把思想政治教育融入专业课程,贯穿于教育的各个环节,培育时代新人是一项非常重要的工作.由于实践教学开展方式的特殊性,理论课程课程思政教育的方式方法,在实践类课程中并不完全适用.以光学课程设计为例,对实践教学课程思政的教学目标、整体思路、重大举措和推进步骤等进行探索,挖掘凝练思政元素并合理设置课程思政融入点,提升学生的综合素质,真正实现全员、全过程、全方位立体化育人,构建全课程育人格局.

嵌入式控制课程知识点多、实践性强,在有限的学时内高效率高质量教学是一项挑战性工作.为了提高教学效果,针对目前教学活动中的问题,研究与探索课程教学内容和教学方法,提出根据教学内容的特点采用启发式教学、案例教学和项目驱动教学,并给出课程综合评价方式.教学实践表明,学生的学习兴趣和综合实践能力明显提高,取得了良好的教学效果.

随着电动公交车在城市交通的广泛应用,充电工作量随之加大.由于充电功率较大,充电电缆比较粗重,且插拔充电枪需要较大的操作力,人工作业劳动强度较大.采用通用机械臂代替人工实现自动插接充电枪具有广泛的需求,识别充电插座是实现自动插接的前提.以充电插座为识别目标,提出一种基于Canny算子的亚像素精度轮廓几何匹配检测方法,通过Halcon软件应用图像处理和机器视觉技术对目标区域进行特征提取与模板匹配,实现充电插座的自动识别.实验证明,该方法对于有外部光照环境影响具有良好的鲁棒性.

针对铁路运输监管部门对货运车辆超重、偏载和偏重检测的需求,根据轮重仪的机械结构和工作原理设计了测控系统.该测控系统通过控制液压泵电机产生高压油驱动活塞举升车轮,并采用模数转换器检测液压回路压力,软件将压力换算为轮重,一节货车测试完成后能够自动计算总重、货重、偏载和偏重.结果表明,该测控系统运行稳定,测量精度高,并具有低电压保护、超重保护、温度校正功能,能实现轮重检测、数据处理和记录过程自动化.

为了稳定产品质量并提高其综合性能,对某汽车发动机曲轴热锻成形工艺进行了分析.针对热锻感应加热,运用PLC编程对其加热炉系统中的温度进行了精确的智能化控制,对各感应加热炉区温度进行实时控制及监控,实现对其感应加热炉系统的智能控制.设计的发动机曲轴热锻智能控制系统能够根据不同感应炉区的加热温度实时调节其他感应炉区的温度,从而使毛坯感应加热温度在合理的范围内.

针对在角加速度控制法和扭矩控制法下测功电机的动态模型,根据转动惯量的物理定义提出等效惯量作为电模拟系统控制方法的评价依据,频域对比分析表明:在测功电机及其驱动控制系统特性相同的情况下,角加速度控制法的模拟精度和响应速度优于扭矩控制法,信号延迟对惯量电模拟的精度和响应速度有明显影响,且扭矩控制法对延迟更为敏感.

蓄热式锻造加热炉存在烟气热回收效率低、节能效果差等问题.在蓄热炉原理分析的基础上,确定了以模糊控制预热温度和气体流量的蓄热过程优化控制方案.硬件设计采用S7-300PLC,开发出了易于操作的人机界面(HMI),实现了对蓄热过程温度、流量的在线监控.通过软件优化了蓄热过程换向阀动作时序,利用气体流量反馈和模糊推理控制了预热和排烟温度.结果表明,排烟和预热温度基本满足优化设计要求,排除烟气温度≤180℃,预热温度≥1000℃,有效降低了蓄热式加热炉能耗.

转动惯量决定了动态试验过程的客观性和有效性,电模拟在可控和可调性方面优于机械飞轮组模拟,是未来动态试验中惯量模拟的主流.为展现机械转动惯量电模拟技术的研究成果和促进技术进步,在阐述机械转动惯量电模拟原理的基础上分析了该技术在汽车传动系统试验台和风力机动态特性模拟领域中应用的技术特征,根据参与控制的信号将已研究的控制方法归纳为角加速度控制法、扭矩控制法和转速跟踪控制法,并分析了这些控制方法的特点和存在的问题,从工程应用的角度提出进一步研究需要考虑实际系统中的非线性摩擦及弹性特性、控制所需信号的实时检测、系统延迟的影响及补偿方法.

全地形机器人小车在野外复杂环境有广泛用途,针对2017年江苏省机器人自主创新——探索者全地形机器人大赛,设计并组装一种能够适应窄桥、台阶、管道、栅格等多种场合的全地形机器人.车身结构采用类月球车后臂悬挂式,设计的机器人能够完整高效的通过各类障碍物,场地行驶表明,稳定性通过性和地形适应能力满足设计要求.

实践教学是图像处理课程教学的重要组成部分.本文将OpenCV引入到数字图像处理的实践教学当中,包括多种开发平台的搭建、函数的调用、算法演示等.利用Visual Studio和Anaconda与OpenCV搭建PC端图像处理平台,同时搭建Android Studio与OpenCV手机端图像处理平台.通过两种平台教学实践表明,此教学模式能显著地提高教学效果.

