, and the speed curve is also constructed by the cubic polynomial. The proposed c... To satisfy the need of high speed NC (numerical control) machining, an acceleration and deceleration (acc/dec) control model is proposed, and the speed curve is also constructed by the cubic polynomial. The proposed control model provides continuity of acceleration, which avoids the intense vibration in high speed NC machining. Based on the discrete characteristic of the data sampling interpolation, the acc/dec control discrete mathematical model is also set up and the discrete expression of the theoretical deceleration length is obtained furthermore. Aiming at the question of hardly predetermining the deceleration point in acc/dec control before interpolation, the adaptive acc/dec control algorithm is deduced from the expressions of the theoretical deceleration length. The experimental result proves that the acc/dec control model has the characteristic of easy implementation, stable movement and low impact. The model has been applied in multi-axes high speed micro fabrication machining successfully. 展开更多
关键词 High speed NC machining acceleration and deceleration (acc/dec) control model Cubic speed curve Discrete mathematical model Adaptive acceleration and deceleration control algorithm
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Performance of an electron linear accelerator for the first photoneutron source in China
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作者 Xuan Li Jun-Qiang Zhang +3 位作者 Guo-Qiang Lin Wen-Cheng Fang Qiang Gu Meng Zhang 《Nuclear Science and Techniques》 SCIE CAS CSCD 2019年第4期1-7,共7页
A compact 15.0-MeV, 1.5-kW electron linear accelerator(LINAC) was successfully constructed to provide an electron beam for the first photoneutron source at the Shanghai Institute of Applied Physics, Shanghai,China. Th... A compact 15.0-MeV, 1.5-kW electron linear accelerator(LINAC) was successfully constructed to provide an electron beam for the first photoneutron source at the Shanghai Institute of Applied Physics, Shanghai,China. This LINAC consists of five main parts: a thermal cathode grid-controlled electron gun, a pre-buncher, a variable-phase-velocity buncher, a light-speed accelerating structure, and a high-power transportation beamline. A digital feedforward radio frequency compensator is adopted to reduce the energy spread caused by the transient beam loading effect. Furthermore, a real-time electron gun emission feedback algorithm is used to keep the beam stable. After months of efforts, all the beam parameters successfully met the requirements of the facility. In this paper, the beam commissioning process and performance of the LINAC are presented. 展开更多
关键词 ELECTRON linear accelerATOR HIGH-POWER transportation BEAMLINE Digital FEEDFORWARD radio frequency compensation Real-time ELECTRON GUN emission feedback algorithm Transmission efficiency
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A Rapidly Convergence Algorithm for Linear Search and its Application
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作者 Jianliang Li Hua Zhu +1 位作者 Xianzhong Zhou Wenjing Song 《Numerical Mathematics A Journal of Chinese Universities(English Series)》 SCIE 2006年第4期299-305,共7页
