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检索条件"机构=Key Laboratory for Control Theory and Applications in Complicated Systems"

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Tool Path Generation Method for Three-dimensional Vibration-assisted Machining 16

Tool Path Generation Method for Three-dimensional Vibration-...

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16th IEEE International Conference on Mechatronics and Automation, ICMA 2019

作者： Wang, Guilian Lv, Bingrui Liu, Bin Mu, Haozhi Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China Tianjin Laboratory of Control Theory and Applications in Complicated System Tianjin300384 China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728116983

In this paper, a new tool path generation method is proposed for the 3D (three-dimensional) vibration-assisted 6-DOF (six degree of freedom) machine tool machining system. The tool feed path is generated by the tangent point method and the coordinate transformation theory. It is worth noting that this method needle is only used when the tool and workpiece surface topography can be mathematically described. Finally, a numeric simulation method is used to simulate the tool path which is required when machining workpiece surfaces with different topography tools. The results show that the tool path generation method is widely applicable to tools and workpieces of various shapes, and it is of great significance to reveal the influences of different tool shapes on the tool path. © 2019 IEEE.

关键词： Machine tools

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A Method for Obtaining Contact Force between Catheter Tip and Vascular Wall in Master-slave Robotic System

A Method for Obtaining Contact Force between Catheter Tip an...

引用

IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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Implementation of automatic control system of resistance spot welding for square-rectangular steel tube packing belt 15

Implementation of automatic control system of resistance spo...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Gao, Qiang Mao, Zemin Li, Dong Cui, Jie Han, Yu Tianjin Key Laboratory for Control Theory and Application in Complicated Systems China 391 Binshui Xidao Xiqing District Tianjin China

ISBN: (纸本)9781538660720

In order to elevate the automation degree of square-rectangular steel tube packing and achieve better welding effect, a square-rectangular steel tube packing belt resistance spot welding automatic control system is designed based on OMRON CP1L in this paper. The resistance spot welding (RSW) machine and two axis servo motors are controlled by PLC. The touch screen is used to set the servo motLRQ parameters and the welding parameters of resistance spot welding. According to the local circumstance, the form of single-side single spot welding is adopted by the system. The operation form of traditional manual arc welding is converted into automatic resistance spot welding system. The system can automatically invoke the corresponding welding parameters in the light of the specification of the steel tube packing. The practical application shows that the whole system is uncomplicated, stable, efficient and environmentally friendly compared with artificial arc welding. The utilization of the system not only enhances the welding efficiency, but also reduces the cost of human and environmental governance, so that the enterprise productivity efficiency has been greatly improved. © 2018 IEEE.

关键词： Efficiency

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Development of permanent magnet synchronous motor RCP based on hardware-in-the-loop simulation 15

Development of permanent magnet synchronous motor RCP based ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zhao, Gang Zhang, Shizhong Tianjin Key laboratory for Control Theory and Applications in Complicated System Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

This paper carries out a study on a high efficiency permanent magnet synchronous motor (PMSM) development method-rapid control prototype (RCP). A specific introduction of the support of hardware-in-the-loop simulation platform for RCP and the development process are given. Hardware in the loop simulation model is built by comparing and analysing of the characteristics of the two control methods and using the hardware and software environment of the system. The conversion from simulation model to code model is realized by using MATLAB and CCS and the application layer code is integrated with the hardware underlying driver code of the hardware-in-the-loop simulation platform. The automatic code generation is downloaded to the hardware-in-the-loop simulation platform to verify the accuracy of the theoretical calculation. The results show that the mathematical model performed as same as the hardware-in-loop simulation with the same PID parameters, which achieves the expected effect. © 2018 IEEE.

关键词： Hardware-in-the-loop simulation

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Research on DC motor control based on predictive PI algorithm

Research on DC motor control based on predictive PI algorith...

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International Conference on Mechatronics and Intelligent Robotics, ICMIR 2018

作者： Zhou, Jinpeng Ma, Xu Xu, Zhang Zhou, Qi Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated System the School of Electrical and Electronics Engineering Tianjin University of Technology Tianjin300384 China School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300130 China School of Mechanical Engineering Hebei University of Technology Tianjin300130 China

ISBN: (纸本)9783030002138

In minimally invasive surgery, manual manipulation of the catheter is inaccurate which requires the worker to manipulate the catheter flexibly and effectively and exposes the surgeon to intense radiation. The author’s goal was to develop a robotic catheter operating system that would be hand-accurate on behalf of the surgeon. With the increasing demand for flexibility and rapid response to control systems, predictive PI control can play an important role. We proposed a practical application which is based on predictive PI control to the remote operation of this development system. And compare with the traditional PID control method for simulation. Demonstrate the feasibility and effectiveness of the control method. In this remote operation, in the synchronous control performance, use predictive PI control is much better than control using traditional PID control. © Springer Nature Switzerland AG 2019.

