Bo You

Research and development of DSP based servo motion controller

According to the requirements of open motion control, the open servo motor motion controller based on DSP and CPLD was researched and developed. The controller can perform high speed and high accuracy interpolation and achieve the function of electronic gear. This paper presents the hardware structure, the principle of motion controller, and the function of electronic gear applied in synchronization motion control. The controller communicates with the upper computer through PCI or USB bus, and the position loop adopts PID modulation with speed and acceleration feed forward algorithm. The NURBS (Non-Uniform-Rational-B-Spline) interpolation algorithm, time division interpolation principle, and development method of customer control software are presented. Experiments and simulation show that the controller has the advantages of good real-time performance, small following error, highly machining accuracy.

Research and Development on Control System of Winding Machine for FRP Sand-filling Pipes

This paper presents the structure and production process of FRP sand-filling pipes and builds winding pattern model and speed control model according to filament winding theory. The open numerical control system of winding machine based on industrial computer and motion control card was designed. The spindle is driven by frequency converter which is controlled by motion control card, using feedback of rotary encoder mounted at the spindle to accomplish closed-loop speed control and measurement of spindle position. A servo motor is applied to complete accurate position control of the carriage. The control software is developed with VC++ 6.0 language based on Windows NT platform. The software structure and functions of process parameters setting, remote control, and winding after accident interruption are also introduced. It is proved that this system improves production efficiency and pipe quality greatly

Implementation of an IEEE 1451 Smart Quartz Tuning fork Temperature Transducer for Real-time Distributed Measurement and Control System

The IEEE 1451 smart transducer interface standards was created to provide the common interface and enabling technology for the connectivity of transducers to realtime distributed measurement and control system. The standardized TEDS specified by IEEE 1451.2 allow the self-description of sensors and the interfaces provide a standardized mechanism to facilitate the plug and play of sensors to networks. A smart high-performance quartz tuning fork temperature sensor (QTFS) with a prototype IEEE 1451 Internet interface was implemented by microprocessor PIC16F877. A software environment has been developed to realize the full STIM functionality, this STIM implementation is interfaced to a NCAP to demonstrate a remote temperature measurement and control application, operating over the World-Wide-Web. Experiment and results of the demonstration project have proved that the smart transducers possess high-performance and enable Internet access of networks

Research and Development on Control System of Multicoil Inside Solidification Combined Winding Machine

Multicoil inside solidification combined winding machine, which can wind, solidify inside and extract high-pressure glass reinforced plastic (GRP) tubes, combines three conventional working procedures. The machine tool has four spindles of two groups working coordinately, improving machining efficiency greatly. This paper presents the realization of its control system, including the hardware and software architecture of the winding, inside solidification and extraction subsystems, and the mutual communication among them. Several key technologies such as the realization of openness, multicoil winding for heavy caliber tubes and remote control are also introduced.

Semi-Autonomous Bilateral Teleoperation of Hexapod Robot Based on Haptic Force Feedback

With the widespread use of multi-legged robots in various applications, new challenges have arisen in terms of designing their control systems, one of which is posed by the multiple degrees of freedom of the robotic legs. This paper proposes a novel method for the bilateral teleoperation control of a hexapod robot by using a semi-autonomous strategy. In this teleoperation system, the body velocities of the slave robot and the displacements of the master robot are mapped to each other. The angular velocities of the joints of the legs rely on independent planning to achieve a horizontal movement. A controller is designed based on the difference between the expected velocity and the actual velocity of the body, and the difference is fed back to the operator in the form of haptic force. Therefore, the transparency of the control system is guaranteed by increasing the damping compensation both in the master and slave robots. In addition, the stability of the bilateral teleoperation control system of the hexapod robot is guaranteed by passivity theory, and the proposed method is verified by conducting semi-physical simulation experiments.

The winding machine system of large diameter FRP tank

In order to solve the production and transportation problems of large diameter FRP tank, the numerical control winding machine system was developed to realize field winding. The mechanical parts of the system can be conveniently disassembled and assembled in field. Based on the electronic gear control mode the embedded motion controller is adopted to realize synchronous motion control. In this paper, mechanical structure, working principle and manufacturing process are introduced, and winding control model, the function and realization method of control program are analyzed. The application of this system has realized field winding of large diameter FRP tank.

Design of Petri net-based control system for dual-wheel-driving mobile robot

The driving speed of mobile robot is always inaccurate driven by low performance DC motor and low resolution encoder in PWM way. For this reason, the event-driven dual-driving-wheel synchronization control model is established based on Petri net. The forward and inverse formulas of the azimuth for dual-wheel-driving mobile robot in discrete form are deduced. The specific realization algorithm is given at last. Experimental results show this model has obvious advantage in speed and position control using the proposed synchronization control model, especially when the robot moves along straight line and the speed difference of two driving wheels is small.

Design of multifunction anti-terrorism robotic system based on police dog

Aimed at some typical constraints of police dogs and robots used in the areas of reconnaissance and counterterrorism currently, the multifunction anti-terrorism robotic system based on police dog has been introduced. The system is made up of two parts: portable commanding device and police dog robotic system. The portable commanding device consists of power supply module, microprocessor module, LCD display module, wireless data receiving and dispatching module and commanding module, which implements the remote control to the police dogs and takes real time monitor to the video and images. The police dog robotic system consists of microprocessor module, micro video module, wireless data transmission module, power supply module and offence weapon module, which real time collects and transmits video and image data of the counter-terrorism sites, and gives military attack based on commands. The system combines police dogs biological intelligence with micro robot. Not only does it avoid the complexity of general anti-terrorism robots mechanical structure and the control algorithm, but it also widens the working scope of police dog, which meets the requirements of anti-terrorism in the new era.

Design and Development on Robot Workstation for Water-jet Cutting

High-pressure water-jet cutting machine combined with robot can cut workpieces with complicated shape accurately. The water-jet cutting workstation based on phased intensifier and industry robot with six degrees of freedom was designed, and the hardware composition and working principle of this workstation and phased intensifier are described. The robot controller accomplishes system administering and workpieces cutting, serving as the control kernel of the workstation. The phased intensifier employs a constant pressure variable capacity pump to provide power, compressed air to push pistons back, and a PLC to control working sequence of two pistons, which causing the structure of mechanism and control system to be simplified. This paper discusses the structure of cutting program and cutting process of a car dash board. It is proved that this workstation work stably, which can meet cutting requirements of dash board

The Development of Novel Numerical Control Rotating Pipe Tool & its Control System

A novel numerical control rotating pipe tool (RPT) was designed in order to producing seamless steel pipes with complicated gyrorotor outline. The digitizer-based manual/automatic control system was designed. The core of the control system are a central Industrial Personal Computer and a GT400 motion controller and with Panasonic PLC as the subcontrol. Fuzzy self-tuning PID controller and feedforward control strategy are adopted in the servo motors speed loop and the hydraulic cylinder position loop. The system has the function of teaching playback, which can be realized through digitizer and G codes, and the Internet-based remote supervision was realized. The smoothness of the steel pipes was guaranteed during the replay of the machining through data process. The machining efficiency, flexibility, reliability and precision of the system have been guaranteed with the combination of digitizer, PLC and G codes