37 304-501 100083 400Hz 95dB 10m 3 /h 3.52.21.5m 3 RMB28 10m 3 /h 2.51.82.0m 3 10 /min 5m 3 /h; 20Mpa; 30kW 0.5m; 8.6 /min 1
( SMC 100081) 1. dt dp RT V G = 2
100081 1 2 CPU RS232 CAN USB 1 MFI-2 CPLD FIFO 3 2 3
150001 163414 2 1 2 2 2 1 2 1 12 2 1 1 2 2 50% 50% 4
( 4710003) 1 1 1 2 1 2 2 1 2 1 2 1 2 1 1 2 3 2 4 : [1],.. 2003 639 67-91 5
1 2 1 7300502 742100 MATLAB N P Q 1 2. 3. 4. 5. 6. 7. 1 P N Q = r N P, Q Q r Q Q L = 2 AZn x ( Q L A Z n x ) Q L x Q L = Q Q x P Q N = PQ MATLAB 6
1, 2 2 (1. 0660042. 066004) ( ) { } ( e) [ ] ( e) {} ( e) (e) P = K δ { P } [ K] (e) ( e) T [ K ] = [ B][ D][ B] {} δ (e) { ( )} [ (, z) ]{ δ } (e) {} ε = [ B] {} δ (e ) [B] { σ } [ ] {} ε δ x, y, z = N x, y = D [ ~ 1 u ~ u i j ε + ij = i, j = x, y, z 2 x x j i [ D] e1 v v 0 0 0 e1 v 0 0 0 D E e 1 0 0 0 = e v ( 1+ v) e e3 0 0 1 = 1 2 e 3 0 e3 e2 = 1 2v e 3 = e 2 2 {} δ (e) { U} { V} { W} = [ A] [ A] { C } [ A] [ A] 1 1 = 1 1 ){ } 0 x x x (e) i m l 0 0 y y m l 0 0 0 zl D] (a) (b) 1 N( x, y, z) = φ( x, y, z δ φ ANSYS 1(a) 1(b) 30 MPa 10 (SOLID 92) Smart 10 046 210 GPa 0.3 7.85 10 3 kg/m 3 2 (a) (b) 2 7
( 730050) N F3 Fq N3 B F1 N1 Fd N a Fk Fc Fg C Fz N2 E F2 A Fh Fs 1 2 3 1 2 3 1 3 3 1 2 3 4 1 2 8
( 310014) 1 2. 1 2 3 4 5 2 1 (1) (2) (3) (4) (5) 9
LL5151TYL 1 1, 2 (1. 0660042. 066004) LL5151TYL 1 M1 G1 G2 G3 G4 V8 V9 V10 G5 G6 G 7 G 8 M2 M3 K 1-3 K4-6 M 6 V11 V 12 V 13 V 14 V 15 K 7 K8 V7 V16 M 4 V2 V3 V4 M5 V5 V6 V1 B 1 B2 M 3~ P V17 V18 L1 L2 L4 L3 V 2 1 M4M5 V3V4 V3V4 M4M5 M 4 M 5 V 3 V 4 V 19 V 5 V 6 2 M 4 M 5 V 18 V 3 V 4 V 5 V 6 3 10
1, 2 2 (1. 0660042. 066004) (Infranet) 4-20 ma LonMark Profibus IEASAE IAONA IEC ISO E 1 Ethernet Internet 2 OPC OLE for Process Control FCSDCS PLC 2 OPC 1 2 M OPC OPC OPC N 2 1 11
HOPSAN MATLAB /SIMULINK 12 3 Jonas Larsson 4 (1. 4100832 410077; 3. 410082; 4. SE-581 83) MATLAB 20 70 SIMULINK MATLAB/SIMULINK C FORTRAN Me MATLAB C FORTRAN HOPSAN 1979 HOPSAN MATLAB/SIMULINK HOPSAN MATLAB /SIMULINK, HOPSAN MATLAB/SIMULINK HOPSAN MATLAB/SIMULINK MATLAB/SIMULINK S- MATLAB/SIMULINK MATLAB/SIMULINK MATLAB/SIMULINK HOPSAN HOPSANMATLAB/SIMULINK 12
1 2 2 2 ( 3003002. 066004) 066004 13
