The hysteresis nonlinearity of piezoelectric micro-manipulation stage leads to the decrease of its position accuracy and dynamic performance, and it is hard to establish the accurate hysteresis model. A position accuracy compensation method was adopted based on the fuzzy control strategy to get rid of the dependence on hysteretic model. As for a one-dimensional micro-manipulation stage, the position deviation and deviation variation rate of the stage was used as fuzzy input, and the input voltage change of piezoelectric actuator was used as fuzzy output. A method of developing fuzzy rules was presented based on experiment data of PID control to acquire experience. The fuzzy relationship between the stage input and output by fuzzy reasoning and de-fuzzy process was established, and the adaptive compensation of hysteresis could be realized. In order to illustrate the feasibility of the proposed method, the experimental comparative analysis with PID control was carried out. The position errors were compared when the stage was tracking the sine signals with different frequencies. The experimental results show that the proposed fuzzy control method can make the stage have higher position tracking accuracy and faster tracking speed, and has better adaptability.

So far, the overhaul of large spherical tank is carried out by building an all-round scaffold in most cases. However, there are many problems in this way, such as high labor intensity, long overhauling period, poor safety, and easy to cause secondary damage and so on. In order to solve problems mentioned above, an interior overhaul workbench of large spherical tank was designed. The workbench consisted of a bottom supporting platform, a central supporting column, a revolving supporting platform, a top revolving platform and pulling devices. What's more, it combined a kind of bidirectional traction from the top and bottom and a revolving motion from the top, which ensured manned workbasket could be delivered to all the overhauling spots quickly and accurately. The manned workbasket, central supporting column and both of the top and bottom revolving supporting arms formed a four-bar mechanism to ensure the manned workbasket remained horizontal throughout the travelling process. In order to verify the reasonability of this workbench, simulation analysis of dynamics and statics was done by MATLAB and ADAMS. The result showed that this workbench met the requirements of bearing capacity, stability and safety. With a simple structure, handling facility, the overhaul workbench is powered by electricity, which is easy to monitor. Therefore, this overhaul workbench will greatly improve the working efficiency of overhauling large spherical tank.

In order to improve the combustion efficiency of engine and reduce the emission of harmful gas, a design scheme of hydraulic continuous variable compression ratio (VCR) technique of engine was proposed. It was through the hydraulic system to control the eccentric pin rotation to change the location of the top dead center (TDC), so that the volume of the combustion chamber was changed to achieve the change of any continuous VCR in the adjustment interval. Firstly, the working principle of the hydraulic system in two different stages was analyzed according to the designed scheme. Then, 3D software Solidworks 2010 was used to model the whole system, and the range of continuous VCR (8.81-22.43) was calculated according to the specific size of the model design. Lastly, the change of the comprehensive force (inertial force of piston system and gas pressure at the piston surface) under different speed was analyzed, and the combined simulation test of the constructed hydraulic system was carried out by MATLAB and AMESim. The flow characteristics and pressure characteristics of the hydraulic system was explored at different speeds respectively with the resultant force exerts up and down. The simulation results showed that the piston system had fast response and good dynamic characteristics under the condition of medium and low speed, and the proposed design was proved usefully. The simulation results provide a theoretical basis for practical application of continuous VRC technique for hydraulic volume control, which has important practical guiding significance.

To analyze the stability of the mast of continuous flight auger driller with double braces under direct-drill-lifting condition, the deflection differential equations of the mast were established. With proper boundary conditions, the instability characteristic equations of the mast and the critical value of lifting drill were presented. The stability of ZLH43ZL(TB)-D180 continuous flight auger driller was analyzed, and the theoretical analysis results and the calculating results by ANSYS finite element method were compared. The results implied that the established instability characteristic equations were right and revealed that the instability critical value F_cr was related to the factors such as the main and auxiliary supporting position parameters λ₁ and λ₂, the mast section inertia moment I and the main hoisting wire rope angle θ. Meanwhile, F_cr first increased and then decreased with the increase of λ₁ and λ₂, and the impact of the λ₁ was much bigger than the impact of λ₂. With the increase of I, F_cr first increased rapidly, and then gradually eased. With the increase of θ (0° ≤ θ ≤ 20°), F_cr increased slowly. The conclusion can be expanded to analyzing the stability of the similar machinery structures in the context of engineering machinery.

