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2016 IEEE International Conference on Mechatronics and Automation最新文献

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Design and modeling of a torsion spring-based actuator (TSA) with valid straight-arm length adjustable for stiffness regulation 基于扭转弹簧的有效直臂长度可调刚度执行器(TSA)设计与建模
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558938
Decai Yang, Hongzhe Jin, Zhangxing Liu, Jizhuang Fan, Yanhe Zhu, He Zhang, Huijuan Dong
This paper presents the design and modeling of a novel torsion spring-based actuator (TSA) with variable stiffness. The mechanical structure of stiffness regulation contains two opposite-handed torsion springs and two cam bearing followers (CFs). The operational principle is by changing the contact point of the torsion spring and the CF to regulate the stiffness. The proposed design allows for the improvement of an actuator with a wide range of stiffness and a low friction of transmission mechanism. Wire-rope drive is used to avoid the backlash in a rack and pinion transmission system and low-response in a ball screw drive system. Only one contact point for each CF to torsion spring exists to replace the sliding friction while moving in a sliding groove with the rolling friction. Small size, compact structure and modular design are considered preferentially for the application on multi-dof (degree of freedom) robotic system. Simulation experiment results are presented to demonstrate the wide range of stiffness, the fast response and the excellent tracking performance achieved by the proposed TSA.
提出了一种新型变刚度扭转弹簧作动器的设计与建模方法。刚度调节的机械结构包括两个反向扭转弹簧和两个凸轮轴承从动件。其工作原理是通过改变扭簧与CF的接触点来调节刚度。提出的设计允许改进具有大范围刚度和低摩擦传动机构的致动器。钢丝绳传动用于避免齿条和小齿轮传动系统的间隙和滚珠丝杠传动系统的低响应。每个CF与扭簧只存在一个接触点,以代替滑动槽中运动时的滑动摩擦与滚动摩擦。尺寸小、结构紧凑、模块化设计优先考虑多自由度机器人系统的应用。仿真实验结果表明,该方法具有较宽的刚度范围、较快的响应速度和良好的跟踪性能。
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引用次数: 3
Study of flux linkage control method in discrete frequency 离散频率下磁链控制方法的研究
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558666
Y. Meng, Jun Chen, Mingliang Duan, Xiao-ning Li, Z. Gao
This paper puts forward a new discrete frequency control method of induction motor based on thyristor control, the hexagon flux linkage consisting of voltage space vector is triggered in multiple power cycle, and the hexagon flux linkage locus control of induction motor is realized. Through adjusting the trigger sequence of trigger angle and vector, the magnitude and direction of flux linkage are changed, stable motor rotating magnetic field is formed. By changing the voltage vector of the trigger interval, the motor air gap magnetic field average rotation speed can be changed, and the induction motor with the variable frequency control is realized. After the analysis of the four frequency dividing control process, a transient mathematical model of two-phase and three-phase to two-phase conduction is set up, the relationship between stator current and trigger angle is received. In the method of discrete frequency, the problem of open circuit zero voltage vector is proposed. Theoretical analysis and simulation experiments show that when the discrete frequency control based on flux linkage locus is used in the motor starting, the torque is improved and the current is reduced effectively. According to the control method and the mathematical model, simulation and experiment are made and the consistent results are obtained.
提出了一种基于晶闸管控制的异步电动机离散频率控制新方法,在多个功率周期触发由电压空间矢量组成的六边形磁链,实现了异步电动机的六边形磁链轨迹控制。通过调整触发角度和矢量的触发顺序,改变磁链的大小和方向,形成稳定的电机旋转磁场。通过改变触发间隔的电压矢量,可以改变电机气隙磁场的平均转速,实现感应电机的变频控制。通过对四种分频控制过程的分析,建立了两相导通和三相到两相导通的暂态数学模型,得到了定子电流与触发角的关系。在频率离散方法中,提出了开路零电压矢量问题。理论分析和仿真实验表明,将基于磁链轨迹的离散频率控制应用于电机起动,可以有效地提高转矩,减小电流。根据控制方法和数学模型,进行了仿真和实验,得到了一致的结果。
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引用次数: 0
Mission-based command and control behavior model 基于任务的指挥控制行为模型
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558947
Lin Sun, Yabing Zha, Peng Jiao, Kai Xu, Xiaocheng Liu
The command and control behavior modeling is an important part of military analytical simulation. However, weaknesses including hard modeling, poor expansibility and little flexibility still exist in current command and control behavior models. In this paper, a mission-based command and control behavior model is designed, which consists of a Compound Mission Module as well as a General Mission Management Module. The Compound Mission Module based on improved hierarchical task network (HTN) not only supports hierarchical mission structuring but further extends HTN's ability of describing temporal and logical relations among sub-missions. This module helps to improve the expansibility and flexibility of the behavior model to some extent. The General Mission Management Module provides uniform mission management method and compound mission inner controlling method for combat entities. It spares the effort of developers to design specific logics for mission management and thus makes them more concentrating on detailed lower level mission modeling. Experiment results show that this mission-based command and control behavior model not only reduces the difficulty of modeling but also improves its expansibility and flexibility.
