一种3自由度并联柔索驱动机器人的变刚度特性研究

以一种3自由度并联驱动机器人为研究对象,研究这种机器人的变刚度特性。从操作臂的静力学出发,对并联柔索驱动机器人的刚度进行了分析得到刚度公式。从得到的公式可以看出,操作臂的刚度不仅与各分支的刚度有关,与操作臂位姿有关,还与张紧柔索的张紧力有关。在机器人各分支上串联刚度较低的弹簧后做刚度实验,试验结果验证了对刚度理论分析所得的结论。

基于坐标变换的六维力传感器静态标定方法

为了提高传感器的测量精度,研究了六维力传感器标定矩阵的构造方法。首先,指出了传统标定矩阵的物理意义。然后,在传统标定矩阵中引入坐标平移变换算式,提出了一种综合考虑位置、姿态、坐标轴刻度比例缩放变换关系的六维力传感器静态标定方法。在标定试验的基础上,构造了标定矩阵,并对实测数据进行了补偿计算。误差分析表明:在传感测量系统无平移系统误差时,与传统标定方法相比,该方法的补偿精度略有下降。当在传感测量中加入平移系统误差时,该方法的补偿精度不变,而传统标定方法的测量精度明显下降。该方法起到了消除平移系统误差作用。

广义统计不相关最优鉴别矢量集的一个理论结果

本文对统计不相关最优鉴别矢量集的理论问题进行研究 ,提出了广义统计不相关最优鉴别准则 ,并给出了广义统计不相关最佳鉴别矢量集的一个理论结果 ,研究表明 ,广义统计不相关最佳鉴别矢量集的计算公式与基于Fisher最优鉴别准则的统计不相关最佳鉴别矢量集的计算公式完全一样 ,但是以前这一点没有被认识到 .本文的研究丰富了统计不相关最优鉴别分析的特征抽取理论 .

基于约束的4自由度并联机床的可达工作空间分析

针对一种新型的4-DOF并联机构的结构特点,采用基于逆解计算的网格法对其工作空间求解的算法进行了详细的分析,并利用Matlab编制了相应的程序,以Matlab图的形式描绘了几种情况下的工作空间区域,并对此进行了分析。

一种混合型4自由度并联机床的位置分析

针对原沈阳自动化研究所研制开发的五轴并联铣床的结构特点 ,提出了一种改进方案 ,并对这种新的构型的运动学进行了分析 ,针对其特点 ,从新的角度给出了位置正解及反解的方程。该构型的位置正解由于使用了附加传感器并充分考虑到机构特点而使得正解方程形式非常简单并且其中只存在一次项 ,从而避免了对复杂数值解法的采用

蠕动爬行攻泥机构转向工作特性的有限元分析

针对用于沉船打捞的水下攻泥机器人蠕动爬行攻泥机构的结构与工作机理 ,建立了适当的有限元计算模型 ,进而通过弹塑性有限元计算 ,模拟了攻泥机构处于土中不同深度的工作情况 ,建立了攻泥机构前进位移V和转向角θ之间关系的通用公式。通过它可以实现对攻泥机构前进路线的规划与自动控制

一种三自由度并联机器人机构运动学计算

出一种新型的三杆三自由度并联机器人机构，并推导了其运动学正反计算式，给出运动空间和根据作业空间设计结构参数的计算式。

微机控制的红热钢板动态测长仪

本文叙述了微机控制的红热钢板动态测长仪的原理、工程公式的导出、软件功能及其特点。

高阶无静差采样控制系统的动态综合

本文利用“最小响应法”给出了 N≥2阶无静差采样控制系统的设计公式.作者指出:对于某类闭环控制系统,在给定阶跃响应最大超调量σ_(max)的条件下,可以找出最佳比值T/T_(T 为系统的采样周期,T_(?)为对象的不便克服的等效小时间常数之和),使系统获得相应阶最大误差系数 K_(N+1),从而可使系统达到快速精密的控制指标。为了在工程设计中应用方便,文中还给出了二至六阶无静差的σ_(max),T/T_(?),K_(N+1)T(?)最佳参数组,使得这类闭环控制系统的设计最佳化和简易化.