1, 2 2 3 (1. 0660042. 0660043. 230031) (AFH-Alternating Flow Hydraulics) AFH AFH AFH AFH AFH AFH 1 120 AFH AFH ( ) AFH AFH AFH (AFH ) (AFH ) AFH 2 1 6 3 4 5 6 7 8 2 3 3 9 1 2 M 3~ 10 M 3~ 1 4 1. 2. 3. 4. 5. 6. AFH 7. 8. AFH 9. 10. 1 AFH 1. 2. 3. 4. 2 AFH ( ) AFH AFH 4 1 2 3 4 5 O 1 O 2 A f 3 AFH 4 AFH p 2 A = mx & 2 + fx& 2 + kx2 p2 A m x 2 f k = A& p 2 Q 2 x 2 m k q2 x2 q 2 q1 ( t) = q10 sinωt p1 ( t) = p10 sin( ω t + ϕ1) p t) = p sin( ω t + ϕ ) ϕ1 p 2( 20 p q2( t) = q20 sin( ω t + ϕq) p 1 q 1 p 10 q 10 p 20 q 20 q [ ( a) ] ϕ ϕ q 1( t) ηmax = exp 2Re jωβl AFH AFH 14
232001 1 n m2 n m n r e u u - - e n m2 n m1 n m n r 1 1 ) ( 0 ) ( 0 to t t p p lm to t t p p lp m e D p C e D p C n + = λ λ µ µ δ V/F 2 1 1 2 2 ) ( 0 ) ( 0 ) / ( 40 f U m p D R e D p C e D p C n p p p to t t p p lm to t t p p lp m + + = π µ µ δ λ λ 15
( 066004) 80 CT MRPET RP STL RP m~mm, : 16
( 100081) 1 m m or or or or a b 1 Matlab 2 300 241.29m m 253.94m m 228.82m m 250 Displacement /mm 200 150 100 50 221.87m m 210m m closed-center ; m eter-in exhausted-center ; m eter-in closed-center ; m eter-out exhausted-center ; m eter-out stop position 0 0 1 2 3 4 5 6 t /s 2 17
100081 1960 1962 GOP-900 60 20 70 HMPT500 18
303, 100083 DPG500 PLC VC++ S7PLC HAWE - PLC PLC / PLC VC++ ActiveX VC++6.0 MSComm MSComm MSComm OnComm CommEvent RThreshold OnComm OnComm OnComm CommEvent PLC PPI SMB30 0 SMB130 1 PPI PLC PLC 19
( 366 430073) 1 ER14250 CR14250HR-EX -40150 15mm25mm / 85g 1.5psi 1320 3.6V 1200mAh 28mA 1.4mA 0.7mA 24 2 1 Microchip CM0S PIC12F675 nrf401 1 1 (ms) ( A) 0.0035 1152 1.4 1 1200mAh, 1 4.6 28 966.4 0.7 43.05( ) 8740.65( ) 1 20
( 366 430073) PID 1 2 F/V D/A V/I A/D n - + PID + + u1 un u D n(s) n1 n2 1 2 2800 2600 2500 2300 n2 2600 2500 2400 n2 n/rpm 2000 1800 n1 1900 n(r/min) n1 0 1 2 3 4 5 6 7 8 0 5 10 15 20 25 t/s t(s) 3 2000r/min 900 4 (1) 090ml/min 0.2A~0.6A 23ml/min (2) a b 20kW 2630V 40V c 8002500r/min 22002800 3 28V 2V 4 2500 r/min 2 00r/min 28V 4V 40V www.meeting.edu.cn 21
( 366 430073) CTI/DS(Center Tire Inflation/Deflation System) CTI/DS CTI/DS Cygnal C8051F CTI/DS 1 CTI/DS 2 3 1L 6R / A/D 1 2 700kPa 9.0020 185R14LT 500kPa 50kPa 68 490kPa 150kPa 20kPa 79 10kPa 10kPa www.meeting.edu.cn 22
6-UPS 420 150001 ---Stewart 16-UPS 6-UPS 1 {B} O Z {O} P 1 ~P 6 B 1 ~B 6 26-UPS Stewart Cartesian {P} L i θ pi θ bi D i L L θ θ Max Min pmax bmax O' O' x, y, z, θ, θ, θ 6 [ ] x y z l1, l2, l3, l4, l5, l6, P R 3 0R 1 γ 2 γ 1 γ 2 γ 1 [ 0 60 ) 1 ' ( ) x, y, z, θ, θ, θ x y z Y B 3 Y P 2 B 2 B 4 Z P 4 O O ' P 5 Z ' B 1 X P 1 X ' P 6 B 5 1 B 6 www.meeting.edu.cn 23