指挥控制行为建模是军事分析仿真的重要组成部分。但是现有的命令控制行为模型仍然存在建模难、可扩展性差、灵活性差等缺点。本文设计了一种基于任务的指挥控制行为模型,该模型由复合任务模块和通用任务管理模块组成。基于改进的分层任务网络(HTN)的复合任务模块不仅支持分层任务结构,而且进一步扩展了HTN描述子任务间时间和逻辑关系的能力。该模块在一定程度上提高了行为模型的可扩展性和灵活性。通用任务管理模块为作战实体提供统一的任务管理方法和复合任务内控方法。它节省了开发人员为任务管理设计特定逻辑的工作量,从而使他们更专注于详细的低层任务建模。实验结果表明,基于任务的指挥控制行为模型不仅降低了建模难度,而且提高了模型的可扩展性和灵活性。
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引用次数: 4
Biomechanical measurement and analysis of Tai Chi push-hand 太极拳推手的生物力学测量与分析
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558621
Kun Wang, Xiuli Zhang, Hongfu Zhao
In this study, the motion characteristics and techniques of Tai Chi push-hand, a fixed step, single-handed concentric sparring method, were investigated using biomechanical measurements. The FAB system was utilized to obtain the kinematic and foot pressure data, and an MYO armband was used to record the sEMG signals. After the measurements, a single concentric motion was divided into four stages. Then, the motion data, foot pressure data, and sEMG signals of each of the four stages were analyzed. According to the results, Tester A pushed during stage I, was pushed during stage III, and alternated between being pushed and pushing during stages II and IV. In addition, the amount of pressure applied by the right foot increased during stages I and II and decreased during stages III and IV until minimizing and then rebounding slightly. In contrast, the amount of pressure applied by the left food exhibited the opposite trend. Furthermore, the flexor carpi radialis, extensor digitorum, palmaris longus, and brachioradialis muscles exhibited relatively high levels of activity during this sport.
本研究采用生物力学测量的方法,研究了太极拳推手(一种固定步法,单手同心对打法)的运动特点和技术。利用FAB系统获取运动和足压力数据,利用MYO臂带记录表面肌电信号。测量后,将单个同心运动分为四个阶段。然后,对每个阶段的运动数据、足压数据和表面肌电信号进行分析。结果显示,测试者A在第一阶段推,在第三阶段被推,在第二阶段和第四阶段交替被推和推。此外,右脚施加的压力在第一阶段和第二阶段增加,在第三阶段和第四阶段减少,直到最小,然后略有反弹。相比之下,左侧食物施加的压力则呈现相反的趋势。此外,腕桡屈肌、指伸肌、掌长肌和肱桡肌在这项运动中表现出相对较高的活动水平。
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引用次数: 3
Navigation research on outdoor miniature reconnaissance robot 户外微型侦察机器人导航研究
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558695
Yi Liu, Junyao Gao, Xuanyang Shi, Jingchao Zhao, Haoxiang Cao, Fangzhou Zhao, Chuzhao Liu
Miniature robot has becoming a preferable choice for outdoor reconnaissance task due to its flexibility. However, miniature robot tends to have poor navigation ability because of the limited perception ability coming with the constrained space. This paper focus on the navigation problem of outdoor miniature reconnaissance robot with limited sensing ability in unknown obstacles environment. In this paper, Global Position System (GPS), magnetometer and infrared distance sensor based artificial potential filed method is adopted to navigation robot go through obstacles. Meanwhile, local minimum trapped detection has been analyzed. Simulations and experiment proves the effectiveness of proposed method.
