The obstacle crossing ability analysis and improvement of the cable inspection robot

In this paper, the climbing obstacle capability of the previous special cable inspection robot (Model Number: XS1T-1) is analyzed. Static equations are established to analyze the relationships between the external forces and the maximum height of an obstacle. Parameters affecting the obstacle crossing ability are obtained. According to the analysis results, an innovated small volume, simple structure and light weight climbing mechanism is proposed (Model Number: XS1T-2). A simplified kinematics model of the mechanism is established. With two powered wheels, the obstacle crossing ability of the XS1T-2 is improved apparently. For the robot moving without deflection, the relationships of two powered input torques are deduced. The comparison of the simulation results clearly shows that the climbing ability of XS1T-2 is obviously improved, and it can meet the demands of inspection.     

基于观测器的四旋翼容错控制及仿真研究

针对四旋翼飞行器执行器故障的问题,提出了一种基于自适应观测器的积分反演滑模容错控制策略,以保证飞行器的安全性和可靠性。建立考虑执行器故障的四旋翼飞行器动力学模型;设计一种自适应故障估计观测器用来观测系统的状态和估计故障信息;采用积分反演和滑模控制相结合的方法分别设计姿态容错控制器和位置控制器,完成姿态和位置的轨迹跟踪。仿真结果表明：该控制策略能够在执行器故障的情况下快速精确跟踪期望信号。     

支持个性化产品设计的产品信息模型研究

个性化产品设计是客户直接参与的基于原型的可变设计。为了支持产品设计全过程,将信息模型分为面向概念设计阶段的功能结构模型、面向技术设计阶段的结构配置模型和面向施工设计阶段的零件部件模型,3个模型集成后形成一种能支持个性化产品设计的信息模型。在建模过程中,提出了建模3原则:集成性原则、装配性原则和可变性原则。采用面向对象设计方法,建立起基于多层原型类的信息模型框架,再由原型类的实例化实现对某个产品的信息模型描述。