巡检机器人在风载荷作用下会发生一定的摆动,从而导致巡检结果准确性和可靠性降低,参考旋翼类飞行器设计了巡检机器人在风载荷下的平衡机构.首先,利用电机的动力学方程推导电机电压和转速之间的传递函数,使用叶素法建立旋翼产生的升力...巡检机器人在风载荷作用下会发生一定的摆动,从而导致巡检结果准确性和可靠性降低,参考旋翼类飞行器设计了巡检机器人在风载荷下的平衡机构.首先,利用电机的动力学方程推导电机电压和转速之间的传递函数,使用叶素法建立旋翼产生的升力与旋翼转速之间的关系,从而建立平衡机构的输入电压和输出升力之间的联系.其次,分析不同方向的风载荷对巡检机器人工作状态的影响,建立了巡检机器人在横向风载荷下的摆动数学模型.最后,将模糊PID(proportional integral derivative)应用于平衡机构的控制中,开展了巡检机器人的数值仿真和样机实验.结果表明:所设计的平衡机构可以有效抑制巡检机器人在风载荷中的摆动.展开更多
The existing research of the automotive side swing door and the closing angle via tests and simulations. In these tests, the closing energy is mainly conducted by measuring the closing energy door closing velocity and...The existing research of the automotive side swing door and the closing angle via tests and simulations. In these tests, the closing energy is mainly conducted by measuring the closing energy door closing velocity and initial door closing angle are usually not taken into consideration, so the accuracy of the test data cannot be ensured, and, meanwhile, simulations require a great deal of manpower and time. Moreover, frequent tests would give rise to the increasing research and development costs. In this paper, in response to the deficiencies of these current methods, the complicated door closing process is decomposed into the closing processes of different subsystems of door, which includes weather strip seal＇, air-binding effect, door weight, hinge, check-link and latch. Mathematical models of those subsystems are established according to their working principles during the door closing process. In addition to the theoretical research, an Excel-based software using Visual Basic Application programming language is developed to realize the mathematical models, which aims to calculate the energy consumption of the subsystems. The energy consumption of different subsystems of a production vehicle door is measured to verify the accuracy of the calculation sottware developed. The proposed research provides not only the theoretical basis for the future door closing energy research, but also an interactive method and system, effectively improving the quality and efficiency of vehicle door design.展开更多
电动挖掘机具有零排放和高能效优势,已是行业发展热点。挖掘机回转电驱相较于传统液驱系统,可进一步提高整机能效,是挖掘机绿色化发展重要趋势。然而,挖掘机上车回转为典型时变大惯量系统,现有电驱系统在应对大负载惯量变化和突变负载时...电动挖掘机具有零排放和高能效优势,已是行业发展热点。挖掘机回转电驱相较于传统液驱系统,可进一步提高整机能效,是挖掘机绿色化发展重要趋势。然而,挖掘机上车回转为典型时变大惯量系统,现有电驱系统在应对大负载惯量变化和突变负载时,存在控制性能不足和鲁棒性差的问题。为此,提出一种基于模型参考自适应的自抗扰控制方法,针对挖掘机回转系统负载扰动、时变惯量扰动,搭建扰动观测器,提高系统控制性能。为验证所提出控制方法的有效性,开展仿真与试验研究。仿真和试验结果表明,所提出控制方法较PID具有更优良的控制性和鲁棒性。相较于比例积分微分(Proportional integral derivative,PID)控制,定惯量工况下,模型参考自适应控制调整时间提高了9.3%,基于扰动观测器的模型参考自适应控制调整时间提高了32.6%,超调降低了45.5%。变惯量工况下,模型参考自适应控制调整时间提高了36.1%,超调量降低了39.7%,基于扰动观测器的模型参考自适应控制调整时间提高了41.8%,超调量降低了50%。突变载荷过程,模型参考自适应控制调整时间提高了12.8%,超调降低5.6%,基于扰动观测器的模型参考自适应控制调整时间提高了29.5%,超调量降低了16.7%。展开更多
针对四旋翼无人机吊挂负载系统传统建模方法(牛顿-欧拉/拉格朗日)建模步骤繁琐、计算效率低以及负载摆动稳定时间过长的问题。首先,提出一种基于Kane法建立四旋翼吊挂系统动力学模型的方法。该方法无需分析牛顿-欧拉法中的理想约束反力...针对四旋翼无人机吊挂负载系统传统建模方法(牛顿-欧拉/拉格朗日)建模步骤繁琐、计算效率低以及负载摆动稳定时间过长的问题。首先,提出一种基于Kane法建立四旋翼吊挂系统动力学模型的方法。该方法无需分析牛顿-欧拉法中的理想约束反力,也不必计算拉格朗日法中的动力学函数及其导数。在此基础上,设计一种基于自适应矩估计-神经网络-PID(Adaptive Moment Estimation-Neural Network-PID,Adam-NN-PID)的抗摆控制器,并搭配一种摆角-位移控制策略,以实现负载快速稳定;最后,在仿真环节中,对系统加入多种风扰,以研究抗摆控制器的动态控制效果。仿真结果表明:相较于传统PID和BPNN-PID摆角控制器,基于Adam-NN-PID设计的抗摆控制器,能更快速的使负载稳定,并且负载摆动幅度更小。展开更多
文摘巡检机器人在风载荷作用下会发生一定的摆动,从而导致巡检结果准确性和可靠性降低,参考旋翼类飞行器设计了巡检机器人在风载荷下的平衡机构.首先,利用电机的动力学方程推导电机电压和转速之间的传递函数,使用叶素法建立旋翼产生的升力与旋翼转速之间的关系,从而建立平衡机构的输入电压和输出升力之间的联系.其次,分析不同方向的风载荷对巡检机器人工作状态的影响,建立了巡检机器人在横向风载荷下的摆动数学模型.最后,将模糊PID(proportional integral derivative)应用于平衡机构的控制中,开展了巡检机器人的数值仿真和样机实验.结果表明:所设计的平衡机构可以有效抑制巡检机器人在风载荷中的摆动.
