非完整约束轮式移动机器人人工场导向控制研究

导向控制在非完整约束轮式移动机器人的运动控制中具有重要作用，该文通过建立人工场的方法来引导和控制方向角，通过辅助的线速度控制前进或后退，以获得最佳收敛路径；同时考虑到实际系统速度饱和限制，从而设计出一种新的非连续位姿镇定律，并将该结果扩展，使得平面内任意点-点镇定、轨迹跟踪和路径跟踪问题均可得以实现，且对于跟踪问题仅需知道期望位姿，所得控制器不权设计简单，鲁棒性强，收敛速度快，还具有一定的普遍性。

基于加速度传感器反馈控制的谐波驱动系统的研究

在机器人驱动中经常采用谐波传动。但谐波减速器的柔性、非线性摩擦、随速度波动、低阻尼等因素会给负载端带来振动 ,导致工作端的轨迹跟踪精度不高。为了抑制其振动 ,实现高精度轨迹跟踪控制 ,提出利用加速度传感器反馈控制来抑制负载端的振动、力矩干扰和动力学效应 ,提高其响应性能。理论分析和实验结果证实了提出方法的可行性。

谐波驱动系统的特性及控制策略研究

谐波传动有很多优点，在机器人驱动中经常被使用．但谐波传动也有一些缺点，如柔性等因素影响负载端轨迹跟踪精度．本文系统地分析了谐波传动系统的动力学特性，建立了包括电机转子惯量在内的动力学模型，疽对系统进行全面实验研究的基础上总结出谐波传动系统中存在的问题，采用相应的基于传感器的控制策略克服存在的问题，提高系统的响应性能．从理论分析和实验结果证实了提出方法的可行性。

履带式移动机器人行动规划技术的研究

本文以８６３－５１２型号项目为背景，从运动特性、运动描述、运动控制以及运动规划等几个方面研究履带式移动机器人的行动规划技术；首先从理论上分析了履带式移动机器人的内在运动传递机理，指出了其区别于轮式移动载体的独特的运动特性，尤其是在其转向特性方面，得出了履带式移动机器人运动角速度几乎不可控原理、原地转弯转不准问题、以及履带式车辆行动规划时所要遵循的规则等重要结论，针对履带式移动机器人的纵向运动控制问题，讨论了其速度控制模型，提出了一种速度测量与控制的简单、准确、可靠的方法。在磺向运动方面，提出了一种基于ＦＭ－ＬＩＫＥ和ＡＭ－ＬＩＫＥ相结合的复合控制技术，解决了难度较大的方向控制问题。最后提供了实验结果，证明了上述方法与结论的正确性。上述方法与结论，作为８６３－５１２某型号任务的一部分，业已通过验收。

基于数字化生产模型的在线故障诊断技术研究

提出了一种基于数字化的生产模型,使用控制图、故障树分析和专家知识,能够进行制造过程实时监控的诊断,该模型提高了故障诊断系统的可靠性,并提供了可实际操作的可视化建模工具。所开发的在线统计过程控制系统能够根据生产事件的监测,动态响应制造过程变化。该系统运用可视化建模工具,根据专家经验进行故障树建模,通过故障树自动生成专家系统诊断规则库,实现诊断知识的自动获取。将该系统应用于汽车变速箱装配过程的检测与故障诊断,验证了方法的有效性。

一种基于多特征融合的汽车变速箱螺栓在线视觉检测系统

本文根据汽车变速箱装配线螺栓检测的要求,结合检测现场的实际图像特点,采用融合灰度投影与颜色直方图两种特征的方法,利用相似性测度的计算方法,设计了一种变速箱螺栓在线装配质量检测系统,该系统用于实现螺栓的的缺失及漏拧检测,试验结果表明,方法具有良好的实用性,取得了比较理想的效果。

多轴伺服控制器在自动化装备中的应用

在对自动化装备技术改造的过程中,需要用“电子齿轮多轴交流伺服系统”来取代使用效果欠佳的机械齿轮系统.介绍了交流伺服传动技术在某大型卷接机组中应用的总体设计方案,详细论述了该系统的工作原理,阐述了工控机、DSP、PLC及多轴伺服控制器在该装备中的综合运用.并以安川多轴伺服控制器为例,详细介绍了该装备中引入多轴伺服控制器的硬件、软件设计.实际应用表明,该设计是成功的,各项性能指标均优于原来的机械装置,能够有效降低噪音,减少能耗.

地质导向钻井关键技术及方法

On the basis of analyzing the principle and realization of geo-steering drilling system, the key technologies and methods in it are systematically studied in this paper. In order to recognize lithology, distinguish stratum and track reservoirs, the techniques of MWD and data process about natural gamma, resistivity, inductive density and porosity are researched. The methods for pre-processing and standardizing MWD data and for converting geological data in directional and horizontal drilling are discussed, consequently the methods of data conversion between MD and TVD and those of formation description and adjacent well contrast are proposed. Researching the method of identifying sub-layer yields the techniques of single well explanation, multi-well evaluation and oil reservoir description. Using the extremum and variance clustering analysis realizes logging phase analysis and stratum subdivision and explanation, which provides a theoretical method and lays a technical basis for tracing oil reservoirs and achieving geo-steering drilling. Researching the technique for exploring the reservoir top with a holdup section provides a planning method of wellpath control scheme to trace oil and gas reservoir dynamically, which solves the problem of how to control well trajectory on condition that the layer’s TVD is uncertain. The control scheme and planning method of well path for meeting the demands of target hitting, soft landing and continuous steering respectively provide the technological guarantee to land safely and drill successfully for horizontal, extended-reach and multi-target wells. The integrative design and control technologies are researched based on geology, reservoir and drilling considering reservoir disclosing ratio as a primary index, and the methods for planning and control optimum wellpath under multi-target restriction, thus which lets the target wellpath lie the favorite position in oil reservoir during the process of geo-steering drilling. The BHA (bottomhole assembly) mechanical model is discussed using the finite element method, and the BHA design methods are given on the basis of mechanical analyses according to the shape of well trajectory and the characteristics of BHA’s structure and deformation. The methods for predicting the deflection rate of bent housing motors and designing their assemblies are proposed based on the principle of minimum potential energy, which can clearly show the relation between the BHA’s structure parameters and deflection rate, especially the key factors’ effect to the deflection rate. Moreover, the interaction model between bit and formation is discussed through the process of equivalent formation and equivalent bit considering the formation anisotropy and bit anisotropy on the basis of analyzing the influence factors of well trajectory. Accordingly, the inherence relationship among well trajectory, formation, bit and drilling direction is revealed, which lays the theory basis and technique for predicting and controlling well trajectory.