The essence of the linear search is one-dimension nonlinear minimization problem, which is an important part of the multi-nonlinear optimization, it will be spend the most of operation count for solving optimization p... The essence of the linear search is one-dimension nonlinear minimization problem, which is an important part of the multi-nonlinear optimization, it will be spend the most of operation count for solving optimization problem. To improve the efficiency, we set about from quadratic interpolation, combine the advantage of the quadratic convergence rate of Newton's method and adopt the idea of Anderson-Bjorck extrapolation, then we present a rapidly convergence algorithm and give its corresponding convergence conclusions. Finally we did the numerical experiments with the some well-known test functions for optimization and the application test of the ANN learning examples. The experiment results showed the validity of the algorithm. 展开更多
关键词 线性搜索 非线性优化 加速收敛 学习算法
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Design of S-band photoinjector with high bunch charge and low emittance based on multi-objective genetic algorithm 被引量:1
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作者 Ze-Yi Dai Yuan-Cun Nie +9 位作者 Zi Hui Lan-Xin Liu Zi-Shuo Liu Jian-Hua Zhong Jia-Bao Guan Ji-Ke Wang Yuan Chen Ye Zou Hao-Hu Li Jian-Hua He 《Nuclear Science and Techniques》 SCIE EI CAS CSCD 2023年第3期93-105,共13页
High-brightness electron beams are required to drive LINAC-based free-electron lasers(FELs)and storage-ring-based synchrotron radiation light sources.The bunch charge and RMS bunch length at the exit of the LINAC play... High-brightness electron beams are required to drive LINAC-based free-electron lasers(FELs)and storage-ring-based synchrotron radiation light sources.The bunch charge and RMS bunch length at the exit of the LINAC play a crucial role in the peak current;the minimum transverse emittance is mainly determined by the injector of the LINAC.Thus,a photoin-jector with a high bunch charge and low emittance that can simultaneously provide high-quality beams for 4th generation synchrotron radiation sources and FELs is desirable.The design of a 1.6-cell S-band 2998-MHz RF gun and beam dynamics optimization of a relevant beamline are presented in this paper.Beam dynamics simulations were performed by combining ASTRA and the multi-objective genetic algorithm NSGA II.The effects of the laser pulse shape,half-cell length of the RF gun,and RF parameters on the output beam quality were analyzed and compared.The normalized transverse emittance was optimized to be as low as 0.65 and 0.92 mm·mrad when the bunch charge was as high as 1 and 2 nC,respectively.Finally,the beam stability properties of the photoinjector,considering misalignment and RF jitter,were simulated and analyzed. 展开更多
关键词 Electron linear accelerator PHOTOINJECTOR Beam dynamics Multi-objective genetic algorithm
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A Numerical Algorithm for Arbitrary Real-Order Hankel Transform
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作者 YANG Yonglin LI Xing +1 位作者 DING Shenghu WANG Wenshuai 《Wuhan University Journal of Natural Sciences》 CAS CSCD 2022年第1期26-34,共9页