基金supported by Shanghai Automotive Industry Development Foundation of China (Grant No. 0903)R&D Project of Science and Technology Commission of Shanghai Municipality of China (Grant No. 08DZ1150306)
文摘The existing research of the automotive side swing door and the closing angle via tests and simulations. In these tests, the closing energy is mainly conducted by measuring the closing energy door closing velocity and initial door closing angle are usually not taken into consideration, so the accuracy of the test data cannot be ensured, and, meanwhile, simulations require a great deal of manpower and time. Moreover, frequent tests would give rise to the increasing research and development costs. In this paper, in response to the deficiencies of these current methods, the complicated door closing process is decomposed into the closing processes of different subsystems of door, which includes weather strip seal＇, air-binding effect, door weight, hinge, check-link and latch. Mathematical models of those subsystems are established according to their working principles during the door closing process. In addition to the theoretical research, an Excel-based software using Visual Basic Application programming language is developed to realize the mathematical models, which aims to calculate the energy consumption of the subsystems. The energy consumption of different subsystems of a production vehicle door is measured to verify the accuracy of the calculation sottware developed. The proposed research provides not only the theoretical basis for the future door closing energy research, but also an interactive method and system, effectively improving the quality and efficiency of vehicle door design.
文摘电动挖掘机具有零排放和高能效优势,已是行业发展热点。挖掘机回转电驱相较于传统液驱系统,可进一步提高整机能效,是挖掘机绿色化发展重要趋势。然而,挖掘机上车回转为典型时变大惯量系统,现有电驱系统在应对大负载惯量变化和突变负载时,存在控制性能不足和鲁棒性差的问题。为此,提出一种基于模型参考自适应的自抗扰控制方法,针对挖掘机回转系统负载扰动、时变惯量扰动,搭建扰动观测器,提高系统控制性能。为验证所提出控制方法的有效性,开展仿真与试验研究。仿真和试验结果表明,所提出控制方法较PID具有更优良的控制性和鲁棒性。相较于比例积分微分(Proportional integral derivative,PID)控制,定惯量工况下,模型参考自适应控制调整时间提高了9.3%,基于扰动观测器的模型参考自适应控制调整时间提高了32.6%,超调降低了45.5%。变惯量工况下,模型参考自适应控制调整时间提高了36.1%,超调量降低了39.7%,基于扰动观测器的模型参考自适应控制调整时间提高了41.8%,超调量降低了50%。突变载荷过程,模型参考自适应控制调整时间提高了12.8%,超调降低5.6%,基于扰动观测器的模型参考自适应控制调整时间提高了29.5%,超调量降低了16.7%。
文摘针对四旋翼无人机吊挂负载系统传统建模方法(牛顿-欧拉/拉格朗日)建模步骤繁琐、计算效率低以及负载摆动稳定时间过长的问题。首先,提出一种基于Kane法建立四旋翼吊挂系统动力学模型的方法。该方法无需分析牛顿-欧拉法中的理想约束反力,也不必计算拉格朗日法中的动力学函数及其导数。在此基础上,设计一种基于自适应矩估计-神经网络-PID(Adaptive Moment Estimation-Neural Network-PID,Adam-NN-PID)的抗摆控制器,并搭配一种摆角-位移控制策略,以实现负载快速稳定;最后,在仿真环节中,对系统加入多种风扰,以研究抗摆控制器的动态控制效果。仿真结果表明:相较于传统PID和BPNN-PID摆角控制器,基于Adam-NN-PID设计的抗摆控制器,能更快速的使负载稳定,并且负载摆动幅度更小。
