A particle swarm optimization (PSO) algorithm which can dynamically adjust learning factors is proposed to solve the problems of low efficiency and unstable operation of traditional industrial robots. The method uses piecewise polynomial interpolation to fit the trajectory, and uses an improved particle swarm algorithm to optimize the trajectory of industrial robots with time as a fitness function. This method effectively combines the piecewise polynomial interpolation function with PSO, avoids the complex process of particle swarm algorithm to construct the adaptation function, and improves the problem that the traditional PSO is more likely to fall into local extreme value in the early stage and convergence speed is slow in the later stage. Through experiments to obtain the motion pose, velocity and acceleration trajectory of each joint of the manipulator, we can know that this method can effectively realize the trajectory optimization of the industrial robot, and ensure the stability of the overall operation while improving the operating efficiency.
in order to more fully and high efficiency in the use of solar energy, it is generally used to track the sun way to maximize more light energy. There is a kind of design scheme about solar energy automatic tracking device in this paper. This method combines the advantage of optoelectronic tracking detection mode and Calculation of sun position tracking mode, then put forward a kind of dual mode solar automatic tracking systems. The system can round-the-clock to track the sun according to the sun changes of the trajectory path., which enables the power efficiency greatly increased. This method has important significance in lower solar power cost; promote the application of solar energy on the communication, the wild monitoring, civil and so on.
Against the backdrop of a world energy crisis, triboelectric nanogenerator (TENG) is considered to be a practical solution that could harvest and use different types of mechanical energy. This study fabricates a variable rotor TENG combined with double limiting Zener aspectant diodes (ZAD) for the harvesting of impact energy and stable voltage output. And double limits are used at both ends of the load. The system has two independent rotor generating units. In a small impact, one generating unit is easy to start up; in a strong impact, two generating units operate to output more energy. This article presents a power management circuit design, which mainly comprises a rectifying part and voltage stabilizing part. In the operation of one generating unit, the voltage is stabilized at 3.35 V when using a single Zener diode, and at 3.95 V when using the ZAD circuit. In the simultaneous operation of two generating units, the voltage is stabilized at 4.45 V, ripple coefficient of 1.8%, and ripple voltage is 80 mV at millivolt‐level when using the ZAD circuit. This article presents the prospects of stabilizing the output voltage of the TENG under random excitation in the harvesting of impact energy.
In order to determine a way to be able to shorten the smelting time of low-carbon ferrochrome alloys and to strengthen the temperature control capability of the AOD converter during the smelting process, this article establishes a mechanism model of the rate of oxygen supply and carbon content change in the smelting process as well as the temperature of the reaction fluid in the converter. The physical and chemical reactions of the smelting process and the actual smelting data are used as the basis. The temperature and carbon content in the smelting converter are considered as the output quantity and the rate of oxygen supply is considered as the input quantity. An expert internal model control framework is built. In addition, an adaptive parameter adjustment mechanism is added to the control framework, taking into account data such as the maximum gas supply rate and the maximum limiting temperature of the actual production process. This method improves the smelting speed and smelting accuracy compared to the general internal mode control method. Finally, according to this method, with the use of the built low-carbon ferrochrome alloy centralized control system for smelting, the system shortens the smelting time by 12.79% compared with the general method and controls the converter temperature below 1950 K, which achieves the expected goal according to the simulation and actual smelting results.
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