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检索条件"机构=1Jiangsu Key Laboratory of Advanced Numerical Control Technology"

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Smooth trajectory planning for manipulator of cotton harvesting machinery based on quaternion and B-spline

Smooth trajectory planning for manipulator of cotton harvest...

引用

International Symposium on Instrumentation & Measurement, Sensor Network and Automation (IMSNA)

作者： Mulan Wang Xiaoxia Li Kaiyun Xu Rong Jiang Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China Department of Electrical and Mechanical Engineering Jiangsu Food Science College Huaian China School of Automation Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Nanjing Institute of Technology Nanjing China

A planning method for manipulator of cotton harvesting machinery is proposed to accomplish smooth orientation adjustment in its task space. Quaternion is adopted to represent the orientation instead of the traditional homogeneous transformation matrix, and the corresponding conversion process is deduced. The smooth orientation trajectory is generated by interpolating key orientations with the quaternion three-dimensional spherical interpolation method. key joint positions are solved with the inverse kinematics algorithm according to discrete orientations sampled with specific positioning accuracy of the manipulator terminal, and then smooth joint trajectories with stable start-stop motion and continuous jerk are obtained through the interpolation method based on five degrees B-spline. Simulation results show that, the proposed trajectory planning method supplied manipulators with smooth adjustment of orientation and stable movement of joints, which made it an effective solution for the smooth orientation planning problem of manipulators in the cotton harvesting machinery.

关键词： Quaternions Manipulators Joints Trajectory Planning Interpolation Splines (mathematics)

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Development of FPGA-based arithmetic module in CNC system

Development of FPGA-based arithmetic module in CNC system

引用

2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011

作者： Wang, Mulan Zhu, Xinghua Wang, Baosheng Li, Xiaoxia Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Changzhou University Changzhou China

ISBN: (纸本)9781612847221

Many complex computational problems have to be overcome in the Computer numerical control (CNC) system, such as tool compensation calculation, contour interpolation, speed decomposition, position control and so on. If all the functions are accomplished by software, the corresponding execution time will affect the velocity of the CNC system. This paper has put forward a scheme of software hardening technique based on FPGA (Flied Programmable Gate Array), and developed an independent arithmetic calculating module for CNC system to improve the feed-rate of machine tool. VHSIC Hardware Description Language (VHDL) is adopted in Quartus II 9.0 development environment, based on FPGA chip of Altera company CYCLONE II series. Several algorithm operation processes relating to complex calculation are introduced in detail, such as addition, subtraction, multiplication and division operation of floating-point numbers. The simulation results prove that the proposed design methods of the arithmetic module are feasible and reasonable, which can also enhance the portability and applicability of floating-point calculating module in CNC system. © 2011 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Development of linear servo control system for CNC machine tool based on DSP

Development of linear servo control system for CNC machine t...

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2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011

作者： Xu, Kaiyun Li, Ning Lin, Jian He, Chuan School of Automation Nanjing Institute of Technology Nanjing China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Changzhou University Changzhou China

ISBN: (纸本)9781612847221

The linear servo systems have the advantages of high velocity, precise servo feeding, excellent stability and rapidly dynamic performance, which can be used as the most promising high-performance feeding system for CNC (Computer numerical control) machine tools. According to the index demands of CNC machine tool for linear feeding system, the corresponding control system based on DSP (Digital Signal Processor) is designed in detail. The system employs DSP-TMS320F2812 as the control core, and an Intelligent Power Module (IPM) as the power driven circuit. This paper will mainly focus on the hardware structure and software program of linear servo control system, and the debugging work and experimental process are also introduced. The satisfactory results demonstrate that the proposed linear servo control system is feasible and reasonable, which can be applied in the CNC machine tools. © 2011 IEEE.

关键词： Computer control systems

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Image recognition technology in intelligent cotton harvesting machine

Image recognition technology in intelligent cotton harvestin...

引用

2011 International Conference on Information technology, Computer Engineering and Management Sciences, ICM 2011

作者： Wang, Mulan Li, Xiaoxia Liu, Kun Jiang, Rong Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing 211167 China School of Mechanical Engineering Changzhou University Changzhou 213016 China School of Automation Nanjing Institute of Technology Nanjing 211167 China School of Mechanical Engineering Nanjing Institute of Technology Nanjing 211167 China

ISBN: (纸本)9780769545226

In view of the functional demands of the electrical control system for the intelligent cotton harvesting machine, the machine vision technology is employed. A cotton recognition method is proposed based on Hough transform. When the cottons gather together or overlap, the image data are partially lost or incomplete. To precisely identify the hidden cotton in the natural environment, firstly the image is segmented by R-B channel in RGB color model to reduce the computational complexity. Then the minimum external rectangle is obtained by labeling its region. Finally, contour information is acquired through the boundary trace approach in the effective region and the randomized Hough transform (RHT) method is realized according to the mathematic model of cotton contour. Results show that the recognition method is feasible when the amount of cotton contour information is lost less than 50%, which can meet the accuracy and speed requirements of target recognition for the intelligent cotton harvesting machine. © 2011 IEEE.

关键词： Cotton

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Development of FPGA-based arithmetic module in CNC system

Development of FPGA-based arithmetic module in CNC system

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International Conference on Mechatronic Science, Electric Engineering and Computer

作者： Mulan Wang Xinghua Zhu Baosheng Wang Xiaoxia Li Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Changzhou University Changzhou China

关键词： Computer numerical control Field programmable gate arrays Integrated circuit modeling Software Simulation Registers Hardware

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Study on the Characteristics of Lithium Batteries with Different Load

Study on the Characteristics of Lithium Batteries with Diffe...

