The high-mode experiment can be obtained by heating the plasma with the auxiliary heating system in the controlled nuclear fusion research. The performance of the auxiliary heating system can be affected by the output...
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ISBN:
(纸本)9781728186382
The high-mode experiment can be obtained by heating the plasma with the auxiliary heating system in the controlled nuclear fusion research. The performance of the auxiliary heating system can be affected by the output of main high voltage pulse power supply. The high-voltage pulse power supply based on Pulse Width Modulation (PSM) technology has the advantages of high effective frequency and little energy storage of the filter system. It is of vital importance that the stored energy released to the load should be very little when some protections occur. The power supply will be connected to the load when the IGBT is out of control, and the AC source energy will be transformed to the load through the air switch. So the air switch should be triggered to disconnect from the AC mains. The control board can detect the IGBT operating condition by the IGBT drive signal, output signal and control signal. So control board can be used to trigger the air switch in a short time, and the energy released to load is very little, which ensures that the load is very safe under protecting.
When designing flight control allocator for an over-actuated flight system, actuator dynamics, generally, are assumed to be ideal since the bandwidths of actuators are much larger than the frequency of aircraft. Howev...
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When designing flight control allocator for an over-actuated flight system, actuator dynamics, generally, are assumed to be ideal since the bandwidths of actuators are much larger than the frequency of aircraft. However, under incremental nonlinear dynamic inversion controller, the interaction between the constrained control allocation frame and actuator dynamics can cause serious consequence. In this work, a method is developed to compensate for actuator dynamics in s-domain analysis. Here, first-order and second-order actuator dynamics are taken into consideration as more complicated actuator dynamics can be combined by these two simplified models. This method solves for gains, which post-processe the output of control allocation frame. The gains are terse in form and are easy to be calculated, which means that it can be implemented into typical flight computer. Simulation results show proposed method can significantly compensate the flaw caused by actuator dynamics.
In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain...
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Aiming at the problem that: Accuracy of countersink will affect the connection strength of aircraft structural parts, aerodynamic performance and fatigue strength of aircraft. A high-precision length meter is used to ...
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This paper presents the development of a model-based event-triggered control strategy for addressing the stabilization problem in nonholonomic robots. The proposed strategy is implemented in a practical setup. To hand...
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Considering the characteristics of large numbers, dense distribution, and complex background of small goals in unmanned aerial vehicles (UAVs) aerial graphics, target detection of small objects approach based on modif...
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In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The con...
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In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The control system of the special operation manipulator is needed to have the characteristics of multiple terminal functions, accurate end accuracy and high system reliability and redundancy within outdoor environment. It puts forward higher requirements for the manipulator performance and operator. After analyzing the work requirements of the manipulator, the D-H parameters and motion space is calculated for further research. The forward and inverse kinematics models are built to make the control system into reality. The target grasping is achieved by using the force and position hybrid control and single joint/end control methods. The intelligent recognition system based on machine learning is constructed. The simulation training based on machine learning is carried out by using the back image of the end camera of the manipulator to help the operator locate the target quickly and accurately. Finally the special operation manipulator is used to carry out the target intelligent grasping experiment based on visual guidance. The test results show the effectiveness of the control system design. Thereby it is suitable to be promoted to other robot or manipulator control system design.
In order to solve the problems of road traffic congestion and poor autonomous movement in a narrow space, this paper develops a set of omnidirectional mobile intelligent vehicle control system based on Arduino and usi...
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A method of optimizing the control parameter of wearable exoskeletons for industrial applications using subjective feedbacks is introduced in this paper. The human sensory system is explained and a method of mapping t...
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This research studies how to control a robot to stack blocks according to the block structure shown in a given image. In this project, a LabVIEW program is designed and run on a Lego Mindstorms NXT, which in turn cont...
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ISBN:
(纸本)9783319173146;9783319173139
This research studies how to control a robot to stack blocks according to the block structure shown in a given image. In this project, a LabVIEW program is designed and run on a Lego Mindstorms NXT, which in turn controls a robot built with components of Matrix robotics. There are two operation modes for the block stacking robot. In the first mode, a user uses an Android smartphone to control the robot with Bluetooth to move around, pick up blocks, and stack them. In the second mode, the robot identifies the block structure in a given image with OpenCV and picks up the needed blocks to stack them to build the block structure. The robot was tested with two images of simple block structures in the second mode. The success rates ranged from 7 to 80 %. Future work should further identify the weaknesses of the robot and improve its performance.
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