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第三十三届中国控制会议

作者： LI Peng MA Jianjun GENG Lina ZHENG Zhiqiang College of Mechatronics Engineering and Automation National University of Defense Technology

ISBN: (纸本)9781479947249

In this paper,a robust adaptive sliding mode controller is proposed for a class of uncertain nonlinear multi-input multioutput(MIMO)*** upper bounds of the uncertainties are not needed in the procedure of the controller design,and the controller is continuous and guarantees the tracking error can converge to a small residual ***,the size of the tracking error at steady state can be specified a prior and guaranteed by choosing certain design ***,a simulation study based on a two-link rigid robotic manipulator model is used to illustrate the effectiveness of the proposed controller.

关键词： Sliding Mode Control,MIMO Nonlinear System,Guaranteed Error Bounds

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Non-homogeneous Disturbance Observer-based Second Order Sliding Mode Control 33

Non-homogeneous Disturbance Observer-based Second Order Slid...

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第三十三届中国控制会议

作者： LI Peng WANG Peng MA Jianjun PENG Xuefeng College of Mechatronics Engineering and Automation National University of Defense Technology

ISBN: (纸本)9781479947249

A robust second order sliding mode control scheme for first order dynamic systems is proposed in the present *** controller has finite time convergent property and contains two parts. A part is fast power reaching law which is used to stabilize sliding variable and its derivative to zero in finite time without disturbance. The other part is a non-homogeneous disturbance observer, which can provide for exact estimation of the sufficiently smooth disturbance in finite time. As a result, a continuous second order sliding mode is established in finite time. Computer simulation confirms the theoretical results.

关键词： Finite-time convergence,Second order sliding mode,Disturbance observer

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Rack Design for an Autonomous-Steerable-Vehicle Storage and Retrieval System of a Warehouse

Rack Design for an Autonomous-Steerable-Vehicle Storage and ...

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International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC

作者： Xiaofeng Fu Bo Zhang Hansheng Yu College of Mechatronics Engineering and Automation National University of Defense Technology Changsha China General Logistics Department of PLA Construction Engineering Research Institute Xian China

ISBN: (纸本)9781479986477

An autonomous-steerable-vehicle storage and retrieval system is a new storage concept, in which multiple automated storage & retrieval vehicles can concurrently perform compact three-dimensional automated storage or retrieval with the help of lifters. In this paper, six regulations, two corollaries, and one algorithm are presented for the rack design of an autonomous-steerable-vehicle storage and retrieval system. The six regulations describe a framework of the rack design of the system, which avoid collision between vehicles by setting vehicles to move unidirectionally on trunk rails and to pass through rail nodes after being authorized, and avoid deadlock by restricting the trunk rail networks to "no cut edge" configuration. The two corollaries can help designers to check the liveness of the highroad traffic network of the rack. The algorithm illustrates an orientation of the trunk rail network, with which designers can test the rationality of the designed trunk rail network. At last, an example is shown to exhibit how the regulations, corollaries, and algorithm work in the design.

关键词： Rails Floors System recovery Vehicles Mobile robots Algorithm design and analysis Layout

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Vehicles routing and scheduling algorithm for an automated storage and retrieval system of a warehouse

Vehicles routing and scheduling algorithm for an automated s...

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International Conference on Logistics, Informatics and Service Sciences (LISS)

ISBN: (纸本)9781479918928

An automated storage and retrieval system is a new storage concept derived from a pallet-shuttle high-density-storage system. This new system (former system) has higher space utilization than the original one (latter system), and can store or retrieve palletized units automatically using automated storage & retrieval vehicles. In order to organize multiple vehicles moving orderly in the system, offline vehicle routing and online vehicle scheduling are performed, based on a path-net graph modeled from the racks and pallet lifters of the system. In offline vehicle routing, path payload and navigation factor are introduced to calculate the path cost, which can make the vehicles not only have short paths but also employ trunk rails and pallet lifters evenly. In online vehicle scheduling, to avoid vehicle collisions at path nodes, buffers are attached to path nodes in the path-net graph model for vehicle parking, and each vehicle can only pass through the path nodes after having acquired the authorization of the system. With the algorithm illuminated in this paper, the system can route and schedule vehicles efficiently, and the utilization rate of vehicles can achieve more than 98% and congestion rate of system less than 2%, with an appropriate number of vehicle.

关键词： Rails Vehicles Routing Floors Portals Algorithm design and analysis Storage automation

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A prediction model of rectum’s perceptive function reconstruction based on SVM optimized by ACO

Communications in Computer and Information Science

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Communications in Computer and Information Science 2014年 461卷 121-128页

作者： Zan, Peng Ai, Yutao Zhao, Jie Shao, Yong Department of Automation College of Mechatronics Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Power Station Automation Technology Shanghai China

ISBN: (纸本)9783662452820

In order to solve the problem that rectal pressure signal typically has complicate nonlinear and non-stationary signal characteristics. In this paper, our model uses wavelet packet to extract feature vectors and classifies them based on SVM. In our model, we choose RBF kernel function which has been proved has best discrimination for rectal pressure signals in the experiments. At the same time, in order to acquire higher accuracy, ACO is introduced to find the optimal value of parameters. We compare the prediction accuracy of SVM with different kernel functions. The results show that when we input parameters which were optimized by ACO into SVM, it acquires the highest classification accuracy and has preferable predication performance. So we can conclude that the proposed method is an effective way to rebuild patients’ rectal perception function. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Support vector machines

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Analysis of a 3-DOF micro-positioning stage

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Key engineering Materials 2014年 620卷 234-239页

作者： Zhai, Dede Fan, Shixun Fan, Dapeng College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 Hunan province China

ISBN: (纸本)9783038351856

Firstly a three degrees of freedom micro-positioning stage constructed by flexure hinges is designed, and the simplified model of the stage is established. Secondly, the stiffness of the stage along X, Y direction or around Z direction is deduced by structural mechanics. The difference between finite element method and theory value is less than 7%, so it shows the theory analysis is feasible, further more, stress of the moving stage is analyzed, and the effect curve of the key parameters to the stiffness and stress is obtained. It can be concluded that the stiffness and stress mainly related with the flexure hinge length L and width t, thus it provide a theoretical basis for three-dimensional micro-positioning stage design. © (2014) Trans Tech Publications, Switzerland.

