电动尾门系统一直都是智能化汽车电子技术领域的研究热点,针对某双撑杆型电动尾门系统,分析其已有的硬件系统,在其硬件基础上提出运动需求,根据需求设计电动尾门系统的工作流程,按照工作流程编写软件,并且将软件烧录到电动尾门控制器中,进行功能检测试验.重点叙述如何实现电动撑杆速度的控制以及双撑杆的同步性.

Aiming at problem that most of indoor cleaning robots adopt random or planning type cleaning methods,which can cause high repetition rate,low coverage rate and long cleaning time,present a method of complete coverage path planning based on circulation of border learning,sub-areas division and local map building,and along the border to expand cleaning.The robot study surrounding environment along the first edge by sensors,and sub-area is divided and local map is built up and the sub-area is traversed to clean. To traverse destination as a starting point for second edge learning,and until the entire environmental area is cleaned.The method is tested in the experimental environment,the result shows that the coverage is improved by 4%~8% and the cleaning time is shortened 2~7 min.It has advantage of low cost,simple and easy operation.The method has certain application value.

根据目前清洁机器人远程控制存在的一些问题,提出了一种基于Android的远程控制系统.不同的功能对系统延时性要求不同,该系统将清洁机器人的功能进行分类.根据分类的不同,采用TCP和UDP传输协议相结合的方案,在使用不同的功能时采用不同的传输协议,有效地提高了清洁机器人远程控制的可靠性.另外,在家时客户端软件可以通过WIFI直连直接控制清洁机器人,代替了遥控器的功能.

目前,高性能异形锂离子电池已经成为了智能穿戴设备市场中需求旺盛的产品.其中异形锂离子电池的电极隔膜生产加工是国内生产厂家需要突破的关键技术.文中通过分析改进通用制袋机的张力控制,从而使通用制袋机满足异形锂离子电池的电极隔膜加工.使用闭环式张力控制系统建立了通用制袋机的放卷辊轴和传动辊轴两段式张力控制系统,通过系统仿真证明了在当前系统模型下能够有效地控制张力,从而满足异形锂离子电池的电极隔膜加工电化学性质需求.

《单片机原理及接口技术》课程具有概念抽象、实践强的特点，本文针对机械类本科《单片机原理及接口技术》的教学现状，提出从课堂教学、实践教学、考核方式三方面进行改革。课堂教学与实践教学的一体化教学模式有效促进了学生的学习兴趣，使学生的单片机应用能力有较大提高，取得了良好的教学效果。

In order to guarantee the deadline of real-time message in CAN network and reduce the transmis-sion delay of Emergency messages, a real-time scheduling algorithm named DVF ( Deadline-Value First) is proposed, Considered deadline and value of real-time message in CAN network. The Principle and way of the algorithm is given. By disposing the deadline element in subsection-linear method, this algorithm can send the most critical message firstly with no loss of other message’ s deadline. The performance of the DVF (deadline-value first) algorithms is analyzed by comparing it with EDF(earliest deadline first) algorithm and HVF ( highest value first) algorithm based on value lose ratio, miss message ratio and relative transmis-sion delay. The experiment shows that HVF algorithms can improve the performance compared to the classi-cal EDF algorithm and HVF algorithm under all workload conditions.

首先通过势场栅格法、单元分解法、全局与局部转换法等三大方法介绍了单移动机器人各种不同的全覆盖算法,分析了各种不同算法的性能,指出了它们的优缺点,并对每种方法的改进方法进行了探讨分析;另外,针对多机器人协作全覆盖路径规划的研究,探讨了基于单机器人全覆盖路径规划算法和任务分配算法等结合得到的多机器人协作路径规划算法;最后探讨移动机器人全覆盖路径规划算法的研究方向。分析结果表明,对于移动机器人全覆盖算法的研究,可充分利用现有算法的优势互补,或借助多学科交叉的优势,寻找更有效的算法。

针对传统智能轮椅避障策略的路径规划效率差、功耗高等缺点,提出一种基于模糊神经网络的环境深度分区控制策略;利用红外、超声波和激光传感器的测量信息将待识别环境分为3个不同的深度区间,同时,利用T-S模糊神经网路算法融合异质传感器的测量信息,然后设计模糊控制规则,实现智能轮椅避障动作;最后建立智能轮椅的运动学模型和测量模型,并进行Simulink仿真测试;经仿真可知,该方法控制可靠,可快速无碰撞地通过障碍区,并能减少功耗,提高续航能力。

Aiming at the question that SCM acts as the processor while leads to the system speed be slow and the mathematics operational capability be poor in the sound signal acquisition system,a high-speed and accuracy data acquisition system has been constructed based on DSP and the USB2.0.The system is composed by TLC320AD50C which is the AD switch,TMS320VC5402 which is the DSP core processor,CY7C68013 which is the USB2.0 connection chip.The structure of the system’s hardware and software and the design scheme of overall structure are described in detail.The design which has been tested is a very effective sound signal acquisition mode and the system has high processing speed and accuracy as well as good real-time and expansibility.The system has a good prospect.