The Hankel transform is widely used to solve various engineering and physics problems,such as the representation of electromagnetic field components in the medium,the representation of dynamic stress intensity factors... The Hankel transform is widely used to solve various engineering and physics problems,such as the representation of electromagnetic field components in the medium,the representation of dynamic stress intensity factors,vibration of axisymmetric infinite membrane and displacement intensity factors which all involve this type of integration.However,traditional numerical integration algorithms cannot be used due to the high oscillation characteristics of the Bessel function,so it is particularly important to propose a high precision and efficient numerical algorithm for calculating the integral of high oscillation.In this paper,the improved Gaver-Stehfest(G-S)inverse Laplace transform method for arbitrary real-order Bessel function integration is presented by using the asymptotic characteristics of the Bessel function and the accumulation of integration,and the optimized G-S coefficients are given.The effectiveness of the algorithm is verified by numerical examples.Compared with the linear transformation accelerated convergence algorithm,it shows that the G-S inverse Laplace transform method is suitable for arbitrary real order Hankel transform,and the time consumption is relatively stable and short,which provides a reliable calculation method for the study of electromagnetic mechanics,wave propagation,and fracture dynamics. 展开更多
关键词 Hankel transform large argument approximate expression of the Bessel function linear transformation accelerated convergence algorithm(LTACA) G-S inverse Laplace transform method(G-SILTM)
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FPGA智驱多通道步进电机精密平台 被引量:1
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作者 李浩然 李明桧 +5 位作者 甄国涌 储成群 刘婕 臧帅辰 高佳琦 李文越 《工业仪表与自动化装置》 2025年第1期103-110,共8页
该文给出了一种FPGA智驱多通道步进电机精密平台的设计方法。通过改进电机梯形加减速算法降低计算复杂程度,并将该算法部署到FPGA平台上与多组传感器共同工作。通过可视化的上位机界面由UART与主控板进行通信,并实现了运动参数的实时下... 该文给出了一种FPGA智驱多通道步进电机精密平台的设计方法。通过改进电机梯形加减速算法降低计算复杂程度,并将该算法部署到FPGA平台上与多组传感器共同工作。通过可视化的上位机界面由UART与主控板进行通信,并实现了运动参数的实时下发配置,实现了对电机的精准控制。性能测试结果表明,该精密平台可以精准控制多通道步进电机启停运动,有效避免了失步和过冲,具有良好的性能。同时该平台还具有平稳的加减速曲线,原点可控,可调速度,精准步数等特点,且具备仿真验证,满足明确的需求。 展开更多
关键词 FPGA 多通道 步进电机 加减速算法
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电机加减速算法轨迹规划技术应用综述
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作者 艾超 庄定洋 +2 位作者 陈立娟 孙家庆 常振鑫 《机电工程》 北大核心 2025年第5期994-1005,共12页
为了解决采用轨迹技术对电机加减速曲线规划时,电机加减速曲线分段较多,各曲线所用参数之间具有一定耦合性,导致该技术在实际应用过程中存在参数优化工作较为复杂和困难的问题,对该技术大量应用实例和相关文献进行了系统性调研分析。首... 为了解决采用轨迹技术对电机加减速曲线规划时,电机加减速曲线分段较多,各曲线所用参数之间具有一定耦合性,导致该技术在实际应用过程中存在参数优化工作较为复杂和困难的问题,对该技术大量应用实例和相关文献进行了系统性调研分析。首先,对当前诸多应用轨迹规划技术的电机加减速算法数学模型及其加减速曲线的综合性进行了分析,对电机加减速算法轨迹规划方法提出了明确的分类;然后,对部分电机加减速算法轨迹规划技术的应用实例在提升控制目标及控制系统整体性能时所选取的优化方向和优化工作进行了深入分析,确定了电机加减速算法轨迹规划技术的性能指标为柔性和实时性,同时也明确了这两者对系统运行平稳性和电机控制性能的影响以及对应的评估标准;最后,对性能指标进行了分析,根据电机加减速算法轨迹规划技术在飞行控制领域和机床加工领域的应用实例,明确了柔性和实时性这两者和电机加减速算法数学模型之间的联系,并列出了电机加减速算法在优化这两者时存在的一系列共性问题。根据以上研究所得电机加减速算法轨迹规划技术的分类标准、性能指标和共性问题,对该技术进行了展望,为多应用场景下的电驱系统高性能控制研究奠定了基础。 展开更多