The sensing system of body movement is the key to realize compliant control and human-robot coupling for the exoskeleton robot. The dynamic model of the lower limb was analyzed and the cooperative control method was brought forward. Position control method was applied in the support phase, and the interactive-force based admittance control method was applied in the swing phase. According to the method, the sensing system of lower limb exoskeleton robot based on multi-information fusion was developed, which employed joints angle of body, human-machine interaction force and plantar pressure as perceptual parameters. Using the variable-gain Kalman fliter algorithm to process the angle measured by IMU sensor and the Savitzky-Golay filter algorithm to process the pressure measured by FSR, the gait characteristic was acquired and the test was carried out to verify the reliability of the method. The experimental results showed that the attitude angle calculating algorithm of IMU data had the characteristics of high precision and good stability, and the human-robot interactive method and the FSR pressure data processing algorithm were feasible, which meant that the sensing system had the reliable ability to acquire and fuse attitude angle, interaction force and plantar pressure and identify the wearer's gait accurately. The results can provide a reference for optimizing the sensing system of exoskeleton robot and promote the development of the control systems and strategies of exoskeleton robot.

In the exploration of oil and gas field, for the instability of the dynamic seal performance because of the complex drilling conditions, the finite element method was used to analyze the contact pressure of single metal seal under the working condition which combined with single metal sealing structure and high pressure environment. Then the leakage rate of the single metal seal was calculated by Reynolds equation. On this basis, the optimization of the dynamic seal was completed by orthogonal experiment and F evaluation method with the objective to reduce maximum contact pressure and leakage rate. Finally, the influence of the structure parameters of single metal seal on the contact pressure and leakage rate of the sealing surface was obtained, and the average values of the calculated results of the optimized target corresponding to the same number of levels were calculated. According to the calculated results, the variation trend of the average value for the contact pressure and the leakage rate were obtained to identify the optimal level of seal structure under different levels. The performance of the dynamic seal before and after the optimization was compared using the finite element simulation. According to the seal parameters, two sets of seal specimens were processed, and sealing experiment was carried out. Simulation and experimental results verified that the inner side of the seal surface was worn seriously under high pressure condition, and the drilling fluid particles were easy to invade the sealing surface, also the maximum contact pressure was decreased after optimization. Meanwhile, the maximum temperature and leakage rate of the seal were significantly reduced. The research has important practical significance to improve the performance of the single metal seal and the reliability of the down-hole dynamic seal.

In recent years, oscillation impacter has been used to improve its penetration rate at home and abroad. The basic theory and structure optimization method in the engineering application were researched. The theory of transient flow was used to establish the pressure model of hydraulic impulse wave by analyzing the structure and working principle of the oscillation impacter. Numerical simulation of hydraulic impulse of oscillation impacter by MATLAB software programming was studied, and the influence of different factors on vibration impact performance was analyzed. The variation characteristic of the flow area of the key parts-disc valve was conducted. The effect law of the eccentricity e and the flow area radius r on the performance was obtained. The objective function which generated conclusive force was built. The steps of the optimization of the hydraulic pulser were established. On this basis, the model machine was processed, and indoor experiments were carried out. The experiment verified the rationality of the design, the validity of the theoretical analysis and the accuracy of the numerical calculation of the oscillation impacter. The results can offer the guide for optimizing the hydraulic pulser, and provide theoretical support for drilling field application of the oscillation impacter.

The excessive amplitude of the weight of accurately controlled routinely operated seismic source (ACROSS) results in lowering output energy and signal to noise ratio (SNR) during the excitation. Since the vibration isolation system has a great influence on the weight vibration, the parameter optimization design is carried out. Based on the theory of mechanical system dynamics and semi-infinite space, the dynamics model of ACROSS was established. The amplification coefficient index was established as the evaluation of the weight amplitude, then the relationship between the index and the parameters of vibration isolation system was deduced, the influence of the key parameters such as the stiffness and damping ratio of vibration isolation system on the index was analyzed by MATLAB. It was found that the stiffness and damping ratio of vibration isolation system had a great influence on the amplitude of the weight in the process of excitation. The irrational parameter design may cause weight severe vibration and even resonance. On this basis, the optimization algorithm was designed based on the coordinate alternation method to find the optimal parameter combination between the stiffness and damping ratio under different weight. The results showed that the weight vibration amplitude of optimized ACROSS was significantly reduced in the scanning bandwidth, and the maximum amplitude was reduced by 75% after optimization. The research results provide reference and guidance for the design of ACROSS vibration isolation system and a new way to enhance the energy transfer rate and SNR of ACROSS.

