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	Design of motion adjusting system for space camera based on ultrasonic motor (EI CONFERENCE) 会议论文 OAI收割 International Symposium on Photoelectronic Detection and Imaging 2011: Space Exploration Technologies and Applications, May 24, 2011 - May 26, 2011, Beijing, China 作者: Sun Z. 收藏 \| 浏览/下载：85/0 \| 提交时间：2013/03/25 Drift angle is a transverse intersection angle of vector of image motion of the space camera. Adjusting the angle could reduce the influence on image quality. Ultrasonic motor (USM) is a new type of actuator using ultrasonic wave stimulated by piezoelectric ceramics. They have many advantages in comparison with conventional electromagnetic motors. In this paper some improvement was designed for control system of drift adjusting mechanism. Based on ultrasonic motor T-60 was designed the drift adjusting system which is composed of the drift adjusting mechanical frame the ultrasonic motor the driver of Ultrasonic Motor the photoelectric encoder and the drift adjusting controller. The TMS320F28335 DSP was adopted as the calculation and control processor photoelectric encoder was used as sensor of position closed loop system and the voltage driving circuit designed as generator of ultrasonic wave. It was built the mathematic model of drive circuit of the ultrasonic motor T-60 using matlab modules. In order to verify the validity of the drift adjusting system was introduced the source of the disturbance and made simulation analysis. It designed the control systems of motor drive for drift adjusting system with the improved PID control. The drift angle adjusting system has such advantages as the small space simple configuration high position control precision fine repeatability self locking property and low powers. It showed that the system could accomplish the mission of drift angle adjusting excellent. 2011 SPIE.
	Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload (EI CONFERENCE) 会议论文 OAI收割 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, August 24, 2010 - August 26, 2010, Changchun, China 作者: Li Y. 收藏 \| 浏览/下载：19/0 \| 提交时间：2013/03/25 Two manipulators handling a flexible payload are studied based on adaptive backstepping control theory. Considering the complexity of the dynamic model the obtained model is divided into a slow subsystem describing the large rigid motion and a fast subsystem expressing the elastic vibration by singular perturbation theory. A cooperative controller is designed based on adaptive backstepping control. The slow subsystem can complete system trajectory tracking performance. The fast subsystem can suppress the elastic vibration of the system. Stability of the system is proved by using Lyapunov stability theory. The validity of the proposed scheme is demonstrated by simulations. 2010 IEEE.
	Automatic spin coater for concave spherical substrate (EI CONFERENCE) 会议论文 OAI收割 3rd International Symposium on Advanced Optical Manufacturing and Testing Technologies, AOMATT 2007: Design, Manufacturing, and Testing of Micro- and Nano-Optical Devices and Systems, July 8, 2007 - July 12, 2007, Chengdu, China Fengchao L.; Jingsong G.; Xiaoguo F.; Jingli Z.; Zhijun X.; Jun H.; Fenglin X.; Huiqing W.; Xiaohan L. 收藏 \| 浏览/下载：23/0 \| 提交时间：2013/03/25 Coating photoresist film with uniform thickness on concave spherical substrate (CSS) is very important for microfabrication of concave spherical optical elements by lithography technique via a laser direct writer for the uneven photoresist film will result in ununiformity of line width so as to influence the characters of optical elements. For improving the uniformity of photoresist film coating on CSS an automatic spin coater was designed. The process and the mathematical model of spin coating for CSS were analyzed. Difficulties for realizing the spin coater consist of the control of multi-axis motion precisely and collaboratively valves on/ff properly and real-timely. A flexible and well-behaved spinning motion system was achieved by tmeans of principal and subordinate CPUs control. The motion program for spin coating could be created and implemented automatically while the pressure and the valves were was watched and controlled in real time. Film coating and laser direct writing experiments on a CSS with aperture equals to 100 mm and radius equals to 370 mm were performed. Photoresist film with uniform thickness on CSS was obtained by selecting proper spin coating parameters such as rotational speed acceleration and viscosity of the photoresist. After development the section analysis by the atomic force microscope showed that photoresist film thickness was about 517 nm in the center and about 520 nm in the edge of substrate the film thickness error was within 1% and the line width was about 6.0 m with steep sides parallel each other. Experimental results indicate that uniform thickness of thin photoresist film has been coated on CSS by the spin coater which contributes to quality improvement of laser direct writing lines on CSS.
	Construction and control of biomimetic robotic dolphin 会议论文 OAI收割 Orlando, FL, United states, May 15, 2006 - May 19, 2006 作者: Yu, Junzhi; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Jiyan \| 收藏 \| 浏览/下载：22/0 \| 提交时间：2017/01/24 Biomimetics Swimming Robot Robotic Dolphin propulsive Model Motion Control.