关键词： Stiffness

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Fast surface construction and nc milling based on 3d scanning

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Key engineering Materials 2014年 579-580卷 598-602页

作者： Wu, Zhenghong Zhou, Qingkun Fan, Dapeng Zhu, Jianneng Wang, Jianmin College of Mechatronics Engineering and Automation National University of Defense Technology Hunan Province 410073 China

ISBN: (纸本)9783037858271

Construction of a rapid surface and processing is an effective way to improve the manufacturing efficiency, this paper linked the 3D scanning, fast surface construction and NC closely, described the whole process of surface data acquisition and processing, surface construction and the process of NC machining. The outer surface of the mouse was scanned from multiple angles by using 3D CaMega scanner, a plurality of point cloud was obtained, the point cloud processing, triangle face processing construct refinement of the model surface and grid lines were all processed in Geomagic Studio software, through adjustments, NURBS surface was generated. Also the mould surface of the mouse was constructed in the UG NX software. This paper wrote the machining process, Programmed NC Milling in UG NX software, generated the trajectory of rough and finishes machining as well as the programs of machining tool. Also CNC milling was processed CNC machining center.

关键词： Data acquisition

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Modeling of harmonic drive system with low-frequency resonance

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Key engineering Materials 2014年 620卷 424-430页

作者： Hei, Mo Zhou, Qingkun Liao, Hongbo Fan, Shixun Fan, Dapeng College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 Hunan province China

ISBN: (纸本)9783038351856

In the design process of lightweight harmonic drive system, low-frequency resonance generally affects controller design, and restricts system servo performance. In the design stage of system, it has great significance that the resonant frequencies and dynamic performances could be predicted. This paper presents a modeling method of harmonic drive system which has low-frequency resonance. Takes an uniaxial harmonic drive system as example to describe the implementation process of the modeling method. The dynamics model of harmonic drive system has been built. Using Ansys, Recurdyn and Matlab, the rigid-flexible coupling dynamics simulation model of system has been established. The simulation model analysis and the actual system experiment have been done respectively. Comparing the simulation and experiment results, it shows that: the open-loop time-frequency domain characteristics and the structural modals of simulation and experiment results are basically consistent. Using this method, the resonant frequency and dynamic performance of harmonic drive system can be predicted in the system design stage, and improve design efficiency. © (2014) Trans Tech Publications, Switzerland.

关键词： Natural frequencies

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Co-designing method for mechatronic system based on matlab and recurdyn

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Key engineering Materials 2014年 579-580卷 725-731页

作者： Hei, Mo Fan, Shixun Liao, Hongbo Fan, Dapeng College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 Hunan province China

ISBN: (纸本)9783037858271

In modem mechatronic system design process, how to shorten the design schedule and to ensure that the performance of the system designed to meet the indicator has been the focus of attention. This paper presents a mechatronic system co-designing method based 011 Matlab and Recurdyn. Takes a typical uniaxial direct drive system as example, describes the implementation process of the co-designing method. The dynamics model of direct drive system has been builded. 011 this basis, the co-simulation model based 011 Matlab and Recurdyn has been established. Simulates and analyzes time domain and frequency domain characteristics of the co-simulation model in different conditions, and compares simulation results and corresponding experiment results. Comparison results showed that: Open-loop time-frequency domain simulation results and experimental results are basically consistent, amplitude-frequency characteristics matching degree (ACMD) greater than 73%. phase-frequency characteristics matching degree (PCMD) greater than 87%, time domain response matching degree (TRMD) greater than 89%. It verifies the validity and correctness of the co-designing method.

关键词： Time domain analysis

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Detection and diagnosis of motor stator faults using electric signals from variable speed drives

Detection and diagnosis of motor stator faults using electri...

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International Conference on automation and Computing (ICAC)

作者： Abdulkarim Shaeboub Samieh Abusaad Niaoqing Hu Fengshou Gu Andrew D. Ball Centre of Efficiency and Performance Engineering University of Huddersfield Queensgate Huddersfield UK College of Mechatronics and Automation National University of Defense Technology Changsha China

Motor current signature analysis has been investigated widely for diagnosing faults of induction motors. However, most of these studies are based on open loop drives. This paper examines the performance of diagnosing motor stator faults under both open and closed loop operation modes. It examines the effectiveness of conventional diagnosis features in both motor current and voltage signals using spectrum analysis. Evaluation results show that the stator fault causes an increase in the sideband amplitude of motor current signature only when the motor is under the open loop control. However, the increase in sidebands can be observed in both the current and voltage signals under the sensorless control mode, showing that it is more promising in diagnosing the stator faults under the sensorless control operation.

关键词： Induction motors Stator windings Circuit faults Torque Amplitude modulation Rotors

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