二维流形三角网格模型顶点法矢量估计

提出一种以顶点的一邻域中三角形在该顶点处的顶角与对应三角形的面积比值加权三角面法矢量估计二维流形三角网格模型顶点法矢量的方法.回顾了现有的五种顶点法矢量估计方法,然后给出了新的方法.设计了利用理论法矢量与估计法矢量的夹角作为误差评价标准的实验,应用球体和椭球体模型分析了所涉及的6种估计方法的性能。

基于Multi-Agent的生产过程建模与仿真技术研究

某些流程行业由于采用按配方进行分组加工的模式组织生产,在排产时存在多条路径调度优化的问题,应用一般的优化算法对于现场在线调度难以给出满意结果,而基于Agent的过程仿真在解决离散、非线性系统模拟方面有显著的优势,本文采用Agent的方法对生产过程建模,然后对方案组内的备选方案进行仿真,通过对比各方案的仿真结果找到最优的方案作为执行方案,为现场的优化排产提供决策支持。

地震力对高架桥梁上轨道车辆的动态分析与安全性研究

The stability and derailment behavior analysis of railway vehicle system has been discussed by many papers in the past. In stability, give first place to consider hunting behavior of vehicle, therefore most of papers was only consider lateral and yaw motion, but vertical motion is the important factor in derailment behavior, and it will be quite effect in stability. We will probe the running stability and derailment behavior of railway vehicle moving on the viaduct in this paper. In this paper, we use Nadal’s formula to get the derailment quotient. In this paper, the railway vehicle is considered to be three subsystems, carbody, bogie and wheelset. There are secondary suspension systems between carbody and bogies, and primary suspension systems connecting bogies and wheelsets. A vehicle with vertical, lateral, roll, and yaw directions motion is considered to derive the mathematical equations. A vehicle with three-dimensional model has 16 degrees of freedom is used to develop the equations of train motion. In this study, results show that the track shift force and derailment factor increase with an increase of ground acceleration. But for the track shift force and derailment factor, the effects of track irregularities and train speed are very small. Key words: earthquake, railway vehicle, viaduct, derailment factor.

高阶广义屏波动方程叠前深度偏移

Attaining sufficient accuracy and efficiency of generalized screen propagator and improving the quality of input gathers are often problems　of wave equation presack depth migration,　in this paper,a high order formula of generalized screen propagator　for one-way wave equation is proposed by using the asymptotic expansion of single-square-root operator. Based on the formula，a new generalized screen propagator is developed ,which is composed of split-step Fourier propagator and high order correction terms，the new generalized screen propagator not only improving calculation precision without sharply increasing the quantity of computation，facilitates the suitability of generalized screen propagator to the media with strong lateral velocity variation.　As wave-equation prestack depth migration is sensitive to the quality of input gathers, which greatly affect the output，and the available seismic data processing system has inability to obtain traveltimes corresponding to the multiple arrivals, to estimate of great residual statics， to merge seismic datum from different projects and to design inverse Q filter, we establish　difference equations with an embodiment of Huygens’s principle for obtaining traveltimes corresponding to the multiple arrivals,bring forward a time variable matching filter for seismic datum merging by using the fast algorithm called Mallat tree for wavelet transformations， put forward a method for estimation of residual statics by applying the optimum model parameters estimated by iterative inversion with three organized algorithm,i.e,the CMP intertrace cross-correlation algorithm,the Laplacian image edge extraction algorithm,and the DFP algorithm, and present phase-shift inverse Q filter based on Futterman’s amplitude and phase-velocity dispersion formula and wave field extrapolation theory. All of their numerical and real data calculating results shows that our theory and method are practical and efficient. Key words: prestack depth migration, generalized screen propagator, residual statics，inverse Q filter ,traveltime，3D seismic datum mergence