In view of the defects existing in the detection device of wind turbine blades, a cable-link detection device is designed. Firstly, the components, special structural design and working method of the device were briefly introduced. Secondly, the kinematics analysis for the core part-cable-link detection platform was carried out to study the relationship between the pose of the moving platform on the detection platform and the length change of the driving ropes and the driving hydraulic cylinder, and the velocity variation of the branched chains of the moving platform in a specific movement process. The moving coordinate system and the fixed coordinate system were established on the moving platform and the fixed platform, the forward and inverse kinematics analysis models of the parallel detection platform were obtained by Newton Raphson iteration and space vectors method, respectively. The velocity Jacobian matrix of the mechanism was deduced by analytical method. Finally, the detailed numerical calculation was carried out through MATLAB programming, the correctness of Newton Raphson iteration was verified by inverse kinematics analysis and the velocity variation curve of branched chains was plotted, which laid a theoretical foundation for the research on workspace and real time control of the detection device.

Due to the dramatic changes during the course of missile fight, the temperature and thermal load of fairing skin have a rapid change, and that will bring a great influence on the operational performance of the missile. To ensure the design accuracy of the electronic device, a design calculation method based on the fluid-solid coupling nonstationary numerical simulation was proposed. Meanwhile, by solving the heat transfer equation of the fluid and the solid surface, the energy piecewise function of each point in the flow field was obtained. The piecewise function of transient power curve corresponding to each structure microelement of flow field was calculated by MATLAB software, and the Fluent thermal simulation analysis method was used to predict the transient variation of working temperature and ambient temperature of the whole missile-borne electronic equipment intuitively through the power curve piecewise function. By the study of aerodynamic heating problem of a type of anti-radiation seeker and its missile-borne electronic equipment, the space distribution of transient thermal every moment in the flow field of the seeker and its missile-borne electronic equipment was calculated, and the obtained results were in good agreement with the practice. The results show that the method has a certain reference for transient thermal analysis and corresponding heat dissipation design of similar electronic devices.

To solve the problem of the automated guided vehicle (AGV) path planning based on the unloader task of automated container terminal, an AGV path planning method based on time window of road section was proposed through combining the optimal path mathematical model, path searching method and time window. First of all, the AGV with dispatched task was planned the shortest path by the optimal path mathematical model. Secondly, AGV alternative paths were selected through path searching method. When the path length was the same, the selection priority was determined by the number of turning times in the path, and the alternative path with fewer turning times had higher priority. Finally, time windows of road section were set up under AGV shortest path. If the time windows on the same road section were not overlapped, then the AGV was collision free on the path. As for the overlapped time window of road section, the time window would be inserted into the original path or the alternative path. Then time window's overlap test and adjustment continued if there still existed overlaps until the multiple AGV paths planning without time window overlap. In order to verify the validity of the method, a case of eight AGVs working simultaneously was experimented to prove that the proposed path planning method had good free-collision effect on AGVs. The results showed that this method could be used to plan a non-conflict optimization path for AGVs working simultaneously and to get the shorter time path availably. It was found that the method of insert time window on the alternative path was better. The reasearch shows that the proposed method has good free-collision effect on AGVs. Besides, it can effectively improve the efficiency of AGV utilization and automatic container terminal operation.

The fast prediction of the movement velocity and status of a target is critical for robot to avoid obstacle, detect and track target. Based on the elementary motion detector (EMD) model which was advantaged in sensitivity in motion speed detection in local area, a fast detection method for detecting moving target's velocity and status was proposed. The method combined with the EMD and peak detection algorithm. In order to verify the feasibility and effectiveness of the fast detection method for moving target, a multi-channel visual velocity measuring system was designed. In this system, it contained visual inspection unit, multi-channel data acquisition and target motion control device. The visual inspection unit was designed with linear optical sensor array. The multi-channel data acquisition (Advantech PCI-1747U data acquisition) and three-axis motion controller (Leadshine SMC3380) were programmed both in the LabVIEW development environment. Target motion device controlled object moving in scheduled way, and the multi-channel data device gathered object motion information data from visual inspection unit, which could predict the target's velocity and status after processed by the fast detection method. The experiment results showed that the multi-channel visual speed measuring system run stably and achieved in the maximum velocity of 80 mm/s moving target detection (absolute error less than ±2 mm/s, relative error less than ±3%) and the maximum acceleration of 20 mm/s² acceleration measurement. It provides a new idea for the research of rapid prediction of moving targets by robot vision sensors.