( 5 100081) BOSCH REXROTH A4VSO180 Real Time Windows Target Matlab/Simulink www.meeting.edu.cn 24
1 100081 (010)68940761 2 100176 4 2000N.m 4 4 4 CPU A/D D/A www.meeting.edu.cn 25
430074 1 2 () PV www.meeting.edu.cn 26
430074 810MPa 0.3mm 1 / 2 3 PH 1 2 3 www.meeting.edu.cn 27
010062,, 1 1, 2,,,, 2 1, 2,, 2 3 1 2 1 2, 3 1 1 2 4, 5 6 www.meeting.edu.cn 28
( 01062736385 17 47 100083) 1 2 USB USB7333 12 A/D D/A 0 10v 3 Delphi7.0 Windows 1,2 1 2 4 www.meeting.edu.cn 29
( 01062736385 17 47 100083) 1,, 1,, / / / / 2 3 1 2 3 2 / / 1 30--40% 2 3 4 ( 4) F-350 TONKA ( 5) 5 4 3 -- www.meeting.edu.cn 30
( 5 100081) MSC.Easy5 PID Fortran EASY5 www.meeting.edu.cn 31
400050 20 80 18# 1000 Stefan-Boltzman C ο ( ) ANSYS PREP7 SOLUTIO N POST1POST26 1/4 PLANE55 % 0.19C1.43Mn0.62Si0.021P0.021S 20MnSi MnSi 20 mm 20 φ 12 1050 s m / C ο h m / 300 3 C ο 45 C ο 25 1 2 1.0s 370 435 635 R = 8 C ο 20MnSi C ο 640 C ο C ο 632 ANSYS ANSYS www.meeting.edu.cn 32
400050 90 35 7.5 90 / 90 ο ο CATIA 16 36 MPa s mm / 1272 70 100 / 2 φ φ 90 90 22Kw ο ο 90 ο ο 90 www.meeting.edu.cn 33
150001 Q P PQ 1 (a)q (b)p (c)pq 1 1 0 I 2 Q P PQ Q P PQ 3 P Q PQ Q P Q www.meeting.edu.cn 34
730050 VQ35 1 K = K '' 1+ x P 1+ x P 2 / k 2 / k 1 0 P 1 / k 1 1/ k '' 1 0 P K / k K '' =1660Mpa [2] K P P k = 1. 4 V 0 V f 0 2 dp 1 K dv 1 = dϕ P dk V dt ω 1 K dp 1 a0 x 0 1 2 =0.25%0.5%1.0% 3 q vsh q v2 qv = qvsh + 2qv 1 + 2qv2 qv = qvsh ( 0 ϕ ϕ) ( ϕ ϕ 2π / z) 0.25%0.5%1.0% 2 4 x 0 1 2 0.5% ϕ q v1 www.meeting.edu.cn 35
(TPMS) ( 366 430073) (TPMS) Microchip PIC nrf401 1 3.6V MCU TX RX MCU 1 CRC 4 5 4 5 3 2.8bar 1.8bar 1.8bar2.8bar TPMS www.meeting.edu.cn 36
130025 Y ( s) 2Ac G( s) = = θ 3 F s 2ξ k n q1d 2 + s + s + 2 ω ω 2D kq d kv Dm 2 kqd 1 = < < 4ξ nϖ n d 2ξ ϖ 2ξ ϖ D n n n n m d d D m n k q D m p 7 p k q (1) k v k v k q d k v k q d k v (2) n n EV t A c M p n (3) n n k c1 n k c1 C B C tp C tp n k v k q d n k c k q k c dk q dk q MATLAB Simulink n n k q1 d m www.meeting.edu.cn 37
LabVIEW 420 150001 NI []LabVIEW NI-PCI6014 NI LabVIEW7.0 NI-MOTION6.2 NI-PCI6014 OP07 9014 9015 SFD-3B MHT32 GSD-001-14J 79.1 LabVIEW NI-6014 D/A 2 14 PCI-6014 D-I/O Fuzzy_PID, E Ec PD PI PI Fuzzy Fuzzy_PID, () Kv Ka 1-z -1 /T, 1/T []NI LabVIEW Developer Suite NI-Motion Motion AssistantSoft-motion / / - www.meeting.edu.cn 38