黄骅坳陷港西开发区河流相储层构型与剩余油分布模式研究

In the production tail of oilfield, water-cut is very high in thick channel sand oil reservoir, but recovery efficiency is relative low, and recoverable remaining oil reserves is more abundant, so these reserves is potential target of additional development. The remaining oil generally distributed with accumulation in certain areas, controlled by the reservoir architecture that mainly is the lateral accretion shale beddings in the point bar, so the study of reservoir architecture and the remaining oil distribution patterns controlled by architecture are very significant. In this paper, taking the Minghuazhen formation of Gangxi oilfield as a case, using the method of hierarchy analysis, pattern fitting and multidimensional interaction, the architecture of the meandering river reservoir is precisely anatomized, and the remaining oil distribution patterns controlled by the different hierarchy architecture are summarized, which will help to guide the additional development of oil fields. Not only is the study significant to the remaining oil forecasting, but also it is important for the theory development of reservoir geology. With the knowledge of sequence correlation and fluvial correlation model, taking many factors into account, such as combination of well and seismic data, hierarchical controlling, sedimentary facies restraint, performance verification and 3-D closure, an accurate sequence frame of the study area was established. On the basis of high-resolution stratigraphic correlation, single layer and oil sand body are correlated within this frame, and four architecture hierarchies, composite channel, single channels, point bars and lateral accretion sandbody are identified, The result indicates that Minghuazhen Formation of Gangxi oilfield are dominated by meandering river deposition, including two types of channel sandbodies, narrow band and wide band channel sandbody, and each of them has different characteristics of facies variation laterally. Based on the identification of composite channel, according to the spatial combination patterns and identified signs of single channel, combined with channel sandbody distribution and tracer material data, single channel sandbodies are identified. According to empirical formula, point-bar scales of the study area are predicted, and three identification signs are summarized, that is, positive rhythm in depositional sequence, the maximum thick sand and near close to the abandoned channel, and point bars are identified. On the basis of point bar recognition, quantitative architecture models inner point bar are ascertained, taking the lateral accretion sand body and lateral accretion shale beddings in single well as foundation, and quantitative architecture models inner point bar as guidance, and result of tracer material data as controlling, the the lateral accretion sand body and lateral accretion shale beddings are forecasted interwell, so inner architecture of point bar is anatomied. 3-D structural model, 3-D facies model and 3-D petrophysical properties models are set up, spatial distribution characteristics of sedimentary facies and petrophysical properties is reappeared. On the basis of reservoir architecture analysis and performance production data, remaining oil distribution patterns controlled by different hierarchy architecture units, stacked channel, single channel and inner architecture of point bar, are summarized, which will help to guide the additional development of oil fields.

Pg震相走时的各向异性影响及各向异性结构成像

As the first arrival of seismic phase in deep seismic sounding, Pg is the important data for studying the attributes of the sedimentary layers and the shape of crystalline basement because of its high intensity and reliable detection. Conventionally, the sedimentary cover is expressed as isotropic, linear increasing model in the interpretation of Pg event. Actually, the sedimentary medium should be anisotropic as preferred cracks or fractures and thin layers are common features in the upper crust, so the interpretation of Pg event needs to be taken account of seismic velocity anisotropy. Traveltime calculation is the base of data processing and interpretation. Here, we only study the type of elliptical anisotropy for the poor quality and insufficiency of DSS data. In this thesis, we first investigate the meaning of elliptical anisotropy in the study of crustal structure and attribute, then derive Pg event’s traveltime-offset relationship by assuming a linear increasing velocity model with elliptical anisotropy and present the invert scheme from Pg traveltime-offset dataset to seismic velocity and its anisotropy of shallow crustal structure. We compare the Pg traveltime calculated by our analytic formula with numerical calculating method to test the accuracy. To get the lateral variation of elliptical anisotropy along the profiling, a tomography inversion method with the derived formula is presented, where the profile is divided into rectangles. Anisotropic imaging of crustal structure and attribute is efficient method for crust study. The imaging result can help us interprete the seismic data and discover the attribute of the rock to analyze the interaction between layers. Traveltime calculation is the base of image. Base on the ray tracing equations, the paper present a realization of three dimension of layer model with arbitrary anisotropic type and an example of Pg traveltime calculation in arbitrary anisotropic type is presented. The traveltime calculation method is complex and it only adapts to nonlinear inversion. Perturbation method of travel-time calculation in anisotropy is the linearization approach. It establishes the direct relation between seismic parameters and travetime and it is fit for inversion in anisotropic structural imaging. The thesis presents a P-wave imaging method of layer media for TTI. Southeastern China is an important part of the tectonic framework concerning the continental margin of eastern China and is commonly assumed to comprise the Yangtze block and the Cathaysia block, the two major tectonic units in the region. It’s a typical geological and geophysical zone. In this part, we fit the traveltime of Pg phase by the raytracing numerical method. But the method is not suitable here because the inefficiency of numerical method and the method itself. By the analytic method, we fit the Pg and Sg and get the lateral variation of elliptical anisotropy and then discuss its implication. The northeastern margin of Qinghai-Tibetan plateau is typical because it is the joint area of Eurasian plate and Indian plate and many strong earthquakes have occurred there in recent years．We use the Pg data to get elliptical anisotropic variation and discuss the possible meaning.