Five-Axis Interpolation of Continuous Short Linear Trajectories for 3[PP]S-XY Hybrid Mechanism by Dual Bezier Blending

A novel five-axis real-time interpolation algorithm for 3[PP]S-XY hybrid mechanism is proposed in this paper. In the algorithm, the five-axis tool path for controlling this hybrid mechanism is separated into two sub-paths. One sub-path describes the movement of 3[PP]S parallel kinematic mechanism module, and the other one describes the movement of XY platform. A pair of cubic Bezier curves is employed to smooth the corners in those two sub-paths. Based on the homogenous Jacobian matrix of 3[PP]S mechanism, a relationship between the position errors of every driving joint in hybrid mechanism and the position deviation of the tool tip center point at the moving platform is established. This relationship is used to estimate the approximation error for the corners smoothing according to the accuracy requirement of tool tip center in interpolation. Due to the high computational efficiency of this corner smoothing method, it is integrated into the look-ahead module of computer numerical control(CNC) system to perform online tool path smoothing. By performing the speed planning based on a floating window scheme, a jerk limited S-shape speed profile can be generated efficiently. On this basis, a realtime look-ahead scheme, which is comprised of path-smoothing and feedrate scheduling, is developed to acquire a speed profile with smooth acceleration. A monotonic cubic spline is employed for synchronization between those two smoothed sub-paths in tool path interpolation. This interpolation algorithm has been integrated into our own developed CNC system to control a 3PRS-XY experimental instrument(P, R and S standing for prismatic,revolute and spherical, respectively). A club shaped trajectory is adopted to verify the smoothness and efficiency of the five-axis interpolator for hybrid mechanism control.     

Study on Real-time Look-ahead and Adaptive Parametric Curve Interpolator

The principle of real-time look-ahead was introduced and analysed. An adaptive parametric curve interpolator with a real-time look-ahead function was developed for non-uniform rational B-spline (NURBS) curves interpolation, which considering the maximum acceleration/deceleration of the machine tool. In order to deal with the acceleration/deceleration around the feedrate sensitive corners, the look-ahead function was designed and illustrated. It can detect and adjust the feedrate adaptively. With the help of real-time look-ahead, the acceleration/deceleration can be limited to the range of the machine tool capacity. Thus, feedrate fluctuation is reduced. A NURBS curve interpolation experiment was provided to verify the feasibility and advantages of the proposed interpolator with a real-time look-ahead function.     

一种三坐标数控铣床CNC系统软件的设计

本文介绍了一种基于PC386微型机的新型三坐标微机数控铣床CNC系统软件的设计方法。提出了系统软件的结构，着重介绍了插补算法、刀具补偿、尖角过渡仿真、实时加工和刀具轨迹显示，同时简要介绍了加工程序的解释与分析。     

数控系统小线段高速加工中的“拐点问题”

在数控系统的连续小线段高速插补中,由于线段终点速度不为零及插补的离散特征,线段最后插补点与终点不能自然重合,若强行把终点作为最后插补点,可能带来速度冲击．为解决这一问题,本文提出了一种全新的处理方法,在确保没有速度冲击的前提下,允许插补点不通过线段终点,简化了插补算法．该方法产生的最大轮廓误差仅取决于最大加速度及插补周期,在实际系统中进行误差控制十分方便．     

数控系统插补算法的研究

本文提出了一种用于数控系统的粗、精插补算法,粗插补采用时间分割精确算法,精插补采用参数三次样条插值算法。     

交通网络最优路径搜索的蚁群算法

针对交通网络中最优路径搜索问题,本文提出一种基于蚁群算法的新的求解方法。首先从剖析最优路径问题的求解要求出发,探讨蚁群算法求解的优势,由于其并行性、正反馈、协作性等特点,能在较短的时间内发现较优解。然后,根据交通网络的特性,在基本蚁群算法的基础上,引入信息素限定规则,采用平滑机制进行局部更新,改进了全局更新模型等,使该算法更能满足交通系统最优路径的求解要求,降低了路径选择的复杂性,从而提高计算效率。对改进的模型进行的模拟实验和比较分析表明,该模型与算法的效果良好。该研究为交通系统最优路径问题开创了一条新的途径,同时显示出蚁群算法在交通分配中的良好使用前景。     

应急车辆动态路径选择的两阶段优化模型

为研究突发事件情境下交通路网动态变化时的应急车辆路径选择问题，提出应急车辆动态路径选择的两阶段调度优化模型。通过结合路网动态状况和应急救援特征，建立基于最大路径可靠度和最短行程时间的两阶段优化模型；通过混沌搜索改进布谷鸟算法初始种群，并加入蛙跳算法改进局部搜索操作，设计混合布谷鸟算法，改善全局寻优能力；以某市某区部分区域路网为例，将该区域路网实时交通数据应用于模型和求解算法中。实验表明，利用两阶段优化模型和算法编码方案能成功获得出发点到救援点的动态可靠路径，相同行驶路径情况下模型与算法求解的最短行程时间与实地驾车获得的最短行程时间最大误差不超过8%，说明优化模型可行。3 种不同算法求解K最短路径的结果发现，混合布谷鸟算法得到的最短行程时间比粒子群算法和 经典布谷鸟算法得到的结果都要小，且计算时间最短，表明混合布谷鸟算法求解的结果最优，性能最好。     