1 1 2 1. 1300252. 130012 Microchip PIC A/D PWM G ( s) == c s( T 2 h s 2 K + 2T ξ s + 1) h h PID PID PID PID PID PID PID PID Kp KI KD PID 1. Ts 2. Tp=0.1Ts Ti=0.5Ts Td=0.125Ts Tp TI TD Uk ( ) = K[2.45 ek ( ) 3.5 ek ( 1) + 1.25 ek ( 2)] p PID www.meeting.edu.cn 39
/ ( SMC 100081) SMC / ITV2050-212BS 1 2 1 m & x v = p Af A p k ( ) s1 xv + x0 bx& v F sgn( x& ) 0 c v & p + ks2( xv + x0) bx& v F sgn( x& ) m xv = p Af A0 c v / 2 / SMC ITV2050-212BS PCL812 SMC PSE520 3 1.14L 0.007L 4 1.14L 0.007L 3 4 www.meeting.edu.cn 40
( 1085 430080) 1 MULTI-HANDY 1620 PT( ) 24 2 0 20 ma 4 20mA 14,4 30 VDC 2 q6.66zm 2 Bvn fzn 6.66 m 2 B v qf z m B f n f q 3 63MPa 1200 www.meeting.edu.cn 41
149 200072 MatlabAccess Matlab Access ODBC, Windows,, SQL ODBC Matlab ACCESS MATLAB MATLAB Matlab B www.meeting.edu.cn 42
/ 149 200072 / / B MATLAB, Q p ( T) ( n) /, Qp Tn / B Berzier B B Matlab www.meeting.edu.cn 43
( 066004) 1. 2. 3. CAT CAT CAT NI www.meeting.edu.cn 44
100081 75 1 2 3 Vickers PODS 3 1 4 1, www.meeting.edu.cn 45
( SMC 100081) 50mm/s 1, 2 1 k + 1 k 2 1 d e d ( ) k 4 G = S P RT d k + 1 1 5 3 6 dpd k = ( RTdGd + SdPu d ) dt Vd 7 2 8 9 10 du 1 2 3 4 M PS s u PS d d Fc Cu dt = 5 6 78 3 9 10 1, 1 dpu dpd Su Sd = 0 4 dt dt 2 S k + 1 k 1 e u0 = krta ( ) k + 1 S d 5 * * * * * *2 * u ( τ ) = 1+ µ exp( ζ τ )sin( 1 ζ τ α) 6 * * * 2 * * kt * ( λ ζ ) * F *2 s τ = * µ = 1+ λ = 1 1 ζ *2 * α = tg T f 1 ζ Tf k * * λ ζ 1 * ζ * * 1 3 1 min [ τ = π + tg λ ] *2 2 *2 1 ζ 1 ζ 9 1 * ζ * * 1 1 1 max [ τ = π + tg λ ] *2 2 *2 1 ζ 1 ζ 10 *2 * * 2 *2 * 1 ξ + ( λ ξ ) exp( ξ τmin ) 1 11 *2 * * 2 *2 * *2 * 1 1 ξ + ( λ ξ ) (exp( ξ τmax ) + exp( ξ τmin )) > 2 12 www.meeting.edu.cn 46
PIV 1 1 2 1. 2. 130025 PIV 3D-PIV PIV 3D-PIV PVC (PIV ),, PIV 4 Visualc++ 3232 x(32,32) 6464 I y(32 + k, 32 +l) k = 0,1, L,32 = 0,1 L,32 y(32 + k,32 +l) l x(32,32) k l k l ( ) 320240 x y x z 1 2 5 www.meeting.edu.cn 47
AGC 066004 (AGC) : --, e dv v P c bv av h + + + + = 2 2 / 1 v d h ] AGC, (MRA), MRA,,,,,. AGC 4 7 5/ 8.5 3 2 2 + + + + = v v P v v h (2) www.meeting.edu.cn 48
(, 100044), 2000kN 1000kN 260cm100cm 180cm 4 2 25Mpa, 200mm 140/180mm A/D D/A A/D PCL818L, 1 12 A/D 16 D/A PCL727 12 12 D/A 8 IPC610H PCA6003V/PIII 1G/128M/40G/CDROM DA-100 100mm <0.30 SPX-5 50 <0.05 1 www.meeting.edu.cn 49