关键词 梯形加减速算法 指数型加减速算法 S曲线加减速算法 轨迹规划 性能指标 共性问题
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运营铁路隧道治理专用凿毛装置的设计与运动学分析
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作者 周扬 易勇 +2 位作者 罗舟 宁智 尹来容 《工程设计学报》 北大核心 2025年第5期708-719,共12页
针对运营铁路隧道治理天窗期短、人工凿毛效率低及定向专用设备缺乏等问题,基于隧道整治施工需求开发了一种隧道治理专用的凿毛装置。首先,根据凿毛作业要求确定了凿毛装置的结构为机械臂结合剪叉式提升架,并适配设计了固定连接型与铰... 针对运营铁路隧道治理天窗期短、人工凿毛效率低及定向专用设备缺乏等问题,基于隧道整治施工需求开发了一种隧道治理专用的凿毛装置。首先,根据凿毛作业要求确定了凿毛装置的结构为机械臂结合剪叉式提升架,并适配设计了固定连接型与铰接型凿毛机构。然后,通过改进D-H(Denavit-Hartenberg)参数法建立了凿毛装置运动学模型,开展了正、逆运动学分析,并采用蒙特卡洛法求解了凿毛装置的工作空间。最后,对凿毛装置的作业过程进行了运动轨迹规划分析,利用五次多项式插值法进行关节空间点到点轨迹规划,并利用基于S形加减速控制算法的平面圆弧插补方法进行笛卡儿空间指定路径规划。结果表明,所设计的凿毛装置的整体结构及工作空间符合设计要求,且运动性能良好;通过运动轨迹规划分析有效地减少了凿毛装置作业过程中的运动冲击与振动,保证了凿毛作业的安全性。研究结果为后续的凿毛装置实物样机制造与凿毛作业试验提供了理论基础。 展开更多
关键词 铁路隧道 凿毛装置 S形加减速控制算法 运动学分析 运动轨迹规划
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功能梯度材料打印组分转变时平稳控制策略研究
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作者 彭壮壮 韩硕 +1 位作者 周婧 段国林 《机械设计与制造》 北大核心 2025年第1期126-130,共5页
随着增材制造技术的快速发展,功能梯度材料的制备已成为该领域研究热点。针对微流挤出制备该材料过程中组分转变程度未能与加减速过程实时匹配,以及成形质量不高的问题,提出了以改进的S形加减速模型为基础,组分转变程度与加减速参数相... 随着增材制造技术的快速发展,功能梯度材料的制备已成为该领域研究热点。针对微流挤出制备该材料过程中组分转变程度未能与加减速过程实时匹配,以及成形质量不高的问题,提出了以改进的S形加减速模型为基础,组分转变程度与加减速参数相匹配为核心的进给控制策略。通过对电机运动进行理论分析,建立了新型S形加减速模型,以灰度为分级标准,利用前瞻算法对转变点进行识别与分类,并以此控制转变点的加减速过程,以使组分转变规律化。通过对比不同控制策略下制备样件的成形质量,验证了该控制策略能够有效地减小机身震动,提高成形质量,材组分转变程度与加减速参数相匹配,为提高功能梯度材料组分转变精度与避免组分突变提供一定借鉴价值。 展开更多
关键词 增材制造 功能梯度材料 组分转变 前瞻算法 S形加减速 参数匹配
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痰染片制片系统中步进电机启停控制算法的优化设计与实现
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作者 庄泉洁 陈子娇 +1 位作者 肖志睿 刘洪英 《华东师范大学学报(自然科学版)》 北大核心 2025年第6期39-45,共7页
步进电机在整个全自动痰染片制片的工作流程中发挥着关键作用.在电机的启动和停止过程中,电机速度常常会发生急剧变化,因此一个良好的电机启停控制算法显得尤为重要.首先,需要避免电机在突然高速启动时因所需力矩过大而导致的过载现象,... 步进电机在整个全自动痰染片制片的工作流程中发挥着关键作用.在电机的启动和停止过程中,电机速度常常会发生急剧变化,因此一个良好的电机启停控制算法显得尤为重要.首先,需要避免电机在突然高速启动时因所需力矩过大而导致的过载现象,以保护电机不受损坏.其次,在减速过程中,应防止高速运转的电机突然停止,以减少对电机的惯性冲击,降低由此产生的运动偏差.致力于优化步进电机的启停控制算法,在启停阶段采用S型曲线来实现电机转速的平稳变化.这种S型速度变化曲线基于Logistic函数设计,能够确保电机在启动和停止时速度平稳变化,避免突然加速或减速带来的冲击.同时,电机的整体运动采用7段式加减速优化算法,以实现对电机的有效控制.以系统中的x方向电机控制为例,仿真实验验证了该算法的有效性,步进电机在启停区间,其转速与时间的曲线呈S型变化,保证了电机启停的平稳性.实测结果显示,采用S型加减速启停控制算法,位置误差被控制在±0.05 mm以内,相比梯形控制算法带来的±0.9 mm位置误差,有了显著的减小,这表明S型加减速启停控制算法在减小位置误差方面取得了良好效果. 展开更多
关键词 步进电机 启停控制 7段式S型加减速控制算法 位置误差
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基于蚁群算法对残缺晶圆检测路径优化
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作者 单峤 孟新宇 沈立博 《机械工程师》 2025年第11期36-39,共4页
针对提高不同情况的残缺晶圆利用率,提出基于图像处理后对残缺晶圆芯片的检测路径进行优化。经过图像预处理后,采集芯片重要信息集合为散点图,便于路径优化问题得出最优解,设计一种融合人工势场改进蚁群算法的最短路径规划算法。对蚂蚁... 针对提高不同情况的残缺晶圆利用率,提出基于图像处理后对残缺晶圆芯片的检测路径进行优化。经过图像预处理后,采集芯片重要信息集合为散点图,便于路径优化问题得出最优解,设计一种融合人工势场改进蚁群算法的最短路径规划算法。对蚂蚁种群、启发因子、信息素相关参数调整的蚁群优化路径的基础上引入势场引力斥力进一步优化,得出一种能适应不同情况残缺晶圆的最短路径优化方案。试验结果表明,与传统方法相比,新提出的优化方案的检测路径能够缩短300~560 dmm,效率提升4.5%~6%。 展开更多
关键词 蚁群算法 人工势场算法 路径优化 图像处理 加减速分析
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煤矿复杂地层定向钻孔扰动抑制方法仿真 被引量:1
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作者 张云宁 岳博 赵治勇 《计算机仿真》 2025年第3期437-441,共5页
