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- 저자 : Wenlong Qin (검색결과 4 건)
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Position error compensation of the multi-purpose overload robot in nuclear power plants
Qin, Guodong,Ji, Aihong,Cheng, Yong,Zhao, Wenlong,Pan, Hongtao,Shi, Shanshuang,Song, Yuntao Korean Nuclear Society 2021 Nuclear Engineering and Technology Vol.53 No.8
The Multi-Purpose Overload Robot (CMOR) is a key subsystem of China Fusion Engineering Test Reactor (CFETR) remote handling system. Due to the long cantilever and large loads of the CMOR, it has a large rigid-flexible coupling deformation that results in a poor position accuracy of the end-effector. In this study, based on the Levenberg-Marquardt algorithm, the spatial grid, and the linearized variable load principle, a variable parameter compensation model was designed to identify the parameters of the CMOR's kinematics models under different loads and at different poses so as to improve the trajectory tracking accuracy. Finally, through Adams-MATLAB/Simulink, the trajectory tracking accuracy of the CMOR's rigid-flexible coupling model was analyzed, and the end position error exceeded 0.1 m. After the variable parameter compensation model, the average position error of the end-effector became less than 0.02 m, which provides a reference for CMOR error compensation.
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Zengli Xiao,Wenlong Qin,Liangliang Shi 보안공학연구지원센터 2016 International Journal of Smart Home Vol.10 No.6
In this paper, a highly sensitive and selective method based on the poly (sulfosalicylic acid) modified electrode (PSA /CPE) to detect phenol was established. The morphologies and interface properties of PSA film were characterized by scanning electron microscopy and electrochemical impedance spectroscopy. It was illustrated that the PSA/CPE had an excellent electrocatalytic ability towards the oxidation of phenol. Meanwhile the influence of parameters such as pH and scan rate effect on the analytical performance of the sensor was evaluated. Moreover, the interference from o-nitrophenol can be neglected. By using differential pulse voltammetry (DPV), linear calibration curves were obtained as 5–175 and 220–555 μmol L−1 for phenol. The detection limits are 2.2 μmol L−1 for phenol. With favorable selectivity and sensitivity, the present method has been applied to the determination of phenol in oilfield wastewater.
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Haiying Wen,Ming Cong,Guifei Wang,Wenlong Qin,Weiliang Xu,Zhisheng Zhang 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
A 4-DOF redundantly actuated parallel robot (RAPR) for jaw movement achieved by adding two pointcontactconstraints (higher-kinematic-pairs, HKPs) is presented. The inverse dynamics and driving force optimizationmodel based on pseudo-inverse method are established. In order to overcome the disequilibrium of drivingforces of the redundant chains caused by inclusion of point-contact constraints, an optimized torque distributionbased force/position hybrid control (OTDFP control) method for trajectory tracking is proposed for this RAPR. Experiments are carried out to evaluate the OTDFP control. Comparison with the conventional position control isperformed, showing that the OTDFP control can reduce torque fluctuation and tracking errors of the RAPR. Thechewing experiment of silicone shows the RAPR is not only able to track mandibular movement, but also able toemulate chewing force and temporomandibular joint (TMJ) force under the OTDFP control.
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Zengli Xiao,Junbin Chen,Xiangqian Du,Wenlong Qin 보안공학연구지원센터 2016 International Journal of Smart Home Vol.10 No.7
There are essential differences in the influence rules of the binary composite wave generated by the combination of artificial resonance wave and hydraulic impulse wave to two-phase fluid flow of low permeability reservoirs porous media oil-water. When the fluctuation parameters of binary composite wave field reaching the optimal matching, the binary composite wave will have a good synergetic effect on two-phase fluid flow of oil-water, and the improvement effect on two-phase fluid flow of low permeability reservoirs oil-water will generate resonance effect which is far more effective than unary wave field. If the fluctuation parameters of binary composite wave field are not matched well, bad synergetic effect on two-phase fluid flow of oil-water will be generated ,not only it can’t raise the improvement effect on two-phase fluid flow of oil-water, but also it will make the improvement effect below unary wave field. Even there will be an inhibition effect on fluid flow of oil-water, which reduces the displacement efficiency and the availability of low permeability reservoirs water injection’s development. By using the indoor fluctuation oil recovery simulation experiment device, the influence rules of displacement vibration wave and hydraulic impulse binary composite wave field to low permeability reservoirs oil-water single phase and two-phase fluid flow feature were studied. The influence rules of amplitude, frequency, work cycle and the other important parameters of composite wave to the permeability of oil-water single phase was intensively studied. Finally the mechanism of the synergetic effect generated by composite wave to two-phase fluid flow of low permeability reservoirs was analyzed.
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