带有非连续分布式传感器/作动器的压电梁最优控制(英文)

Because of its light weight,broadband,and adaptable properties,smart material has been widely applied in the active vibration control(AVC) of flexible structures.Based on a first-order shear deformation theory,by coupling the electrical and mechanical operation,a 4-node quadrilateral piezoelectric composite element with 24 degrees of freedom for generalized displacements and one electrical potential degree of freedom per piezoelectric layer was derived.Dynamic characteristics of a beam with discontinuously distributed piezoelectric sensors and actuators were presented.A linear quadratic regulator(LQR) feedback controller was designed to suppress the vibration of the beam in the state space using the high precise direct(HPD) integration method.     

防误将油门当刹车结构的研究

驾驶汽车过程中,错踩油门(油门当刹车),引发的交通事故屡见不鲜。本设计结构根据驾驶员紧急制动时,踩踏刹车踏板的力远远大于踩踏油门踏板力这一事实,从而导致节气门开度不同,通过传感器测量误踩油门时节气门开启的角度、角速度、角加速度这三个参数的模拟量,并将信号传到控制器,与试验得到的临界值比较,判断是否误踩油门,若是,则发送命令到执行器进行强制制动,防止此类交通事故的发生。     

四转子机械作动器主动消振法

利用机械作动器进行主动消振是船舶振动控制领域的一项新技术．文章首先介绍了一种新型机械作动器-四转子机械作动器的工作原理;然后从主动消振理论出发,结合机械作动器的实际需要,提出了一种机械作动器最优相位和偏心距的解析计算方法-调相解析法．配合机械作动器的使用,可以使主动消振系统获得较好的消振效果．     

线路截断阀气液联动执行机构引压管安装

根据西气东输工程投产以来线路截断阀的运行情况、存在问题以及其他管道工程气液联动执行机构的安装实践,对气液联动执行机构引压管根部阀的选型及安装、引压管安装等问题进行探讨,并对天然气长输管道工程线路截断阀气液联动执行机构安装提出建议.     

电力机车用永磁机构断路器控制器的研制

设计了基于单片机PIC18F25K24控制的永磁机构真空断路器控制器.通过监测断路器合闸、分闸信号及动触头的位置,控制全桥IGBT的导通与关断,实现永磁机构动作,完成永磁机构真空断路器的合闸与分闸.     

压电双晶片执行器驱动位移有限元分析与实验研究

采用有限元分析软件对压电悬臂梁驱动位移进行静态分析,同时对驱动器静态位移进行理论计算与实验测试.将有限元分析与理论分析结果和实验测试结果进行对比分析,三者的结果具有良好的一致性,证明了利用有限元分析软件对双晶片悬臂梁结构静态驱动位移分析是正确的,为双晶片结构中压电片和弹性梁的优化设计提供了新方法.     

An Active Endoscopy Robotic System for Direct Tracheal Inspection

The development of active endoscopy techniques is one important area of medical robot.This paper designed a new flexible and active endoscopy robotic system for direct tracheal inspection.The mobile mechanism of the robot is based on the inchworm movement actuated by pneumatic rubber actuator.There are five air chambers controlled independently,by adjusting pressures in air chambers,the robot can move in a straight mode or in a bending mode.The inspection sensors and some therapy surgery tools can be equipped in the front of the robot.The prototype was made and its mechanical characteristics were analyzed.The robot could move smoothly in a small plastic tube,and the robot is respectable to be used for inspection in human trachea directly.     

Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators

Rollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. The roll stability loss is the main cause of rollover accidents in which heavy vehicles are involved. In order to improve the roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. However these may be not sufficient to overcome critical situations. This paper introduces the active anti-roll bars made of four electronic servo-valve hydraulic actuators, which are modelled and integrated in a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output is the force generated by the hydraulic actuator. The active control design is achieved solving a linear optimal control problem based on the linear quadratic regulator (LQR) approach. A comparison of several LQR controllers is provided to allow for tackling the considered multi-objective problems. Simulation results in frequency and time domains show that the use of two active anti-roll bars (front and rear axles) drastically improves the roll stability of the single unit heavy vehicle compared with the passive anti-roll bar.     

用于电磁作动器的功率放大器设计研究

功率放大器是主动控制隔振系统中的重要元件之一,其主要作用是根据指令信号,向电磁作动器提供交变电流以产生需要的交变力。本文介绍了该类功率放大器的基本工作原理与性能指标特点,设计了基于PWM控制的功率放大器控制系统。仿真及实验结果表明,设计的功率放大器能够满足系统各项设计指标要求,具有很强的实用性。     

不确定线性系统的鲁棒容错控制

研究了范数有界参数扰动的不确定线性系统的鲁棒容错控制问题.基于Lyapunov稳定性理论,针对不确定线性系统存在执行器失效情况,给出了闭环系统具有完整性的一个充分条件.应用Riccati不等式和LMI(线性矩阵不等式)2种方法给出了线性不确定系统对执行器失效具有容错性和完整性的设计步骤.最后给出了一个仿真算例,以验证所给设计方法的有效性和简单性.