Kinematic accuracy is a key reason which influence workpiece's geometric error precision on traditional working process of precisely CNC（Computerized Numerical Control）P3G（polygon profile with 3 lobes） grinding machine. A systematic geometric error model has been presented for CNC P3G grinding machine， proposed multi-body system theory integrate with the structure of CNC P3G grinding machine tools, researched on the machine's space geometric errors. By means of separate geometric errors from the machine tools, build geometric mathematical error model. Then, identify 21 error parameters through method of 9 lines, analysis and calculate the total space geometric errors of the workpiece and wheel. Finally, formed a parameter-list and applied software error compensational technique ， achieved real-time control to the motions of workpiece and wheel. Experimental results shown that the geometrical error modeling technique is accurate and efficient, and the precision of CNC P3G grinding machine is highly raised 70%.

In order to acquire the common industrial signals reliably and conveniently,this paper puts forward an isolated multi-channel signal acquisition and transmission module based on AD chip HCPL-7860 and microprocessor PIC16F74.The Characteristics and Applications of HCPL-7860,the temperature measurement principle of the four-wire platinum resistance PT100,the constant current source circuit and the acquisition method of the AC signal are analyzed and researched,and the hardware circuit design and software design of the signal acquisition module are presented.The field application result showed that the acquisition and transmission module can acquire the common industrial temperature signal,0~5V voltage signal,4~20mA DC current signal and-5A~+5A DC current signal accurately and reliably with high precision and good performance.

When the step motor accelerates or decelerates to S curve,there is no soft impact,which is good for high-speed motion.The embedded ARM soc AT91SAM9261 was adopted as the control platform to study the pulse generating mechanism.The algorithm and equation of S curve was analyzed and derived.Moreover,the paper also described the process of discretization which converts curve to pulse.Next,the possible cases of acceleration and deceleration status in actual motion,which were determined by real time motion control,were listed.Finally,the pulse testing indicates that the algorithm and motion control methods of acceleration and deceleration proposed are feasible and can be applied to motions with various parameters as well as improve the efficiency and stability of step motor.

In order to acquire the indoor air environment,this paper presented a way to design an indoor environment monitor based on Atmega 16L and gas sensor array.It can measure the indoor temperature and humidity and the concentration of CO,CO2,HC and HCHO,which can be displayed on LCD.It will give alarm if the concentration of CO,CO2,HC and HCHO has reached limit value.The paper elaborates the software and hardware design of the indoor environment monitor.

The key technology of NC program transmission in DNC system was introduced,which was under the mode of NC professional practice teaching test and skills competition in higher vocational colleges.The second development of DNC system for NC program transmitting core technology in DNC system towards NC practice teaching test and skills competition was discussed,and four applications transmission methods under the teaching mode and one application transmission method under the competition mode are developed,which can effectively satisfy the NC program transmission and control procedures and improve the quality of instruction and assessment.

目前三棱形轴孔工件的零位偏差角度测量多采用手动找正,但手动找正存在劳动量大、精度低等诸多缺陷.针对该问题的不足提出了基于AT89C52单片机为核心的零位偏差角度自动测量系统的设计方案.将测得的角度值以无线传输的形式传送给数控端,并给出了系统的找正原理,以及软硬件的设计.测试结果表明,整个系统结构设计合理,各部分工作正常,角度测量速度快、精度高,误差范围在0.02°～0.1°之间,无线传输稳定可靠,达到了预期设计目标.

Aiming at the characteristics of humanoid robot arm and its working feature,the paper researched on a joint-type three-DOF humanoid robot arm control system including functional module design with main hardware structure,software structure and control methods etc.The controlling system with PC and the PMAC to conduct 2-level control ensure the system light weight,small size,good real-time,high reliability requirements,thus makes humanoid robot arm be more practical with bright future.

The polyhedron grinding control system based on ARM and μC/OS-Ⅱ,a kind of real-time operating system,was designed.The hardware and software structures of the control system were presented,and the design and implementation of some key tasks is analyzed in detail.The controlling of the polyhedron grinding machine was achieved.The experimental results show that the system is favorable for the stability and efficiency,it is liable to extend and maintenance,and the system has a broad application prospect.

随着PC技术的快速发展和在工业自动化控制领域应用的扩大,PLC与PC技术已逐渐融合,使得开放式设计、网络化、分散式控制成为了PLC的发展方向.文章介绍了基于PC+运动控制器数控系统的分布式结构内嵌型PLC,分析了其硬件的组成、连接方式,重点描述了各部分之间的通信方式,并对软件的编程语言及程序结构进行了阐述.

1-Wire Bus is the simplest form of Bus.It completes control,communications and power supply all through one wire,so it reduces the complexity of cabling of the network monitoring and control system.The key issue is to identify the ID of slave devices of the 1-Wire network in 1-Wire Bus technology.In practice,position locating on the spot of the devices becomes the key issue after identify the ID of all slave devices on the bus.This paper mainly introduce one method to identify the ID of all slave devices and determine the position.

The research of serial communication system is based on the serial interface RS-232C carried by the common NC machine.The network structure of DNC was designed,the communication technology of DNC system based on industrial Ethernet and sixty-four-dollar technology were analyzed,The feasibility of DNC system based on industrial Ethernet was proved,the DNC system based on industrial Ethernet has reliable performance,and has broad application prospect.