制动器作为各种机构的制动安全装置,起着至关重要的作用.首先建立了智能型制动器的故障树模型,明确了智能型制动器存在的各种失效模式及各失效模式间的层次关系,在此基础上对各个失效模式的影响进行了FMEA(Failure Mode and Effects Ana...制动器作为各种机构的制动安全装置,起着至关重要的作用.首先建立了智能型制动器的故障树模型,明确了智能型制动器存在的各种失效模式及各失效模式间的层次关系,在此基础上对各个失效模式的影响进行了FMEA(Failure Mode and Effects Analysis)分析,明确了各失效模式的风险指数,对主要风险问题进行了有针对性的解决,从而提高了新研发的智能型制动器的可靠性.展开更多
Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to aut...Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.展开更多
文摘制动器作为各种机构的制动安全装置,起着至关重要的作用.首先建立了智能型制动器的故障树模型,明确了智能型制动器存在的各种失效模式及各失效模式间的层次关系,在此基础上对各个失效模式的影响进行了FMEA(Failure Mode and Effects Analysis)分析,明确了各失效模式的风险指数,对主要风险问题进行了有针对性的解决,从而提高了新研发的智能型制动器的可靠性.
基金Project(K5117827)supported by Scientific Research Foundation for the Returned Overseas Chinese ScholarsProject(08KJB510021)supported by the Natural Science Research Council of Jiangsu Province,China+1 种基金Project(Q3117918)supported by Scientific Research Foundation for Young Teachers of Soochow University,ChinaProject(60910001)supported by National Natural Science Foundation of China
文摘Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.
