登高车作为现代重工制造企业、建筑、维护和救援等特定领域不可或缺的设备,其安全性、灵活性和效率至关重要。登高车作为高空作业的关键设备,其操控结构和电控系统的优化至关重要。本研究以38米登高车为例,通过系统工程原理确定了优化...登高车作为现代重工制造企业、建筑、维护和救援等特定领域不可或缺的设备,其安全性、灵活性和效率至关重要。登高车作为高空作业的关键设备,其操控结构和电控系统的优化至关重要。本研究以38米登高车为例,通过系统工程原理确定了优化目标和设计变量,采用模型预测控制(MPC,Model Predictive Control)和有限元分析(FEA,Finite Element Analysis)技术对其进行综合优化设计。该研究成功提升了登高车的稳定性和响应速度,降低了操作复杂性和系统故障率,显著提高了作业性能和安全性。研究结果表明,采用的方法能有效拟合操控结构和电控系统之间的关系,获取最优结构参数和控制策略。这不仅促进了相关领域的技术进步和工业生产的可持续发展,也为企业和研究机构提供了重要的技术支持和解决方案。展开更多
The most prospective method for certain structural failures and damages that cannot employ redundancy is self-repairing techniques, to ensure especially the maximum flight safety. Based on the characters of self-repai...The most prospective method for certain structural failures and damages that cannot employ redundancy is self-repairing techniques, to ensure especially the maximum flight safety. Based on the characters of self-repairing aircraft, this paper states some basic assumptions of the self-repairing aircraft, and puts forward some special new conceptions concerning the self-repairing aircraft: control input, operating input, command input, repair input and operating and control factor as well as their relationships. Thus it provides a simple and reliable mathematical model structure for the research on the self-repairing control of the aircraft.展开更多
Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presen...Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.展开更多
In this paper, a new practical model for real heavy vehicle structure is developed to investigate dynamic responses under steering/acceleration or braking maneuvers. The generalized six DoFs （degrees-of-freedom） non...In this paper, a new practical model for real heavy vehicle structure is developed to investigate dynamic responses under steering/acceleration or braking maneuvers. The generalized six DoFs （degrees-of-freedom） nonlinear vehicle model M1 including longitudinal, lateral, yaw, vertical, roll and pitch dynamics is validated using the measured data reported in different studies. This model takes the CG （center of gravity） of sprung mass, unsprung mass and total vehicle mass into account. Based on this model, the effects of the inertia parameters on the vehicle dynamic responses are investigated for more comprehensive assessments of the model structure. Another nonlinear vehicle model 342 derived from M1 which assumes that the vehicle has a single CG as reported in literature is also developed. The dynamic responses of the vehicle model Mj are compared with those of the model M2 to demonstrate the performance potential of the proposed nonlinear model. The results of dynamic responses with the nonlinear vehicle model MI suggest that the model could offer considerable potential in realizing enhanced ride and handling performance, as well as improved roll and pitch properties in a flexible manner.展开更多
文摘登高车作为现代重工制造企业、建筑、维护和救援等特定领域不可或缺的设备,其安全性、灵活性和效率至关重要。登高车作为高空作业的关键设备,其操控结构和电控系统的优化至关重要。本研究以38米登高车为例,通过系统工程原理确定了优化目标和设计变量,采用模型预测控制(MPC,Model Predictive Control)和有限元分析(FEA,Finite Element Analysis)技术对其进行综合优化设计。该研究成功提升了登高车的稳定性和响应速度,降低了操作复杂性和系统故障率,显著提高了作业性能和安全性。研究结果表明,采用的方法能有效拟合操控结构和电控系统之间的关系,获取最优结构参数和控制策略。这不仅促进了相关领域的技术进步和工业生产的可持续发展,也为企业和研究机构提供了重要的技术支持和解决方案。
文摘The most prospective method for certain structural failures and damages that cannot employ redundancy is self-repairing techniques, to ensure especially the maximum flight safety. Based on the characters of self-repairing aircraft, this paper states some basic assumptions of the self-repairing aircraft, and puts forward some special new conceptions concerning the self-repairing aircraft: control input, operating input, command input, repair input and operating and control factor as well as their relationships. Thus it provides a simple and reliable mathematical model structure for the research on the self-repairing control of the aircraft.
文摘Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.
文摘In this paper, a new practical model for real heavy vehicle structure is developed to investigate dynamic responses under steering/acceleration or braking maneuvers. The generalized six DoFs （degrees-of-freedom） nonlinear vehicle model M1 including longitudinal, lateral, yaw, vertical, roll and pitch dynamics is validated using the measured data reported in different studies. This model takes the CG （center of gravity） of sprung mass, unsprung mass and total vehicle mass into account. Based on this model, the effects of the inertia parameters on the vehicle dynamic responses are investigated for more comprehensive assessments of the model structure. Another nonlinear vehicle model 342 derived from M1 which assumes that the vehicle has a single CG as reported in literature is also developed. The dynamic responses of the vehicle model Mj are compared with those of the model M2 to demonstrate the performance potential of the proposed nonlinear model. The results of dynamic responses with the nonlinear vehicle model MI suggest that the model could offer considerable potential in realizing enhanced ride and handling performance, as well as improved roll and pitch properties in a flexible manner.