引用

2011 cross Strait Quad-Regional Radio Science and Wireless technology Conference(CSQRWC 2011)(2011年海峡两岸四地无线电科技研讨会)

作者： Ding Zuo wu Qu Min Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology 21 Department of Vehicle Engineering Nanjing Institute of Technology 211167 Nanjing China

ISBN: (纸本)9781424497928

Lead-acid batteries are widely used as backup power source in wireless base stations and as power source in electric *** determine the lithium battery's terminal limited discharge voltage and internal resistance with different loads, four 3.2V/60Ah lithium batteries are put in series to form a battery pack in tests. The lithium battery pack terminal voltage, current and overall internal resistance were recorded with the discharge time. By analyzing data from the tests with MATLAB, the lithium battery pack capacity, energy consumed by the load and the internal resistance were determined. The lithium battery pack t-U, t—I, t-AU/△t and t-ro graphs are drawn. From the graphs, it is shown that the limited discharge voltage of a single lithium battery is approximately 2.75V, and the internal resistance of a single lithium battery is approximately 0.75mii. The lithium battery pack current and the voltage change trends are the same when the load is constant, and the higher the load the less capacity the lithium battery pack can release. The energy consumed by internal resistance to the energy that lithium battery releases is higher as the load increases

关键词： electric vehicle lithium battery internal resistance discharge capability battery manage system

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Grinding wheel dressing technology for gear form grinding machine tools

Grinding wheel dressing technology for gear form grinding ma...

引用

International Conference on advanced technology of Design and Manufacture (ATDM 2011)

作者： Zuo Jianmin Wang Mulan He Chuan Zhang Sidi Jiangsu Teachers University of Technology Jiangsu Changzhou 213001 China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing Jiangsu 211167 China School of Mechanical Engineering Changzhou University Changzhou Jiangsu 213016 China Advanced Manufacturing Technology & Engineering Center Nanjing Institute of Technology Nanjing Jiangsu 211167 China

Gear form grinding technology is widely used in the process of gear manufacturing. Grinding wheel dressing is the key technology of gear form grinding process. In this paper, several different grinding wheel dressing methods and the corresponding diamond roller dressing device are simply introduced. The technical parameters of grinding wheel dressing are respectively analyzed, including dressing speed ratio, overlap ratio, dressing depth and axial speed. The experimental tests of gear form grinding are carried out to investigate the effects of dressing parameters on the grinding process. The results of analysis and manufacturing tests can provide the reliable basis for diamond roller dressing in gear form grinding machine tools.

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Image Recognition technology in Intelligent Cotton Harvesting Machine

Image Recognition Technology in Intelligent Cotton Harvestin...

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International Conference on Information technology, Computer Engineering and Management Sciences (ICM)

作者： Mulan Wang Kun Liu Xiaoxia Li Rong Jiang Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China School of Automation Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Changzhou University Changzhou China School of Mechanical Engineering Nanjing Institute of Technology Nanjing China

关键词： Cotton Transforms Joining processes Robots Machine vision Image color analysis Image recognition

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Elman dynamic neural network control for direct-drive feed system in advanced CNC machine tools

Elman dynamic neural network control for direct-drive feed s...

引用

2010 International Conference on Computer, Mechatronics, control and Electronic Engineering, CMCE 2010

作者： Zuo, Jian-Min Chao, Pan Wang, Mu-Lan Wei, Su School of Mechanical Engineering Jiangsu University Zhenjiang China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China

ISBN: (纸本)9781424479566

Permanent Magnet Linear Synchronous Motors (PMLSM) are gaining increasing interest as direct-drive actuator for CNC machine tools. However, the servo control system of PMLSM is multi-variable, non-linear and strong-coupled and sensitizes to various force disturbances. For high speed and high precision to CNC machine tools, Elman dynamic Neural Network(NN) is introduced and the compound controller of Proportional(P) controller and Elman NN is proposed based on on-line training. Elman NN is trained by P controller at the beginning of control process. Then, speed loop of PMLSM servo system is controlled by Elman NN. The work process of proposed compound controller is exposed and dynamic characteristic of Elman NN is proved. The simulation results show that the proposed control scheme not only has strong robustness to uncertainties of the linear servo system, but also has good tracking precision and disturbance rejection abilities. © 2010 IEEE.

关键词： controllers

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Study about lithium battery's characteristics

Study about lithium battery's characteristics

引用

2010 International Conference on Computer, Mechatronics, control and Electronic Engineering, CMCE 2010

作者： Zuowu, Ding Shulin, Wang Weijun, Zhao Min, Qu Department of Vehicle Engineering Nanjing Institute of Technology Nanjing 211167 China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing 211167 China

ISBN: (纸本)9781424479566

To make certain the lithium battery's terminal limited discharge voltage and internal resistance in different load, four 3.2V/60Ah lithium batteries are put in series to form battery pack in tests. The lithium battery pack terminal voltage, current and overall internal resistance were recorded with the discharge time. By analyze datas from the tests with MATLAB, the lithium battery pack capacity, energy consumed by the load and internal resistance are figured out, lithium battery pack t-U, t-I, t-ΔU/Δt and t-r0 graphs are drawn. From the graphs, we can draw that the limited discharge voltage of a single lithium battery is about 2.75V, the internal resistance of a single lithium battery is about 0.75mΩ, the lithium battery pack current and the voltage change trends are the same when the load keeps changeless, the higher load the less capacity lithium battery pack can release, the energy comsumed by internal resistance to the energy that lithium battery release is higher as the load increase. All the conclutions can do good to develop battery management system. © 2010 IEEE.

关键词： Lithium batteries

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