An intelligent tracking system based on inductance-to-digital converter is proposed to solve the problem that the path identification sensors are susceptible to electromagnetic and light interference. A method of expanding induction range by extending sensor induction coil was obtained through the analysis of the working principle of the inductance-to-digital conversion sensor. Then a sensor module with a single LDC1000 inductance digital converter was designed based on this method, and the module realized extending sensor coil through the use of SN74LV4052A analog switch. The MSP430 MCU was used to achieve a tracking test system including main control module, power module, drive module and sensor module. The tracking function of hardware testing system was implemented through the real-time acquisition and processing of sensor data to adjust position of the car. At last, the sensor-to-metal sensing experiments and tracking tests were performed on the test system. Experimental results showed that the horizontal and vertical distance changes between the track and the coil could be detected by the sensor, which provided guarantee for the tracking function. At the same time, the system could get a good tracking effect in the foil track with width of 5 mm. The research result indicates that this system has characteristics of strong applicability and stable detection technology, so that it can be widely applied to the industrial field of intelligent tracking in the future.

A large-size precision turntable was designed for the requirement of high resolution and high stability of the X-ray phase contrast CT (computed tomography) imaging. The turntable adopted welding structure and dense ball bearing support, with the feature of light weight, low resistance and high rotary precision. The turntable shafting's structure design and process route were introduced. The accuracy index of the shafting was decomposed according to the motion error allowed in the imaging field. The static and dynamic performance of the turntable was studied by static analysis, inertial release analysis and modal analysis, which proved that the structure rigidity was reasonable. Combined with the precision analysis, the geometric error of important components of the shafting was distributed, and the synthesis error satisfied satisfied with the requirement of index. Finally, the shafting of the turntable prototype was tested. The results showed that the turntable met the requirements of phase contrast CT imaging. The design of lightweight welding structure and the method of shafting accuracy analysis have some reference for large-size turntable shafting development.

Aiming at the problem of poor synchronous steering capability existing wheeled omnidirectional mobile robot in practical engineering applications,a synchronous steering structure of driving wheel is designed. Firstly, the working mechanism of the synchronous steering mechanism was analyzed based on virtual prototyping technology. Then, the kinematics analysis of the robot with the synchronous steering mechanism was carried out based on the kinematics principle and the relationship between the motor input speed and the steering speed of the driving wheel was obtained. Lastly, according to the structural parameters of the system, a physical prototype of the robot which was mainly used in the material handling of the factory was manufactured and verified by experiment. The results of lateral movement experiment of the robot showed that this robot can move in all directions through different ways, which verified the omnidirectional moving function of the robot. The research indicates that the application of synchronous steering mechanism can reduce the control difficulty of wheeled omnidirectional mobile robot and realize the omnidirectional mobile robot with high speed, high precision and high stability.

In order to solve the problem of low efficiency and large loss of input and output return in the designing process of power amplifier, a balanced power amplifier operating in 1.5 GHz was designed. The 3 dB directional coupler was used to distribute and synthesize the RF (radio frequency) signal, which greatly reduced the voltage standing wave ratio (VSWR) of input and output node of the power amplifier, and the harmonic control network of the inverse-Class F power amplifier was introduced into the matching circuit of the Class E power amplifier. The input and output impedance of the transistor was obtained by the use of ADS for load/source pull simulation. Considering the parasitic parameters of the transistor, the second and the third harmonic were matched to open and short respectively at drain of the transistor, and the second harmonic suppression circuit was added into the input circuit to further enhance the efficiency of the power amplifier. The GaN HEMT device CGH40010F transistor was selected for ADS software circuit simulation, and Rogers4350b high-frequency material was used to produce the test board of power amplifier. After making simulation optimization and practical test to the power amplifier, measure results demonstrated that when input power was 28 dBm, the amplifier test board delivered 41.54 dBm output power with drain efficiency of 76.99% and power additional efficiency (PAE) reached 73.59%, input and output node voltage standing wave ratio was less than 2, while having a high efficiency bandwidth of 160 MHz and the maximum output power increased by 3 dB than that of the single tube amplifier. The experimental results had some difference compared with the simulation data, but there was still a good consistency to meet the design index, which verified feasibility of the design methodology. This design method improves design efficiency of the power amplifier, due to the advantages of high efficiency and low return loss, so that it has broad application prospects in present highly efficient and green energy saving RF microwave communication system.