To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer developme...To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.展开更多
A complex geometric modeling method of a helical face gear pair with arc-tooth generated by an arc-profile cutting(APC)disc is proposed,and its tooth contact characteristics are analyzed.Firstly,the spatial coordinate...A complex geometric modeling method of a helical face gear pair with arc-tooth generated by an arc-profile cutting(APC)disc is proposed,and its tooth contact characteristics are analyzed.Firstly,the spatial coordinate system of an APC face gear pair is established based on meshing theory.Combining the coordinate transformation matrix and the tooth profile of the cutter,the equations of the curve envelope of the APC face gear pair are obtained.Then the surface equations are solved to extract the point clouds data by programming in MATLAB,which contains the work surface and the fillet surface of the APC face gear pair.And the complex geometric model of the APC face gear pair is built by fitting its point clouds.At last,through the analysis of the tooth surface contact,the sensitivity of the APC face gear to the different types of mounting errors is obtained.The results show that the APC face gear pair is the most sensitive to mounting errors in the tooth thickness direction,and it should be strictly controlled in the actual application.展开更多
From the viewpoints of both fuzzy system and fuzzy reasoning, a new fuzzy reasoning method which contains the α- triple I restriction method as its particular case is proposed. The previous α-triple I restriction pr...From the viewpoints of both fuzzy system and fuzzy reasoning, a new fuzzy reasoning method which contains the α- triple I restriction method as its particular case is proposed. The previous α-triple I restriction principles are improved, and then the optimal restriction solutions of this new method are achieved, especially for seven familiar implications. As its special case, the corresponding results of α-triple I restriction method are obtained and improved. Lastly, it is found by examples that this new method is more reasonable than the α-triple I restriction method.展开更多
In order to study the variation of machine tools’dynamic characteristics in the manufacturing space,a Kriging approximate model is proposed.Finite element method(FEM)is employed on the platform of ANSYS to establish ...In order to study the variation of machine tools’dynamic characteristics in the manufacturing space,a Kriging approximate model is proposed.Finite element method(FEM)is employed on the platform of ANSYS to establish finite element(FE)model with the dynamic characteristic of combined interface for a milling machine,which is newly designed for producing aero engine blades by a certain enterprise group in China.The stiffness and damping of combined interfaces are adjusted by using adaptive simulated annealing algorithm with the optimizing software of iSIGHT in the process of FE model update according to experimental modal analysis(EMA)results.The Kriging approximate model is established according to the finite element analysis results utilizing orthogonal design samples by taking into account of the range of configuration parameters.On the basis of the Kriging approximate model,the response surfaces between key response parameter and configuration parameters are obtained.The results indicate that configuration parameters have great effects on dynamic characteristics of machine tools,and the Kriging approximate model is an effective and rapid method for estimating dynamic characteristics of machine tools in the manufacturing space.展开更多
The guidance strategy is an extremely critical factor in determining the striking effect of the missile operation.A novel guidance law is presented by exploiting the deep reinforcement learning(DRL)with the hierarchic...The guidance strategy is an extremely critical factor in determining the striking effect of the missile operation.A novel guidance law is presented by exploiting the deep reinforcement learning(DRL)with the hierarchical deep deterministic policy gradient(DDPG)algorithm.The reward functions are constructed to minimize the line-of-sight(LOS)angle rate and avoid the threat caused by the opposed obstacles.To attenuate the chattering of the acceleration,a hierarchical reinforcement learning structure and an improved reward function with action penalty are put forward.The simulation results validate that the missile under the proposed method can hit the target successfully and keep away from the threatened areas effectively.展开更多
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.
基金Project(51805368)supported by the National Natural Science Foundation of ChinaProject(2018QNRC001)supported by the Young Elite Scientists Sponsorship Program,China+1 种基金Project(DMETKF2021017)supported by the Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,ChinaProject(HTL-0-21G07)supported by the National key Laboratory of Science and Technology on Heicopter Transmission,China。
文摘A complex geometric modeling method of a helical face gear pair with arc-tooth generated by an arc-profile cutting(APC)disc is proposed,and its tooth contact characteristics are analyzed.Firstly,the spatial coordinate system of an APC face gear pair is established based on meshing theory.Combining the coordinate transformation matrix and the tooth profile of the cutter,the equations of the curve envelope of the APC face gear pair are obtained.Then the surface equations are solved to extract the point clouds data by programming in MATLAB,which contains the work surface and the fillet surface of the APC face gear pair.And the complex geometric model of the APC face gear pair is built by fitting its point clouds.At last,through the analysis of the tooth surface contact,the sensitivity of the APC face gear to the different types of mounting errors is obtained.The results show that the APC face gear pair is the most sensitive to mounting errors in the tooth thickness direction,and it should be strictly controlled in the actual application.
基金supported by the National Natural Science Foundation of China (61105076 61070124)+2 种基金the National High Technology Research and Development Program of China (863 Program) (2012AA011103)the Open Project of State Key Laboratory of Virtual Reality Technology and Systems of China (BUAA-VR-10KF-5)the Fundamental Research Funds for the Central Universities (2011HGZY0004)
文摘From the viewpoints of both fuzzy system and fuzzy reasoning, a new fuzzy reasoning method which contains the α- triple I restriction method as its particular case is proposed. The previous α-triple I restriction principles are improved, and then the optimal restriction solutions of this new method are achieved, especially for seven familiar implications. As its special case, the corresponding results of α-triple I restriction method are obtained and improved. Lastly, it is found by examples that this new method is more reasonable than the α-triple I restriction method.
基金Project(2009ZX04001-073)supported by the Important National Science&Technology Specific Projects of ChinaProject(51105025)supported by the National Natural Science Foundation of China
文摘In order to study the variation of machine tools’dynamic characteristics in the manufacturing space,a Kriging approximate model is proposed.Finite element method(FEM)is employed on the platform of ANSYS to establish finite element(FE)model with the dynamic characteristic of combined interface for a milling machine,which is newly designed for producing aero engine blades by a certain enterprise group in China.The stiffness and damping of combined interfaces are adjusted by using adaptive simulated annealing algorithm with the optimizing software of iSIGHT in the process of FE model update according to experimental modal analysis(EMA)results.The Kriging approximate model is established according to the finite element analysis results utilizing orthogonal design samples by taking into account of the range of configuration parameters.On the basis of the Kriging approximate model,the response surfaces between key response parameter and configuration parameters are obtained.The results indicate that configuration parameters have great effects on dynamic characteristics of machine tools,and the Kriging approximate model is an effective and rapid method for estimating dynamic characteristics of machine tools in the manufacturing space.
基金supported by the National Natural Science Foundation of China(62003021,91212304).
文摘The guidance strategy is an extremely critical factor in determining the striking effect of the missile operation.A novel guidance law is presented by exploiting the deep reinforcement learning(DRL)with the hierarchical deep deterministic policy gradient(DDPG)algorithm.The reward functions are constructed to minimize the line-of-sight(LOS)angle rate and avoid the threat caused by the opposed obstacles.To attenuate the chattering of the acceleration,a hierarchical reinforcement learning structure and an improved reward function with action penalty are put forward.The simulation results validate that the missile under the proposed method can hit the target successfully and keep away from the threatened areas effectively.