C~(++)实时数控系统程序的研制

对计算机数控系统的系统程序统一采用C~(++)语言进行设计,其中采样插补程序采用浮点运算。实践证明,该方案有效,可行,即加快了研制速度,又使软件系统便于扩充与维护。     

基于FFT的数控镂铣机传动链误差源诊断

分析了造成数控镂铣机传动链误差的原因,在检测中采用快速傅里叶变换（FFT）算法对模拟信号进行频谱分析．为了提高计算的精度、降低对采样频率的要求,提高运算速度,采用一种基于线性插值原理的改进快速傅里叶变换（L—FFT）算法．用此算法对传动链误差的原始数据进行处理,诊断出误差源及位置,为降低传动误差的控制算法提供了依据．试验结果表明,与FFT算法相比,效率提高大约5％,表明该算法具有一定的实用性和有效性．     

Optimization of Numerical Control Program and Machining Simulation Based on VERICUT

In the machining process of large-scale complex curved surface, workers will encounter problems such as empty stroke of tool, collision interference, and overcut or undercut of the workpieces. This paper presents a method for generating the optimized tool path, compiling and checking the numerical control(NC) program.Taking the bogie frame as an example, the tool paths of all machining surface are optimized by the dynamic programming algorithm, Creo software is utilized to compile the optimized computerized numerical control(CNC)machining program, and VERICUT software is employed to simulate the machining process, optimize the amount of cutting and inspect the machining quality. The method saves the machining time, guarantees the correctness of NC program, and the overall machining efficiency is improved. The method lays a good theoretical and practical foundation for integration of the similar platform.     

Intelligent Vehicle Human-Simulated Steering Characteristics Access and Control Strategy

As the traditional control algorithm is over-dependent on accurate vehicle model in intelligent vehicle steering control, a human-simulated intelligent control method is proposed based on experienced driver steering characteristics. Intelligent vehicle unmanned steering system dynamics model and the driver model are set up. Through experienced drivers’ trial run experiment, the analysis is mainly conducted on the double lanes condition. After the transformation of coordinates on global positioning system (GPS) derivative, the path information of local coordinates is accessed. The ideal driver steering path is obtained through fuzzy C-means clustering algorithm. The human-simulated intelligent controller is designed. Characteristic model is established according to the ideal and practical steering angle deviation and the deviation rate. Besides, the corresponding control rules and control modality set are designed. The joint simulation under CarSim joint/Simulink environment shows that the humanoid steering controller designed in this paper has better tracking performance than the model predictive control.     

Combining Single（Mixed） Metric Approach and Genetic Algorithm for QoS Routing Problem

A hybrid algorithm for the delay constrained least cost path problem is proposed through combination of single(mixed)metric approach and genetic algorithm．Compared with the known genetic algorithm for the same problem，the new algorithm adopts integral coding scheme and new genetic operator，which reduces the search space and improves the efficiency of genetic operation．Meanwhile，the single(mixed)approach accelerates the convergence speed．Simulation results indicate that the proposed algorithm can find near-optimal even optimal solutions within moderate numbers of generations．     

双向蚁群算法在无人驾驶车辆路径规划中的应用

针对传统蚁群算法在无人驾驶车辆路径规划中收敛速度慢、易陷入局部最优等问题,提出一种全局路径规划的双向蚁群算法.通过双向搜索策略改进蚁群算法,设计相遇机制求解更多可行路径,提高算法全局搜索能力;引入奖惩因子分别扩大和减小双向搜索后的较优路径和较差路径对信息素浓度的影响,加快求解最优路径的速度;最后在Matlab中模拟无人...     

Combustion optimization model for NO<Subscript><Emphasis Type="Italic">x</Emphasis></Subscript> reduction with an improved particle swarm optimization

Abstract: This paper focuses on the combustion optimization to cut down NO _x emission with a new strategy. Firstly, orthogonal experimental design (OED) and chaotic sequences are introduced to improve the performance of particle swarm optimization (PSO). Then, a predicting model for NO _x emission is established on support vector machine (SVM) whose parameters are optimized by the improved PSO. Afterwards, a new optimization model considering coal quantity and air quantity along with the traditional optimization variables is established. At last, the operating parameters are optimized by the improved PSO to cut down the NO _x emission. An application on 600MW unit shows that the new optimization model can cut down NO _x emission effectively and maintain the load balance well. The NO _x emission optimized by the improved PSO is lowest among some state-of-the-art intelligent algorithms. This study can provide important guides for the low NO _x combustion in the power plant.     

