To avoid the machine problems of excessive axial force, complex process flow and frequent tool changing during robotic drilling holes, a new hole-making technology (i.e., helical milling hole) was introduced for desig...To avoid the machine problems of excessive axial force, complex process flow and frequent tool changing during robotic drilling holes, a new hole-making technology (i.e., helical milling hole) was introduced for designing a new robotic helical milling hole system, which could further improve robotic hole-making ability in airplane digital assembly. After analysis on the characteristics of helical milling hole, advantages and limitations of two typical robotic helical milling hole systems were summarized. Then, vector model of helical milling hole movement was built on vector analysis method. Finally, surface roughness calculation formula was deduced according to the movement principle of helical milling hole, then the influence of main technological parameters on surface roughness was analyzed. Analysis shows that theoretical surface roughness of hole becomes poor with the increase of tool speed ratio and revolution radius. Meanwhile, the roughness decreases according to the increase of tool teeth number. The research contributes greatly to the construction of roughness prediction model in helical milling hole.展开更多
The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturban...The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
基金Foundation item： Projects（50975141, 51005118） supported by the National Natural Science Foundation of China Projects（20091652018, 2010352005） supported by Aviation Science Fund of China Project（YKJ11-001） supported by Key Program of Nanjing College of Information Technology Institute, China
文摘To avoid the machine problems of excessive axial force, complex process flow and frequent tool changing during robotic drilling holes, a new hole-making technology (i.e., helical milling hole) was introduced for designing a new robotic helical milling hole system, which could further improve robotic hole-making ability in airplane digital assembly. After analysis on the characteristics of helical milling hole, advantages and limitations of two typical robotic helical milling hole systems were summarized. Then, vector model of helical milling hole movement was built on vector analysis method. Finally, surface roughness calculation formula was deduced according to the movement principle of helical milling hole, then the influence of main technological parameters on surface roughness was analyzed. Analysis shows that theoretical surface roughness of hole becomes poor with the increase of tool speed ratio and revolution radius. Meanwhile, the roughness decreases according to the increase of tool teeth number. The research contributes greatly to the construction of roughness prediction model in helical milling hole.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.
