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精密定轨 4

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Kinematic calibration of precise 6-DOF stewart platform-type positioning systems for radio telescope

Juan Carlos JáUREGUI, Eusebio E. HERNáNDEZ, Marco CECCARELLI, Carlos LóPEZ-CAJúN, Alejandro GARCíA

《机械工程前沿（英文）》 2013年第8卷第3期页码 252-260 doi: 10.1007/s11465-013-0249-7

摘要：

The pose accuracy of a parallel robot is a function of the mobile platform posture. Thus, there is no a single value of the robot’s accuracy. In this paper, two novel methods for estimating the accuracy of parallel robots are presented. In the first method, the pose accuracy estimation is calculated by considering the propagation of each error, i.e., error variations are considered as a function of the actuator’s stroke. In the second method, it is considered that each actuator has a constant error at any stroke. Both methods can predict pose accuracy of precise robots at design stages, and/or can reduce calibration time of existing robots. An example of a six degree-of-freedom parallel manipulator is included to show the application of the proposed methods.

关键词： pose errors error estimation parallel robot radio telescopes

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核废物库吊车高精度自动定位的技术实现

栾秀春,韩伟实,王俊玲,杨爱光

《中国工程科学》 2010年第12卷第3期页码 45-50

摘要：

阐述了田湾核电站核废物库21UKT吊车自动化改造工程中高精度自动定位的技术实现，包括控制系统的硬件配置和软件配置、控制逻辑、程序结构以及变频调速函数曲线，并给出了现场检测结果。

关键词：核废物吊车自动控制定位

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Analysis and control of micro-stepping characteristics of ultrasonic motor

Ning CHEN, Jieji ZHENG, Xianliang JIANG, Shixun FAN, Dapeng FAN

《机械工程前沿（英文）》 2020年第15卷第4期页码 585-599 doi: 10.1007/s11465-019-0577-3

摘要： Micro-stepping motion of ultrasonic motors satisfies biomedical applications, such as cell operation and nuclear magnetic resonance, which require a precise compact-structure non-magnetization positioning device. When the pulse number is relatively small, the stopping characteristics have a non-negligible effect on the entire stepwise process. However, few studies have been conducted to show the rule of the open-loop stepwise motion, especially the shutdown stage. In this study, the modal differences of the shutdown stage are found connected with amplitude and velocity at the turn-off instant. Changes of the length in the contact area and driving zone as well as the input currents, vibration states, output torque, and axial pressure are derived by a simulation model to further explore the rules. The speed curves and vibration results in functions of different pulse numbers are compared, and the stepwise motion can be described by a two-stage two-order transfer function. A test workbench based on the Field Programmable Gate Array is built for acquiring the speed, currents, and feedback voltages of the startup–shutdown stage accurately with the help of its excellent synchronization performances. Therefore, stator vibration, rotor velocity, and terminal displacements under different pulse numbers can be compared. Moreover, the two-stage two-order model is identified on the stepwise speed curves, and the fitness over 85% between the simulation and test verifies the model availability. Finally, with the optimization of the pulse number, the motor achieves 3.3 µrad in clockwise and counterclockwise direction.

关键词： ultrasonic motor stepping characteristics pulse number control synchronous acquisition system precise positioning

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航天器高精度GPS导航定位技术研究

向开恒,曲广吉

《中国工程科学》 2004年第6卷第1期页码 86-91

摘要：

将GPS测量定位技术、求解卫星轨道摄动运动的Encke方法和广义Kalman滤波技术有机地结合在一起，提出了利用GPS实现低轨道航天器高精度自主导航定位的新方法——载波相位-伪距综合动态定轨技术，解决了GPS载波相位应用中动态解模糊和跳周修复的难题。以此为基础，提出了两个航天器之间的载波相位-伪距综合差分动态相对导航技术。数值仿真分析和半物理仿真实验结果表明，所提出的动态定轨技术是可行的，对提高GPS导航定位精度的效果是显著的，并且其模型、算法和软件具有工程实用性。

关键词：航天器导航定位全球定位系统载波相位卡尔曼滤波

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Improving Internationally Core Competences Based on the Capabilities of Precise and Accurate Project

Zhen-you Li,Ji-shan He,Meng-jun Wang

《工程管理前沿（英文）》 2016年第3卷第3期页码 231-238 doi: 10.15302/J-FEM-2016032

摘要： Modern international project management has entered the phase of precise and accurate project management after the global financial crisis broke out at the beginning of the 21 century. However, its development has faced new challenges since there has been lack of explicitly unanimous definition for the capability dimensions of precise and accurate project management, as well as the models and their process control parameters. The required core capabilities based on the precise and accurate project management for various rings are involved in the project life cycle, namely, the required internationally core competences and their components for the phases of project strategic planning and decision making in the early project phase, as well as the value engineering, and the project supervision and controls during the execution phase. Through studying the effects of the internationally core competences based on precise and accurate project management capabilities for the success and excellence of projects and configuring such models, the goal is to help the main contractors continuously obtain project success and excellence, thus improve its internationally core competences with continuous project success and excellence.