煤矿地层结构复杂,钻孔过程中会遇到各种不确定因素,如地层硬度变化、岩石裂隙等,这些因素会对钻孔过程产生扰动。抗扰控制器需要识别并补偿这些复杂多变的扰动,对扰动抑制方法的实现提出了高要求。为此,提出煤矿复杂地层定向钻孔扰动... 煤矿地层结构复杂,钻孔过程中会遇到各种不确定因素,如地层硬度变化、岩石裂隙等,这些因素会对钻孔过程产生扰动。抗扰控制器需要识别并补偿这些复杂多变的扰动,对扰动抑制方法的实现提出了高要求。为此,提出煤矿复杂地层定向钻孔扰动抑制方法,从位置和速度控制两个方面实现扰动抑制。建立自抗扰控制器,通过跟踪微分控制器跟踪系统输入信号,采用扩张状态观测器估计钻孔机受到的扰动,根据非线性状态误差反馈获得扰动补偿量,实现位置的扰动补偿控制;设计直线型加减速控制算法控制钻孔机的加减速,以此抑制高速运动下钻孔机受到的外界振动扰动。仿真结果表明,所提方法能够对钻孔位置与速度实现高精度控制,有效抑制钻孔扰动。 展开更多
关键词 深部超厚煤矿 钻孔机 自抗扰控制器 直线型加减速控制 扰动抑制
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Application of the hybrid genetic particle swarm algorithm to design the linear quadratic regulator controller for the accelerator power supply 被引量:1
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作者 Xianqiang Zeng Jingwei Zhang Hengjie Li 《Radiation Detection Technology and Methods》 CSCD 2021年第1期128-135,共8页
Purpose The purpose of this paper is to study a new method to improve the performance of the magnet power supply in the experimental ring of HIRFL-CSR.Methods A hybrid genetic particle swarm optimization algorithm is ... Purpose The purpose of this paper is to study a new method to improve the performance of the magnet power supply in the experimental ring of HIRFL-CSR.Methods A hybrid genetic particle swarm optimization algorithm is introduced,and the algorithm is applied to the optimal design of the LQR controller of pulse width modulated power supply.The fitness function of hybrid genetic particle swarm optimization is a multi-objective function,which combined the current and voltage,so that the dynamic performance of the closed-loop system can be better.The hybrid genetic particle swarm algorithm is applied to determine LQR controlling matrices Q and R.Results The simulation results show that adoption of this method leads to good transient responses,and the computational time is shorter than in the traditional trial and error methods.Conclusions The results presented in this paper show that the proposed method is robust,efficient and feasible,and the dynamic and static performance of the accelerator PWM power supply has been considerably improved. 展开更多
关键词 Particle swarm optimization Genetic algorithm accelerator power supply linear quadratic regulator optimal controller Weighting matrix
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基于阈值迭代法和加速线性Bregman联合的多震源地震数据同时分离和重建
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作者 莫子奋 邱达星 +3 位作者 张华 张春雷 何承峻 杨熙熙 《物探与化探》 2025年第3期653-660,共8页
多震源技术极大地提高了地震数据的采集效率,但采集到的数据存在严重的混叠和缺失现象,需要在分离的过程中有效地对缺失道进行重建。由于单一的分离和重建算法在精度和速度上不能同时提高。为此,本文提出将阈值迭代法和加速线性Bregman... 多震源技术极大地提高了地震数据的采集效率,但采集到的数据存在严重的混叠和缺失现象,需要在分离的过程中有效地对缺失道进行重建。由于单一的分离和重建算法在精度和速度上不能同时提高。为此,本文提出将阈值迭代法和加速线性Bregman方法进行联合,充分利用阈值迭代法后期处理精度高和加速线性Bregman方法前期收敛速度快的优势,用于多震源数据的同时分离和重建。在此过程中,选择曲波变换为稀疏基,引入硬阈值函数、指数阈值因子和加速因子,并提出新型指数加权因子,最终分离和重建出单震源数据,并且与单独的阈值迭代法和加速线性Bregman方法进行对比分析。此外,本文还对该联合方法的抗噪性和去噪能力进行了研究。理论模拟和实际应用表明,在分离和重建出完整的单震源信号方面,联合方法具有更高的精度和更快的计算效率。 展开更多
关键词 多震源 地震数据分离 重建 阈值迭代法 加速线性Bregman算法
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融合PID与S型曲线加减速控制算法的智能马桶盖控制策略
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作者 王春武 张忠盛 +5 位作者 钱远行 钟星鹏 董晓庆 王畅 林一帆 刘春玲 《韩山师范学院学报》 2025年第6期1-8,共8页