(, 5 100081) ( ) [1][2] M2 M3 HMPT GOP-900 ( ) Navier-Stokes ( ) www.meeting.edu.cn 50
303 100083 PID PID PID PID PID PID 1 PID BP u n J = e u p 2 d u u( k) = u ( k) u ( k) n + 2 ( ) / 2 / 2 = u u n p Matlab PID 2 PID 1 BP PID (a) PID (b) 1 2 2 5Hz PID PID PID PID PID www.meeting.edu.cn 51
100081 SCADA SCADASystem of Supervisory Control And Data Acquisition www.meeting.edu.cn 52
( 55, 400037) 20MPa 1.71.8MPa 650Pa,, 2MPa, CaOH 2 CO 2,,, 1/4 50.5MPa,,, www.meeting.edu.cn 53
( 471003) D/A ( ) A/D TTL q q / N N, A/D www.meeting.edu.cn 54
( SMC 100081) PI PID PID 1 0.40 ØÖÆÆ Î 0.35 0.30 r ØÖ Ô u y Pressure/MP 0.25 0.20 0.15 0.10 0.05 0.0 0.2 0.4 0.6 0.8 1.0 Time/S 1 2 3 CARMA A( q 1 ) y( t) q B( q ) u( t) + C( q ) ε( t) d 1 1 = A ( q 1 ) 1 2 3 = 1+ a1q + a2q + a3q B ( q 1 1 2 3 ) = b0 + b1q + b2q + b3q C ( q 1 ) 1 2 3 = 1+ c1q + c2q + c3q 1 q d u(t)y(t) (t { ε ) } u(t), y(t),y(t-1) u(t-1),u(t-2) J = E{ y 2 ( t + d)} / 2 3 www.meeting.edu.cn 55
723003 10100r min 2000NM 35KN 70KN 800mm 0-90 4 0-90 2003 www.meeting.edu.cn 56
300300 160% Bingham MATLAB Simulink www.meeting.edu.cn 57
H 110004 PID PID H 1981 Zames 1984 Francis Zames H 1987 H H H H H W1 (s) W 2 ( s ) W 2 ( s) Matlab H PID PID www.meeting.edu.cn 58
ABS 100084 ABS AMESIM ABS AMESIM ABS ABS AMESim (Advanced Modeling Environment for performing Simulations of engineering system), AMESim AMESim AMESim d d d8mm17mm 25mm d17mm ABS ECU ABS AMESim AMESet x z y 1 Z 2 2ECU ABS ABS 0.80 80km/h Z 1 www.meeting.edu.cn 59
( 310027) CCD www.meeting.edu.cn 60
( 310027) 1 1 2 2 * 1 2 + + Γ = CRs LCs P ch P IN OUT C L R 4 1 2 1 ) 2 ( ) 4( Ey l d op op ρ ξ υ = υ l d y E op ξ 0.707 www.meeting.edu.cn 61
CAN 8, 100081 CAN CANOpen CANOpen ( ) T-S PID PID T-S PID T-S PID T-S PID PID www.meeting.edu.cn 62
1 2 1 3 2 1. 150001 2. 650223; 3. 650224) 80%90% NB NB3-D32F Q s Q Q Q s 75%~80% 15%~20% www.meeting.edu.cn 63
830000 PLC 30% PLC I/O PLC www.meeting.edu.cn 64
AMESim ESP ( 100084) ESPElectronic Stability Program ESP ESP ESP AMESim ESP ESP ESP www.meeting.edu.cn 65
110004 RP Lyapunov www.meeting.edu.cn 66
( SMC 200030) ISO/DIS6358 C b s Ae ISO 5% ISO ISO M5 1/8 20mm ISO ISO ISO Otis 1970 ISO6358 ISO6358 C b ISO/DIS6358 ISO, www.meeting.edu.cn 67