微型机器人以其灵活性成为户外侦察任务的首选。然而,由于空间的限制,微型机器人的感知能力有限,因此其导航能力往往较差。研究了传感能力有限的户外微型侦察机器人在未知障碍物环境中的导航问题。本文采用基于全球定位系统(GPS)、磁强计和红外距离传感器的人工势场方法,实现了导航机器人通过障碍物。同时,对局部最小捕获检测进行了分析。仿真和实验验证了该方法的有效性。
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引用次数: 2
A model for static contact of revolute cylinder based on geometric constraint and elastic half-space theory 基于几何约束和弹性半空间理论的旋转圆柱静接触模型
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558830
Yuntao Li, Q. Quan, Dewei Tang, Z. Deng
Due to the existence of clearances, contact-impact events are liable to cause lower transmission precision and slower dynamic response of the mechanism involving revolute joints. Based on the elastic-damping method, the continuous contact force (CCF) model is widely used in explicating the contact-impact phenomena. As part of storing and releasing strain energy in the CCF model, the elastic force is equal to the static contact force (SCF) which reflects the purely elastic characteristic of contact objects. Nevertheless, the results calculated by the previous SCF models of revolute joint cannot agree well with the results of static contact experiments based on image method in this paper. An appropriate SCF model of revolute joint was built by the elastic half-space theory, which avoids determining the thickness of elastic layer of the Winkler theory or estimating the deformation of the revolute joint from the external contacting cylinders. Furthermore, the function of distance between contact points was built by the geometric constraint condition which supposes that the two arc lengths from the contacting point to initial contact point are equal. The results of experiment indicates that the proposed model can be used to describe the contact characteristics of a revolute joint exactly.
由于间隙的存在,接触冲击事件容易导致包含转动关节的机构传动精度降低和动态响应变慢。基于弹性阻尼法的连续接触力(CCF)模型被广泛用于解释接触-冲击现象。作为CCF模型中应变能存储和释放的一部分,弹性力等于静态接触力(SCF),它反映了接触物体的纯弹性特性。然而,以往的旋转关节SCF模型计算结果与本文基于图像法的静态接触实验结果不太吻合。利用弹性半空间理论建立了合适的旋转关节单轴流场模型,避免了温克勒理论中弹性层厚度的确定和外部接触缸对转动关节变形的估计。在接触点到初始接触点的两个弧长相等的几何约束条件下,建立了接触点距离函数。实验结果表明,该模型能较准确地描述转动关节的接触特性。
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引用次数: 3
Research on the towing torque and friction performance of hydro-viscous clutch with different friction materials 不同摩擦材料对液粘离合器牵引力矩和摩擦性能的影响研究
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558593
Ligang Ma, C. Xiang, M. Du, Jianwei Zhang
In this paper, the mathematical model of the towing torque is established and the solution is obtained. The gap of friction plate is the key factor of influencing the towing torque. Through the experiment, testing the towing torque of the different material friction plate. The paper shows that the towing torque of carbon-based friction plate is smaller than copper-based friction plate and smaller change with the speed. The trend of simulation results is consistent with the actual test results. The friction characteristics of the hydro-viscous clutch were analyzed. The parameters affecting the friction properties were determined. The experiment shows that the temperature rising of copper-based friction plates is higher than carbon-based friction plates at the same torque. In addition, the temperature distribution of the carbon-based friction plate can be consistent when the friction is under different oil pressures.
本文建立了拖曳力矩的数学模型,并给出了求解方法。摩擦片间隙是影响拖曳力矩的关键因素。通过实验,测试了不同材质摩擦片的牵引力矩。结果表明,碳基摩擦片的牵引力矩小于铜基摩擦片,且随转速的变化较小。仿真结果与实际试验结果趋势一致。分析了液粘离合器的摩擦特性。确定了影响摩擦性能的参数。实验表明,在相同转矩下,铜基摩擦片的温升高于碳基摩擦片。此外,在不同油压下摩擦时,碳基摩擦片的温度分布是一致的。
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引用次数: 0
Structural design and stiffness analysis of the robot bound planes 机器人约束面的结构设计与刚度分析
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558533
Junpeng Shao, Yuanfeng Gao, Bing-Tuan Gao
In order to avoid unnecessary costs of the design process, we need to design a leg and debug it in advance. It always allows us to determine that whether the design is reasonable. In this dissertation, aiming at the single leg supporting problem of hydraulic quadruped robot in the process of debugging, we design a robot bound planes with guide rails. The robot bound plane is designed by 3D drawing software UG. Based on the theory of finite element analysis, we analyze the stiffness of the robot by using the specialized analysis software ANSYS. And then the unreasonable place of preliminary design of the robot bound planes is amended and improved. Rectangle steel is installed between two steel stringers. It not only improves the strength, but also improves stiffness of the structure, so as to meet the design requirements. Proved by the simulation and experiments, the robot bound planes can meet the design requirements of the standard, it can ensure the smooth progress of hydraulic quadruped robot legs debugging.