针对智能马桶盖运行顿挫和极限位置碰撞问题,提出了基于PID与S型曲线加减速的融合控制策略.通过模糊逻辑实现PID参数动态整定,重构S型速度规划并优化闭环控制,结合状态机实现多阶段协同控制,以确保马桶盖运动全程平滑无振荡.实验结果表... 针对智能马桶盖运行顿挫和极限位置碰撞问题,提出了基于PID与S型曲线加减速的融合控制策略.通过模糊逻辑实现PID参数动态整定,重构S型速度规划并优化闭环控制,结合状态机实现多阶段协同控制,以确保马桶盖运动全程平滑无振荡.实验结果表明,该算法控制下的开盖阶段的加速度变化率(jerk)最大值为0.42°/ms^(3),而闭合阶段为0.37°/ms^(3);极限位置控制中,全开位置角度波动≤0.14°,闭合末端角度变化率约0.8°/ms,远低于碰撞阈值;曲线均方根误差为0.68°,极限位置超调量≤0.12°,定位精度达±0.3°,多工况一致性符合行业标准.与存在卡顿和顶端碰撞震荡现象的传统PID算法相比,该控制策略可使马桶盖运动曲线平滑流畅且无顶端碰撞,有利于延长关键部件寿命,为智能卫浴运动控制提供了创新方案. 展开更多
关键词 马桶盖 PID控制算法 S型曲线加减速 防撞算法
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Improvement of Linear Accelerator Numerical Simulation Algorithm Based on Symmetry Principle
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作者 JIN Chao YANG Lijuan +3 位作者 ZHAO Xiaoying QI Xin WANG Zhijun HE Yuan 《原子核物理评论》 CSCD 北大核心 2024年第4期967-974,共8页
In the study of beam dynamics of high intensity linear accelerators,full 3D multiparticle simulations are needed due to numerous nonlinear effects caused by the strong space-charge effects between charged particles.Ho... In the study of beam dynamics of high intensity linear accelerators,full 3D multiparticle simulations are needed due to numerous nonlinear effects caused by the strong space-charge effects between charged particles.However,the use of multiparticle simulations is limited by the speed of the Particle-in-cell(PIC)algorithm.In this work,we modify the PIC algorithm by using the symmetry of beam,the solution procedure is divided into two steps,one is the solution of the symmetric field and the other is the addition of the asymmetric field components.Due to the full use of symmetry,our modified algorithm can significantly improve the computational speed of multiparticle simulations.Results show that the modified algorithm accelerates the process of solving space-charge field by a factor of 4,thus increases the speed of the entire multiparticle simulation by a factor of 1.7,while ensures the accuracy of the simulation.Although our algorithm is modified for linear accelerator,considering that the algorithm is an improvement based on symmetry,it can still speed up the simulation for any accelerator with symmetry. 展开更多
关键词 linear accelerator numerical simulation space-charge effect particle in cell algorithm SYMMETRY
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面向桁架机器人的五段S型加减速算法研究
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作者 李锁 孙崇健 李悦宁 《制造业自动化》 2025年第11期114-123,共10页
针对传统S型加减速算法在桁架机器人运料过程中存在速度切换不平滑、冲击较大以及加工效率偏低的问题。对传统五段S型加减速算法进行了改进,提出了一种面向桁架机器人的五段S型加减速算法。首先,以最大加速度为参量,将加速度曲线与正弦... 针对传统S型加减速算法在桁架机器人运料过程中存在速度切换不平滑、冲击较大以及加工效率偏低的问题。对传统五段S型加减速算法进行了改进,提出了一种面向桁架机器人的五段S型加减速算法。首先,以最大加速度为参量,将加速度曲线与正弦函数相结合,简化了五段S型加减速算法模型;其次,在短路径下的速度规划过程中,利用中点牛顿迭代法加快了迭代求解速度并完成速度规划;最后,通过MATLAB仿真和桁架机器人运料实验验证,改进后的算法加速度、加加速度曲线过渡平滑,匀速运行时间延长13.92%,整体的运行时间缩短6.06%,有效地提高了运料的平稳性与运输效率。 展开更多
关键词 五段S型加减速算法 桁架机器人 正弦函数 速度规划 中点牛顿迭代法
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数控系统的直线和S形加减速研究 被引量:56
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作者 陈友东 王田苗 +1 位作者 魏洪兴 潘月斗 《中国机械工程》 EI CAS CSCD 北大核心 2006年第15期1600-1604,共5页
推导出了用于机器人及机床控制器前加减速的直线加减速和S形加减速的离散采样迭代公式。实际减速点和理论减速点不重合,在减速过程中会出现一段时间的低速运行,为了消除低速运行段,提出了按照实际的剩余长度重新计算加速度和加加速度的... 推导出了用于机器人及机床控制器前加减速的直线加减速和S形加减速的离散采样迭代公式。实际减速点和理论减速点不重合,在减速过程中会出现一段时间的低速运行,为了消除低速运行段,提出了按照实际的剩余长度重新计算加速度和加加速度的算法,对该算法进行了仿真和实验验证,结果表明,该算法可有效地消除减速过程中的低速运行段。 展开更多
关键词 线性加减速 S形加减速 CNC 插补
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