具有时空约束的无人车集群构型变换方法

针对具有时空约束的无人车集群构型变换问题,采用图论方法描述集群协同关系,将集群构型变换问题分解为最小变换单元的队形变换问题. 为满足队形变换的空间约束,运用基于模型的轨迹预测方法为无人车规划提供满足起点和目标点约束的行驶路径,运用曲线插值方法规划平滑且满足时间约束的速度曲线,根据碰撞检测结果提出速度规划的边界条件. 仿真和实车实验证明了构型变换方法的有效性.     

基于改进蚁群算法的山区无人机路径规划方法

对无人机在山区执行应急物资运输任务时的飞行路径规划问题进行研究.基于对无人机的性能分析与比选,探讨了路径规划的约束条件,提出了一种考虑路径安全度的改进蚁群算法.首先,基于高海拔山峰的位置构造泰森多边形,获取无人机在山区避障飞行条件下的路径可行解;其次,为避开山峰密集区域,建立路径安全度约束,缩小可行解范围;进而,利用蚁群算法搜索最短路径;最后,消除路径中不必要的障碍点以进一步缩短距离,并综合考虑无人机性能参数对拐角进行平滑处理,获得最终可用于实际飞行的最优安全路径.算例分析表明,改进的蚁群算法较传统算法收敛速度更快,且生成的路径更短.     

Study on Oxidation Activity of CuCeZrO<Subscript><Emphasis Type="Italic">x</Emphasis></Subscript> Doped with K for Diesel Engine Particles in NO/O<Subscript>2</Subscript>

CuCeZrO_x and KCuCeZrO_x catalysts were synthesized and coated on the blank diesel particulate filter (DPF) substrate and a particulate matter (PM) loading apparatus was used for soot loading. The catalytic performances of soot oxidation were evaluated by temperature programmed combustion (TPC) test and characterization tests were conducted to investigate the physicochemical properties of the catalysts. The reaction mechanism in the oxidation process was analyzed with diffuse reflectance infrared Fourier transform spectroscopy. The results demonstrated that CuCeZrO_x catalyst exhibited high activities of soot oxidation at low temperature and the best results have been attained with Cu_0.9Ce_0.05Zr_0.05O_x over which the maximum soot oxidation rate decreased to 410 °C. Characterization tests have shown that catalysts containing 90% Cu have uniformly distributed grains and small particle sizes, which provide excellent oxidation activity by providing more active sites and forming a good bond between the catalyst and the soot. The low-temperature oxidation activity of soot could be further optimized due to the excellent elevated NO’s conversion rate by partially substituting Cu with K. The maximum particle oxidation rate can be easily realized at such a low temperature as 347°C.     

Research on Nonlinear Dynamic Simulation and Fatigue Reliability Life Prediction for Synthesis Transmission System of Self-Propelled Gun

Aiming to the puzzle that the inner load of nonlinear synthesis transmission system is difficult to obtain, a new kind of virtual prototype establishment and simulation method is put forward. The influence on nonlinear vibration with flexible rotor, bearing backlash is analyzed based on a virtual prototype. To validate the virtual prototype of nonlinear gear transmission system, the corresponding test platform is established. The consistency between simulation results and test results proves that the simulation results of the virtual prototype can be used to calculate the fatigue reliability life of key components. A new kind of fatigue reliability life prediction method of gear system considering multi-random parameter distribution is put forward based on the fatiguestatistic theory. Considering the periodicity of gear meshing, linear interpolation method is adopted to obtain the stress-time course of random load spectrum based on the gear’s complicated torque provided by virtual prototype. The gear’s P-S_a-S_m-N curved cluster can be simulated based on material’s P-S-N curve. The simulation process considers the parameter distributions of stress concentration coefficients, dimension coefficients and surface quality treatment coefficients, and settles the puzzle that traditional test methods cannot acquire the gear’s fatigue life of all reliability levels. This method can provide the distribution function and the interval of fatigue reliability life of gear’s danger region, and has a guide meaning for the gear maintenance periods determination and reliability evaluation.     

基于CAXA的曲面型腔模具加工方法研究

文章以曲面型腔模具为载体,应用CAXA制造工程师软件完成对产品进行三维建模,对零件加工工艺进行分析,并比较几种加工方案,生成刀具加工轨迹进行数控仿真加工。在加以验证后,提出了较为合适的加工方案,生成G代码,最后利用数控机床对产品进行加工,提高了加工精度与生产效率,节约了成本。     

重大件运输的货物分配与航速联合优化

为了研究半潜船运输过程中满载与空载燃油消耗不同对重大件货物运输和最优航速的影响,建立了货物分配与航速联合优化模型,并改进了递归平滑算法RSA(recursive smoothing algorithm),基于插入法和改进的递归平滑算法IRSA(improved recursive smoothing algorithm),提出了全局搜索算法求解该模型.用插入法解决货物分配问题,用IRSA求解满载和空载的最优航速.算法应用结果表明:与RSA相比,运用全局搜索算法使运输成本降低了240.3万元;与划分为6和9个时间段的离散到达时间方法相比,运用全局搜索算法计算时间分别缩短了71.1和767.3 s.