关键词： precise and accurate project management project strategic planning decision-making project supervision and controls project execution value engineering

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Comprehensive analysis of the influence of structural and dynamic parameters on the accuracy of nano-precision positioning

Chengyuan LIANG, Fang YUAN, Xuedong CHEN, Wei JIANG, Lizhan ZENG, Xin LUO

《机械工程前沿（英文）》 2019年第14卷第3期页码 255-272 doi: 10.1007/s11465-019-0538-x

摘要： Nano-precision positioning stages are characterized by rigid-flexible coupling systems. The complex dynamic characteristics of mechanical structure of a stage, which are determined by structural and dynamic parameters, exert a serious influence on the accuracy of its motion and measurement. Systematic evaluation of such influence is essential for the design and improvement of stages. A systematic approach to modeling the dynamic accuracy of a nano-precision positioning stage is developed in this work by integrating a multi-rigid-body dynamic model of the mechanical system and measurement system models. The influence of structural and dynamic parameters, including aerostatic bearing configurations, motion plane errors, foundation vibrations, and positions of the acting points of driving forces, on dynamic accuracy is investigated by adopting the H-type configured stage as an example. The approach is programmed and integrated into a software framework that supports the dynamic design of nano-precision positioning stages. The software framework is then applied to the design of a nano-precision positioning stage used in a packaging lithography machine.

关键词： nano-precision positioning stage analysis and design structural and dynamic parameters dynamic accuracy systematic modeling

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Developing “precise-acting” strategies for improving anaerobic methanogenesis of organic waste: Insights

《环境科学与工程前沿（英文）》 2022年第16卷第6期 doi: 10.1007/s11783-021-1508-1

摘要： Methanogenesis is the last step in anaerobic digestion, which is usually a rate-limiting step in the biological treatment of organic waste. The low methanogenesis efficiency (low methane production rate, low methane yield, low methane content) substantially limits the development of anaerobic digestion technology. Traditional pretreatment methods and bio-stimulation strategies have impacts on the entire anaerobic system and cannot directly enhance methanogenesis in a targeted manner, which was defined as “broad-acting” strategies in this perspective. Further, we discussed our opinion of methanogenesis process with insights from the electron transfer system of syntrophic partners and provided potential targeted enhancing strategy for high-efficiency electron transfer system. These “precise-acting” strategies are expected to achieve an efficient methanogenesis process and enhance the bio-energy recovery of organic waste.

关键词： Methanogenesis Anaerobic digestion Enhancing strategy Electron transfer Organic waste

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海洋二号卫星精密定轨方案设计及实现

蒋兴伟,王晓慧,彭海龙,林明森

《中国工程科学》 2013年第15卷第7期页码 19-24

摘要：

2011年8月16日发射的海洋环境动力（海洋二号）卫星是中国第一颗动力环境卫星，其中搭载的雷达高度计需要连续的厘米级海洋地形测量，轨道误差在雷达高度计整体误差预算中占主要部分，为实现海洋二号卫星精密定轨事后处理径向10 cm精度的研制总要求，海洋二号卫星搭载了多普勒地球轨道和无线电定位系统（DORIS）接收机、双频全球定位系统（GPS）接收机和激光反射棱镜阵列用于精密定轨。本文综述了海洋二号卫星精密定轨方案设计和关键技术，给出了在轨测试结果。

关键词：精密定轨 GPS DORIS 激光测距

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HY-2卫星双频GPS精密定轨技术

林明森,王晓慧,彭海龙,赵齐乐,李敏

《中国工程科学》 2014年第16卷第6期页码 97-101

摘要：

海洋二号（HY-2）卫星双频全球定位跟踪系统（GPS）接收机获取的GPS数据是基于非差简化动力学方法应用于HY-2 卫星精密轨道确定。差分GPS载波相位数据可以消除钟差，同时利用GPS数据获得HY-2卫星轨道和GPS卫星轨道。GPS数据确定的轨道利用激光测距进行了检核，并与法国太空总署确定的轨道以及综合定轨策略确定的轨道进行了比较，HY-2 卫星基于GPS数据精密轨道径向成分优于3 cm。

关键词：精密定轨 GPS 多普勒雷达和无线电定位组合系统(DORIS) 卫星激光测距(SLR)

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Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane

Hua LIU, Xin XIE, Ruoyu TAN, Lianchao ZHANG, Dapeng FAN

《机械工程前沿（英文）》 2017年第12卷第2期页码 265-278 doi: 10.1007/s11465-017-0453-y

摘要：

Most of the XY positioning stages proposed in previous studies are mainly designed by considering only a single performance indicator of the stage. As a result, the other performance indicators are relatively weak. In this study, a 2-degree-of-freedom linear compliant positioning stage (LCPS) is developed by mechatronic design to balance the interacting performance indicators and realize the desired positioning stage. The key parameters and the coupling of the structure and actuators are completely considered in the design. The LCPS consists of four voice coil motors (VCMs), which are conformally designed for compactness, and six spatial leaf spring parallelograms. These parallelograms are serially connected for a large travel range and a high out-of-plane payload capacity. The mechatronic model is established by matrix structural analysis for structural modeling and by Kirchhoff’s law for the VCMs. The sensitivities of the key parameters are analyzed, and the design parameters are subsequently determined. The analytical model of the stage is confirmed by experiments. The stage has a travel range of 4.4 mm× 7.0 mm and a 0.16% area ratio of workspace to the outer dimension of the stage. The values of these performance indicators are greater than those of any existing stage reported in the literature. The closed-loop bandwidth is 9.5 Hz in both working directions. The stage can track a circular trajectory with a radius of 1.5 mm, with 40 mm error and a resolution of lower than 3 mm. The results of payload tests indicate that the stage has at least 20 kg out-of-plane payload capacity.

关键词： mechatronic design linear compliant positioning stage large travel range high out-of-plane payload capacity spatial parallelogram voice coil motor sensitivity analysis