基于手机与互联网的课程教学实践是当前教学改革的一个热点.本文将超星学习通引入到数字图像处理的整个教学实践中,包括课堂授课、点名、提问、谈论、以及课后答疑、资料共享等.并搭建Android Studio与OpenCV图像软件开发平台,开发Android手机的图像处理教学软件系统.教学实践显示,此教学模式能显著地提高课程学习者的学习效果.

植物生长环境信息采集是精细农业的基本环节,针对采集信息的需求和应用环境,设计了以微控制器为核心的采集模块,实现了光照度、温湿度和土壤含水率的采集,模块采用太阳能电池和蓄电池联合供电,该模块可以以较低的成本实现植物生长环境信息的高效采集并通过无线方式进行传输.

针对角加速度检测的需求和直接检测存在的问题,研究了间接测量方法.根据角加速度的积分是角速度,以角速度为信号源,运用卡尔曼滤波器估计角加速度.设计了实验平台,分别进行了角加速度阶跃变化和周期性变化实验,实验结果表明:该间接测量方法具有很好的应用价值.

Matlab及其应用课程内容多、涉及面广，在有限的学时内进行优质、高效的教学是一项挑战性工作。为了提高教学效果，针对目前教学中的问题，对课程体系进行了研究和探索，提出根据实际应用领域选择和增加教学内容，并根据教学内容的特点采用实例教学法、任务驱动教学和网络教学。

研究了变速器试验台采用电机模拟机械飞轮惯量的实现方法.以在相同转矩作用下机械惯量系统和电惯量系统的转速变化一致为控制目标,提出了电惯量角加速度控制法.以电枢电流和角速度为输入,设计Luenberger观测器来估计角加速度,并在观测器中加入滤波器模型,同时反馈增益根据转速变化的大小自适应变化来平衡噪声抑制和响应速度之间的矛盾.采用Matlab/Simulink建立了变速器试验台及惯量电模拟系统的仿真模型,研究了电惯量在变速器升档过程中的作用.结果表明,转速误差的峰值小于1 rad/s时,观测器可以快速、准确实现角加速度的估计,且噪声抑制能力强,以此为基础的惯量电模拟方法可以有效取代机械飞轮.

In order to improve the automation level and the efficiency of transmission tests,a transmission test rig is designed based on the electric power close-loop technology.SIEMENS S7-400 PLC plays the role of main controller in the measurement and control system,and is connected with 6RA70 DC motor driver,human machine interface developed by WinCC configure software by Profibus field bus.PLC controls the motor according to the relationship between set value and reference value,in this way,torque and speed can be loaded smoothly and adjusted continually to emulate the operation condition of the transmission.Accuracy of the data acquisition is improved by incorporated the zero compensation and Kalman filter.Test results indicated that the control system has the property of high accuracy,easy-operating,stablity and reliability.

In order to overcome the inherent shortcomings of inertia mechanical emulation in electrical load,realization of inertia electrical emulation was researched.The principle of inertia electrical emulation was analyzed,and then an acceleration estimate method based on the Luenberger observer was proposed.Double close-loop direct current speed regulate system was selected as the test object to verify the effectiveness of the realization approach.The dynamical response process of step reference was analyzed and compared with mechanical emulation method under the different load inertia.The simulation results indicated that the inertia electrical emulation method was feasible and reasonable.

Principle and realization of mechanical inertia electrical emulation are researched.Kalman filter is adopted to observe the shaft torque of the motor,and then the electric-magneto torque of the motor is controlled according to the emulation principle,so the dynamics of the motor matches with the mechanical flywheel.The simulation model of transmission test rig was developed using Matlab/Simulink,and inertia electrical emulation replaces the vehicle effective inertia.The simulation results of gear-up process for Simpson automatic transmission indicate that the inertia emulation has the same dynamics as the mechanical emulation.

Lateral control for Four-Wheel-Steering (4WS) vehicles on Automated Highway is investigated. Based on the previously studied look-down reference system with front and rear sensors, lateral dynamics model of 4WS vehicle is analyzed and model parameters uncertainties and external disturbance are considered. A sliding mode controller is designed based on a modified exponent reaching law, which integrates some states into the switch term to eliminate the chattering, and then the controller is applied to the lateral control for a 4WS vehicle. Simulations are conducted to evaluate the performance achieved by the proposed controller under different velocities and road adhesion factors, and effectiveness of the proposed approach is verified by the results.

Lateral control of autonomous vehicle is investigated. The vehicle lateral dynamics is described with the previously researched state space model in terms of position and orientation error with respect to the road, and approximated by a Tanagi-Sugeno (T-S) fuzzy model with time-varying parameters. The system is stabilized by an optimal fuzzy state feedback compensator based on the parallel distributed compensation (PDC) framework. The close-loop stability conditions of the lateral motion system with the fuzzy controller are parameterized in terms of the linear matrix inequality (LMI) problem. A servo compensator is introduced to enhance the tracking ability on curve road. Simulations using the proposed robust fuzzy controller have been carried out for the lateral motion system. The simulation results show that the vehicle with controller can follow the reference lane with good performance and robustness.