感应电动机双馈调速的3种最佳控制方法

在交流电动机矢量控制的基础上,对双馈电机动的数学模型作了符合工程实际的简单,并且采用求极值的方法,推导了３种最佳控制方式。     

新型的电子式转子位置检测和测速装置

介绍了一种新型的转子位置检测器,它与已往的位置检测器相比较,不同之处在于去掉了与主电机同轴相连的小型绕线式感应电动机以及与其相关的复杂的机械连接部件     

卢瑟福散射实验装置的研制

研制了一种鼎瑟福散的实验装置,并介绍了其实验结果,由于要用了步进电机和半导体探测器,该装置具有结构紧凑,操作简便等优点。     

Friction compensation design based on state observer and adaptive law for high-accuracy positioning system

Friction is one of the main factors that affect the positioning accuracy of motion system. Friction compensation based on friction model is usually adopted to eliminate the nonlinear effect of friction. This paper presents a proportional-plus-derivative (PD) feedback controller with a friction compensator based on LuGre friction model. We also design a state observer to observe the unknown state of LuGre friction model, and adopt a parameter adaptive law and off-line approximation to estimate the parameters of LuGre friction model. Comparative experiments are carried out among our proposed controller, PD controller with friction compensation based on classical friction model, and PD controller without friction compensation. Experimental results demonstrate that our proposed controller can achieve better performance, especially higher positioning accuracy.     

车灯配光性能在线检测系统研究

本文介绍一种能够对车灯光度、色度性能同时进行在线测试的计量仪器。它操作方便，精度较高，符合国标对车灯配光性能检测的要求。     

运动信息的模拟方式对运动学习的影响

探讨了运动信息的不同模拟方式对运动学习的影响，３６名女大学生随机均分三组Ａ组的运动信息采用视觉模型，Ｂ组采用视觉模拟和语言模拟（１），Ｃ组采用视觉模拟和语言模拟（Ⅰ），（Ⅱ），其中语言模拟（Ｉ）是技术动作的详细语言描述，语言模拟（Ⅱ）是技术动作名称，运动学习的任务为初级剑术的４个技术动作，运动学习成绩的方差分析表明，对即时运动练习，Ｂ，Ｃ两组的成绩显著优于Ａ组，但Ｂ，Ｃ两组无显著差异，一周后的延迟     

Stability analysis of the rotor of ultrasonic motor driving fluid directly

The stability of the rotor of ultrasonic motor driving fluid directly is a key to its applications and control. This paper introduced the acoustic streaming and acoustic viscous stress near the boundary layer. Following this, the effect of acoustic viscous force on the stability of the rotor of ultrasonic motor driving fluid directly was presented in detail. The result showed that this system can be equivalent to a mass-spring and the spring constant can be used to weigh the stability of the rotor. By this model and relevant experiments, factors that affect the stability of the rotor such as the driving frequency, the rotor's weight and radius, the saturated acoustic streaming velocity, the mode number of stator vibration, the fluid's height and type are investigated and useful guidelines for design and application are obtained.     

Elastic friction drive of surface acoustic wave motor

Importance of elastic deformation control to obtain large output force with a surface acoustic wave (SAW) motor is discussed in this paper. By adding pre-load to slider, stator and slider surfaces are deformed in a few tens nanometer. Appropriate deformation in normal direction against normal vibration displacement amplitude of SAW existed. By moderate deformation, the output force of the SAW motor was enlarged up to about 10 N and no-load speed was 0.7 m/s. To produce this performance, the transducer weight and slider size were only 4.2 g and 4 x 4 mm(2).By traveling wave propagation, surface particles of the SAW device move in elliptical motion. Due to the amplitude of the elliptical motion is 10 or 20 nm order, the contact condition of the slider is very critical. To control the contact condition, namely, the elastic deformation of the slider and stator surface in nanometer order, a lot of projections were fabricated on the slider surface. The projection diameter was 20 micro m. In static condition, the elastic deformation and stress were evaluated with the FEM analysis. From this calculation and the simulation result, it is consider that the wave crest is distorted, hence the elasticity has influence on the friction drive condition.Elastic deformation of the stator surface beneath the projection from the initial position were evaluated. In 4 x 4 mm(2) square area, the sliders had from 1089 to 23,409 projections. Depression was independent to the contact pressure. However, the output force depended on the depression although the projection density were different. From the view point of the output power of the motor, the proper depression was independent to the projection density. Around 25 nm depression, the output force and output power were maximized. This depression value was almost same as the vibration displacement amplitude of the stator transducer.     

摄像机标定技术在活塞视觉检测与分选中的应用研究

在机器人视觉检测及自动化分捡中,准确地校正摄像机镜头畸变对获取物体精确图像及确定物体准确位置具有重要意义。采用了带有径向畸变的小孔摄像机模型及基于线段斜率的标定方法。在标定过程中,应用线性算法求解出了镜头的径向畸变系数。实验表明,采用的标定方法简捷有效,其标定结果能够满足研究需要。     

三维悬挂物体运动控制系统

采用单片机AT89C55作为悬挂物体运动的控制核心,利用可编程器件GAL16V8实现的脉冲分配器和大功率驱动芯片L298共同组成步进电机驱动电路,结合软件控制电机的转向和转速,基于可靠的硬件设计和精确的软件算法,实现了物体的定点运动控制和轨迹运动的设定.另外,系统还具有无线远程数据的传输和控制功能,并采用双口RAM IDT7132将主CPU AT89C55和从CPU AT89C51进行隔离,保证了数据传输的稳定性和可靠性.