可编程序控制器的多机联用     

洪忠渝 《中国海洋大学学报(自然科学版)》1992,(3)

多台可编程序控制器通过输入、输出点的直接连接,传递命令、状态和数据,实现多机联用系统。  相似文献   

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control     

Hyun-Sik Kim  Yong-Ku Shin   《Ocean Engineering》2007,34(8-9):1080-1088

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.  相似文献   

无舵翼水下机器人路径跟踪控制研究   总被引：1，自引：0，他引：1  

甘永  万磊  陆雯雯  庞永杰 《海洋工程》2007,25(1):70-75

针对无舵翼水下机器人的各种不同任务要求下的路径跟踪控制进行研究。通过模拟人的运动行为,建立了虚拟避碰声纳模型。根据地形跟踪的方法提出基于虚拟声纳的路径跟踪控制方法,并通过考虑纵向速度对于其他各个自由度运动的影响设计了运动控制器。通过海上试验验证了所提出的路径跟踪控制方法对于无舵翼水下机器人是可以满足实际需要的。  相似文献   

“面向区域”的GIS控件的设计与使用   总被引：4，自引：0，他引：4  

陈正江 《地理研究》2003,22(2):227-236

本文提出了一个“面向区域”GIS控件的概念———即以特定的地理区域为对象,将基础地理信息连同有关的GIS功能操作融合为一个可重用的程序模块,以Microsoft的COM(即“组件对象模型”)技术为基础,组织为“GIS化”的ActiveX控件。这种GIS控件,将面向对象技术中的“对象”扩展到了整个特定的地理区域空间,其核心思想是不仅封装了GIS的数据模型,必要的功能操作,而且封装了所有的基础地理信息。由于省去了对空间数据的处理,因而这种GIS控件可被广大非GIS专业的信息系统开发者灵活、简便地用于各种管理信息系统、办公自动化系统和决策支持系统的GIS功能扩充,也可用于构建一般的地理信息系统,因而有利于GIS技术应用的普及。文章最后给出了有关陕西省的应用实例  相似文献   

新一代计算机控制的岩石材料试验机          下载免费PDF全文

马孝春 《探矿工程》1994,(6):19-20

本文结合厦门海沧经济开发区路网规划工作，着重探讨了区域公路网规划的分区、原则、交通量预测、路网布局、实施方案等问题。  相似文献   

深海调查绞车牵引机构和储缆机构分离技术系统分析   总被引：2，自引：0，他引：2  

翟庆光  聂杰  康岳伟 《海洋技术学报》2008,27(4)

简要介绍了深海调查绞车的技术发展状况,分析了牵引机构和储缆机构分离技术为基础的绞车的组成部分和其相应的功能,探讨了牵引卷筒、储缆卷筒和直角排缆器的液压传动系统和控制系统的基本工作原理,并对绞车储缆卷筒的自适应张力控制器做了简单的介绍。  相似文献   

Adapted Fuzzy Controller for Astronomical Telescope Tracking     

Abdel-Fattah Attia 《Experimental Astronomy》2004,18(1-3):93-108

This paper presents a novel application of fuzzy logic (FL) controller driven by an adaptive fuzzy set (AFS) for position tracking of the telescope driven by electric motor. Also, the proposed FL controller, driven by AFS, is compared with a classical FL control, driven by a static fuzzy set (SFS). Both FL controllers algorithm use the position error and its rate of change as an input vector. The mathematical model of the telescope driven by electric motor is highly nonlinear differential equations. Therefore the use of the artificial intelligent controller, such as FL is much better than the conventional controller, to cover a wide range of operating conditions. So, the output of FL control is utilized to force the electric drives, of the telescope, to satisfy a perfect matching of the predefined desired position of the telescope arms. Both of FL controllers, using AFS and SFS, are simulated and tested when the system is subjected to a step change in reference value. In addition, these simulation results are compared with the conventional Proportional-Derivative (PD) controller, driven by fixed gain. The proposed FL, using an adaptive fuzzy set, improve the dynamic response of the overall system by improving the damping coefficient and decreasing the rise time and settling time compared with other two controllers.  相似文献   

CAN总线在控制系统中的应用     

韩斌  张睿  何建新 《成都信息工程学院学报》2003,18(4):339-342

阐述了CAN总线的工作原理，并运用SJA1000、PCA82C250和单片机ADuCS12实现了CAN节点与上位机的通信。  相似文献   

多口出入的网络停车场系统设计     

周鑫  杜谢林  任德昊 《成都信息工程学院学报》2005,20(3):235-238

介绍了大型停车场系统设计实现以及安全性原理，针对现有停车场系统的缺点和不足因素，在保证传统停车场系统优势的基础上，采用先进的编程技术、硬件设计和网络技术建立适应不同停车场类型的软硬件系统，在实际应用中取得了很好的效果。  相似文献   

Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle     

《Applied Ocean Research》2019

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.  相似文献