关键词： Three term control systems

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Application of improved PSO-BP neural network in fault detection of liquid-propellant rocket engine 15

Application of improved PSO-BP neural network in fault detec...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Ningning Xue, Wei Zhao, Songbo Gao, Qiang Li, Dahua Xu, Liang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China Beijing Aerospace Propulsion Institute Beijing100076 China

ISBN: (纸本)9781538660720

Because liquid-propellant rocket engine (LRE) is working in complex environment, the reliability of some traditional fault detection methods is low due to the characteristics of limited fault samples, small samples, high coupling and nonlinear variation of the main engine. In order to improve the shortcomings of fault detection in traditional method, this paper presents a fault detection algorithm (PSO-BP) based on improved particle swarm optimization (PSO) algorithm and BP neural network. The structure of BP neural network is established, the collected samples are input into PSO algorithm to optimize, and the optimal BP parameters are found, and the fault detection model of the main engine is established. Finally, the established model is used to simulate the fault. The simulation results show that the proposed algorithm can improves the accuracy of fault detection in the health management of LRE and provides a guarantee for the market demand of commercial launch. © 2018 IEEE.

关键词： Fault detection

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot System

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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Zero Energy Consumption LED Intelligent Lighting System Based on the Technology of PoE

Zero Energy Consumption LED Intelligent Lighting System Base...

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第37届中国控制会议

作者： Dahua Li Zhang Kun Qiang Gao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

This paper introduces a kind of zero energy consumption LED intelligent lighting system based on the technology of Po E. The system is a new kind of energy-saving innovative LED intelligent lighting control system based on Po E technology,and the only power source is solor energy. It transfers DC power and data on Ethernet at the same time, reduces the data network failure caused by the power adapter failure and promotes the application of the low power network equipment. By sensing the human activity in the current room and lighting intensity, the system determines the indoor lighting requirements automatically to achieve the intelligent control of LED lighting. This paper describes the system architecture based on mesh topology structure, presents the hardware circuit of the key equipment in the system, analyses the experimental process and gives the experimental *** design enbodies the zero energy and intelligent lighting.

关键词： PoE technology LED intelligent lighting solar energy

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Reactive Power Compensation Method for Distribution Network from Electric Vehicles

Reactive Power Compensation Method for Distribution Network ...

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第37届中国控制会议

作者： Youjie Ma Chang Liu Xuesong Zhou Zhiqiang Gao Key Research Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

As Plug-in hybrid electric vehicles(PHEVs), dips usually occur on the bus because multiple PHEVs are connected to the same bus simultaneously. In view of the flaws of the existing traditional compensators and their extra cost, the grid-side reactive power compensation by the chargers of PHEVs during charging is expected to address this issue. To provide such compensation during charging, it is necessary that PHEVs incorporate bidirectional chargers. Among different types of bidirectional chargers, the DC voltage controller is unable to compensate voltage. Alternatively, the chargers with active power controllers regulate active power as well as reactive power independently, which is effective and convenient. In this paper, we propose a PR control strategy for the PHEVs chargers to tune reactive power online and to increase power factor. The simulation examples are given to verify the effectiveness of the proposed strategy.

关键词： PHEV Charger V2G Reactive power compensation

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Adsorption Structure Analysis of Photovoltaic Cleaning Robot Based on Negative Pressure Adsorption

Adsorption Structure Analysis of Photovoltaic Cleaning Robot...

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第30届中国控制与决策会议

作者： Lei Shao Yudong Xing Ji Li Hongli Liu Xiaoqi Chen Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

In recent years, with the energy consumption and the rapid development of photovoltaic power generation, the task of photovoltaic panel cleaning is particularly *** this paper, for the cleaning of photovoltaic panels, an adsorption structure based on vacuum suction robot is established. Adopting the negative pressure technology to design and test the robot's adsorption mechanism, the main factors affecting the adsorption capacity of the robot, such as effective pumping speed and leakage, are *** the ansysis,we got the negative pressure response curve in the *** theoretical and experimental analysis of the leakage rate of the sucker structure, it provides an intuitive and effective way for the analysis of the adsorption performance of the vacuum system and the design of the adsorption device.

关键词： Photovoltaic Negative pressure adsorption Robot Sucker

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