为了避免设计过程中不必要的成本,我们需要提前设计一条腿并进行调试。它总能让我们确定设计是否合理。本文针对液压四足机器人在调试过程中存在的单腿支撑问题,设计了一种带导轨的机器人绑定平面。利用三维绘图软件UG设计机器人的束缚面。基于有限元分析理论,利用专业分析软件ANSYS对机器人的刚度进行了分析。然后对机器人边界平面初步设计中不合理的地方进行了修正和改进。矩形钢安装在两根钢桁之间。既提高了强度,又提高了结构的刚度,从而达到设计要求。通过仿真和实验证明,机器人的束缚面能够满足设计标准的要求,能够保证液压四足机器人腿调试的顺利进行。
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引用次数: 1
Sub-optimal ground-strike guidance based on perturbation method 基于摄动法的次优对地制导
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558893
Jingwei Meng, W. Chen, Wenbin Yu
An analytical guidance law based on perturbation method is proposed for ground strike mission. Letting the angle of attack (AOA) zero and considering the effects of gravity and drag force, the analytical expression of Zero Effort Miss (ZEM) is developed using perturbation method. In the development, the nonlinear flight dynamics is divided into the zeroth-order dynamics considering the major impact of gravity and drag force and the first-order dynamics compensating the remaining impact. To analytically solve the problem, an intermediate variable is innovatively introduced and some coefficients are fitted by Lagrange Polynomials. The simulation results show that the analytical ZEM expression has nearly the same high accuracy as the numerical integration, but the former has a much higher computation efficiency than the latter. Compared with the traditional guidance laws, the proposed guidance law can achieve a zero final AOA and requires less maneuvering load.
针对地面打击任务,提出了一种基于摄动法的解析制导律。在攻角为零的情况下,考虑重力和阻力的影响,利用摄动法建立了零努力脱靶的解析表达式。在发展过程中,非线性飞行动力学分为考虑重力和阻力主要影响的零阶动力学和补偿剩余影响的一阶动力学。为了解析解决这一问题,创新性地引入了一个中间变量,并用拉格朗日多项式拟合一些系数。仿真结果表明,解析式ZEM表达式与数值积分法具有几乎相同的高精度,但前者的计算效率远高于后者。与传统制导律相比,该制导律可实现零最终攻角,且所需机动载荷较小。
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引用次数: 0
Research of coke ratio prediction based on concept lattice and genetic algorithm 基于概念格和遗传算法的焦炭比预测研究
Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558769
Yang Kai, Jin Yong-long
The concept lattice is adopted as a tool of attribute reduction to reduce the redundant factors affecting coke ratio in this paper. On this basis, in order to solve the blindness and random problems in the parameters of artificial selection in support vector machine (SVM), this paper adopts genetic algorithm to optimize the penalty parameter C, kernel function parameters γ and insensitive loss coefficient ε of support vector machine and put forward the prediction model based on the concept lattice and genetic algorithm optimization for support vector machine (Con-GA-SVM), which is applied to forecast coke rate of blast furnace. Through comparative experiment, this algorithm has better performance than PSO-SVM prediction model and Grid-SVM model.
本文采用概念格作为属性约简的工具,减少影响焦炭比的冗余因素。在此基础上,为了解决支持向量机(SVM)人工选择参数的盲目性和随机性问题,采用遗传算法对支持向量机的惩罚参数C、核函数参数γ和不敏感损失系数ε进行优化,提出了基于概念格和遗传算法优化的支持向量机(Con-GA-SVM)预测模型。并将其应用于高炉焦炭率的预测。通过对比实验,该算法比PSO-SVM预测模型和Grid-SVM模型具有更好的性能。
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引用次数: 0
期刊
2016 IEEE International Conference on Mechatronics and Automation
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