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挖掘机器人控制系统CAN总线接口 被引量:3
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作者 周波 胡骁 周辉 《武汉科技大学学报》 CAS 2002年第3期288-292,共5页
根据挖掘机器人控制系统的设计特点 ,采用基于CAN总线通信的多控制主体结构方案 。
关键词 控制系统 CAN总线 挖掘机器人 多主体控制系统 多智能主体结构 接口设计
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Optimal design method for force in vibration control of multi-body system with quick startup and brake 被引量:3
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作者 唐华平 彭娅清 《Journal of Central South University of Technology》 EI 2005年第4期459-464,共6页
A kind of active vibration control method was presented through optimal design of driving load of multi-body system with quick startup and brake. Dynamical equation of multi-body system with quick startup and brake wa... A kind of active vibration control method was presented through optimal design of driving load of multi-body system with quick startup and brake. Dynamical equation of multi-body system with quick startup and brake was built, and mathematical model of representing vibration control was also set up according to the moving process from startup to brake. Then optimization vibration control model of system driving load was founded by applying theory of optimization control, which takes rigid body moving variable of braking moment as the known condition, and vibration control equation of multi-body system with quick startup and brake was converted into boundary value problem of differential equation. The transient control algorithm of vibration was put forward, which is the analysis basis for the further research. Theoretical analysis and calculation of numerical examples show that the optimal design method for the multi-body system driving load can decrease the vibration of system with duplication. 展开更多
关键词 vibrationl multi-body system active control
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Active vibration control of multibody system with quick startup and brake based on active damping 被引量:2
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作者 唐华平 唐运军 陶功安 《Journal of Central South University of Technology》 EI 2006年第4期417-421,共5页
A kind of active vibration control method was presented based on active damping and optimization design for driving load of multibody system with quick startup and brake. Dynamical equation of multibody system with qu... A kind of active vibration control method was presented based on active damping and optimization design for driving load of multibody system with quick startup and brake. Dynamical equation of multibody system with quick startup and brake and piezoelectric actuators intelligent structure was built. The optimum driving load was calculated by applying the presented method. The self-sensing and self-tuning closed-loop active vibration control in quick startup and brake process was realized. The control algorithm, using local velocity negative feedback, i.e. the output of a sensor only affects the output of the actuator collocated, can induce damping effectively to actively suppress the system vibration. Based on the optimization design for driving load of multibody system with quick startup and bake, the active damping of piezoelectric actuators intelligent structure was used to farther suppress the vibration of system. Theoretical analysis and calculation of numerical show that the proposed method makes the vibration of system decrease more than the optimal design method for driving load of multibody system. 展开更多
关键词 vibration: multibodv system. active control: niezoelectric actuator
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