Development of the lanzhou heavy ion linac

The heavy ion linac in Lanzhou is designed as a future injector for the Cooling Storage Ring (CSR). In order to keep the total machine within 40 meters, the IH (Interdigital H-type) structure is adopted for its higher acceleration gradient compared with the traditional DTL structure. The designed minimum charge over mass ratio is 1/6, the output energy is 16MeV/u and the beam current is 1A.mu A. The RFQ and the first DTL tank will work at 100MHz, and the other DTL tanks will work at the double frequency. The design criteria, main parameters and the detailed beam dynamic design are introduced in this paper.

直接驱动机器人关节加速度反馈解耦控制

以利用线加速度传感器实际测量转动关节的加速度为基础 ,分析了机器人关节加速度反馈控制的开环模型 ,以及影响其闭环稳定性的主要因素 ;提出了闭环控制策略的设计准则 .在一台三自由度直接驱动机器人上的实验结果证明了该文分析的正确性 ,与不具备加速度反馈控制时的实验结果相比较 ,显示出这种方法的有效性