V447.3 2002032386提高CCD相机视觉定位准确度的算法研究=Methodto improve the CCD camera’s resolution for applicationin high accuracy locating[刊,中]/衣法臻,胡恒章,何平(哈尔滨工业大学控制学与工程系.黑龙江,哈尔滨(150001)...V447.3 2002032386提高CCD相机视觉定位准确度的算法研究=Methodto improve the CCD camera’s resolution for applicationin high accuracy locating[刊,中]/衣法臻,胡恒章,何平(哈尔滨工业大学控制学与工程系.黑龙江,哈尔滨(150001))//宇航计测技术.-2001,21(5).-57-62提出了一种提高利用CCD相机进行视觉定位的准确度的方法,对该方法的误差情况进行了分析,提出了减小误差影响的策略。对一个实例进行了研究,证明该方法可以极大地提高CCD相机的测量准确度。展开更多
TB92 98063956一种快速检测圆心的抗噪声亚像素算法=A robustsubpixel algorithm for the center of circle detecting[刊.中]/侯成刚,杨文献.屈梁生(西安文通大学诊断与控制学研究所.陕西,西安(710049))//光学学报.—1998,18(4).—481...TB92 98063956一种快速检测圆心的抗噪声亚像素算法=A robustsubpixel algorithm for the center of circle detecting[刊.中]/侯成刚,杨文献.屈梁生(西安文通大学诊断与控制学研究所.陕西,西安(710049))//光学学报.—1998,18(4).—481—485利用圆的几何对称性。展开更多
In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedo...In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers) and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller, good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.展开更多
A quarter-automobile active suspension model was proposed. High speed on/off solenoid valves were used as control valves and fuzzy control was chosen as control method . Based on force analyses of system parts, a math...A quarter-automobile active suspension model was proposed. High speed on/off solenoid valves were used as control valves and fuzzy control was chosen as control method . Based on force analyses of system parts, a mathematical model of the active suspension system was established and simplified by linearization method. Simulation study was conducted with Matlab and three scale coefficients of fuzzy controller (ke, kec, ku) were acquired. And an experimental device was designed and produced. The results indicate that the active suspension system can achieve better vibration isolation performance than passive suspension system, the displacement amplitude of automobile body can be reduced to 55%. Fuzzy control is an effective control method for active suspension system.展开更多
文摘V447.3 2002032386提高CCD相机视觉定位准确度的算法研究=Methodto improve the CCD camera’s resolution for applicationin high accuracy locating[刊,中]/衣法臻,胡恒章,何平(哈尔滨工业大学控制学与工程系.黑龙江,哈尔滨(150001))//宇航计测技术.-2001,21(5).-57-62提出了一种提高利用CCD相机进行视觉定位的准确度的方法,对该方法的误差情况进行了分析,提出了减小误差影响的策略。对一个实例进行了研究,证明该方法可以极大地提高CCD相机的测量准确度。
文摘TB92 98063956一种快速检测圆心的抗噪声亚像素算法=A robustsubpixel algorithm for the center of circle detecting[刊.中]/侯成刚,杨文献.屈梁生(西安文通大学诊断与控制学研究所.陕西,西安(710049))//光学学报.—1998,18(4).—481—485利用圆的几何对称性。
基金Project(2003AA430200) supported by the National Hi-Tech Research and Development Program(863) of China
文摘In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers) and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller, good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.
文摘A quarter-automobile active suspension model was proposed. High speed on/off solenoid valves were used as control valves and fuzzy control was chosen as control method . Based on force analyses of system parts, a mathematical model of the active suspension system was established and simplified by linearization method. Simulation study was conducted with Matlab and three scale coefficients of fuzzy controller (ke, kec, ku) were acquired. And an experimental device was designed and produced. The results indicate that the active suspension system can achieve better vibration isolation performance than passive suspension system, the displacement amplitude of automobile body can be reduced to 55%. Fuzzy control is an effective control method for active suspension system.
