In this paper, the speed control system controlled by motor speed was designed to control forward speed of underwater robot precisely. Based on the theory of double closed-loop speed control, motor control system was modeled firstly, and then regulator parameters were designed based on the engineering approaches. According to the characteristics of forward movement, the mechanical construction of sub-mini underwater robots and the comparison of various system designs, the double closed-loop regulator parameters of sub-mini underwater robots were obtained. And the propulsion system of sub-mini underwater robots was equipped with speed and current double closed-loop control. All the experimental results showed that within a certain range of motor speed, no static error could be guaranteed and the variable speed of underwater vehicle could be achieved.
Distributed-drive electric vehicles constitute an important research direction for the future development of electric vehicles. In this regard, the integrated suspension wheel-side drive system has considerable development potential because it can address the lack of driving smoothness and the grounding deterioration caused by the excessive unsprung mass of the distributed-drive system. However, a complete and systematic description of the design of such a system is not available in the literature. Therefore, this paper proposes a design process for an integrated E-type multilink suspension wheel-side drive system and a method to improve the vehicle ride comfort. Based on a configuration analysis of the E-type multilink suspension using the orientation feature set method, the ADAMS platform was used to optimize the hard point coordinates of the suspension with the integrated E-type multilink suspension wheel-side drive system as the object, and the spring stiffness and damper were designed considering the driving smoothness and the grounding of the vehicle. The bushing stiffnesses were determined through tests, and the feasibility of each bushing installation was determined via elastic kinematic simulation of the integrated E-type multilink wheel-side drive system; then, optimization design of bushing stiffness was carried out for ride smoothness. Then, a lightweight design of the gears’ reducer was performed. Finally, the specific structural design and strength verification of the key components of the designed system were conducted. The results indicated that the strength of each component of the wheel-side drive system met the requirements. Thus, the overall design process of the integrated suspension wheel-side drive system was improved. This study can therefore serve as a reference for the integrated design and vehicle ride comfort improvement of wheel-side drive systems and suspensions.
This paper introduced the important role of the remote sensing satellite in remote sensing field. There existed some defects for a traditional classical AZ-EL type antenna used in tracking remote sensing satellite. The design project of Stewart manipulator antenna was presented by Stewart manipulator designing theory. The singular configuration theory of Stewart manipulator introduced position singularity, attitude singularity analysis and posture ability of Stewart manipulator was studied. The theorem of nonsingular posture was presented and proved. The nonsingular workspace area of a Stewart manipulator was determined. The antenna design based on Stewart manipulator satisfied with hemisphere airspace workspace and got the theoretical basis of realizing passing zenith tracing.
Ups and downs control was one of the main contents in control of the submersible. A new ups and downs control system was used on the submersible with piston type. Its mechanism structure and experiment platform was introduced firstly in this paper. Then the theory design, underwater experiment and finite element analysis of piston cavity was made separately to verify its design reliability and stability. The results of experiment and emulation suggest that the piston type submersible design was reasonable, feasible and practical.
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