( 310027) / / 1 1 2 3 4 1 1) / / / www.meeting.edu.cn 68
SMC 200030 C b ISO/DIS6358 [1] 20mm 75KW [1] [2] ISO6358 +2% -12% = 1 ) ( 1) ( 2 2 1 0 0 n n s s P P T T Rt n V C ρ = 1 ) ( 5 7 1 0 0 P P T T Rt V C s s ρ C 0 ρ T0 Ps TsP V R PsTs P [3] T 1 2 3 www.meeting.edu.cn 69
( 430074) / ANSYS www.meeting.edu.cn 70
( 420 150001) 20 60 Danfoss Hauhinc Fenner 2000 78.2% Microarc Oxidation AlTi Ta GPC4-32 LC9 1 2 3 www.meeting.edu.cn 71
713 126 450015 NXQ-L100/315-A 1 2 3 4 25SCY14-1B P=25MPa Q=250L/min 40L 713 www.meeting.edu.cn 72
1 1 1 2 1. 2. 85 730050 90 fluent ( ) www.meeting.edu.cn 73
150001 n =η = 1 n = 10 < η < 1 0 < n < 1 η = 1 0 < n < 10 <η < 1 www.meeting.edu.cn 74
( 010062) GB/T2514-93 1 2 Fn Fbt 1 2 3 www.meeting.edu.cn 75
( 420 150001) 1997 Innas Noax Innas www.meeting.edu.cn 76
1,2 1 2 2 (1. 634 100022) (2. 066004) Control-Relevant Identification, CRID L.Ljung [1] www.meeting.edu.cn 77
232001 www.meeting.edu.cn 78
* ( 430074) FLUENT 8 mm 1~3 mm 0.01 mm www.meeting.edu.cn 79
PID ( SMC 100081) PID PID PID PID PID PID (1) (2) PID PID E EC PID K,, P K I K D PID PID, : (1) PID KP,KI,KD, (2) PID, (3), (4),, www.meeting.edu.cn 80
1 1 2 1. 1633182. 310027 MATLAB Simulink [1],,. [J]., 2003,(2):12-13 [2],. [J]., 2004,40(5):77-81 [3]. Simulink4 [M].,2002 www.meeting.edu.cn 81
CAN DPG500 ( 303 100083) CANController Area Network DPG500 CAN CANOPEN DPG500 5 CAN CAN USBCAN CAN Visual C++6 CAN DPG500 CAN 1) 2) 3) USB_CAN IPC CAN Visual C++6.0 USB CAN www.meeting.edu.cn 82
(1., 2642002., 264200) 12MPa 50L/min Y1 www.meeting.edu.cn 83
110023 q Ps P 1 z(t), www.meeting.edu.cn 84
Adams 420 150001 ADAMS ADAMS ADAMS MATLAB ADAMS 0 1/ s S ADAMS ADAMS ADMAS MATLAB 5Hz PID www.meeting.edu.cn 85
310027 50% 20% 40% 650093 3 PID P Q 50 1 100081 K sv K a K c A Ksv P LC P LC www.meeting.edu.cn 86
( 210096) 1 300161 + 30% + + + 28%~45% - VxD 100044 (VxD) Windows9x (DAQ ) VC LabVIEW Win32 (WM_TIMER) 1 VxD I/O www.meeting.edu.cn 87
VxD VxD Windows9x Windows9x VxD Windows9x VxD 150001 DDVC PID 1 1 2 1. 730050 2. 400016 PID www.meeting.edu.cn 88
442000 BP 1 ( 102249) 650093 650093 PID www.meeting.edu.cn 89
PID 411101 430074 310022 www.meeting.edu.cn 90
TRT 12 430080 TRT PID PID 1 2 3 1 7300502 742000 3 200030 PID Simulink PID PID www.meeting.edu.cn 91