机床整体控制专家系统及智能柔性驱动编程方案

智能制造中的柔性生产系统编程技巧在智能制造领域，柔性生产系统是一种高度自动化且具有灵活性的生产方式，它能够根据不同的生产需求自动调整和适应生产流程。

为了实现柔性生产系统的高效运行，合理的编程技巧是至关重要的。

柔性生产系统的编程技巧主要包括以下几个方面：工艺流程规划、任务调度优化、异常处理和设备监控等。

首先，在柔性生产系统的编程中，工艺流程规划是一个重要的环节。

工艺流程规划要基于产品的特性和生产要求，合理安排生产环节的顺序和工序之间的先后关系。

在编程中，需要使用合适的语言和工具，将工艺流程规划转化为可执行的代码。

此外，还需要考虑可重复使用的代码块和模块化的设计，以提高编程效率和可维护性。

其次，任务调度优化是柔性生产系统编程的关键之一。

柔性生产系统通常同时处理多个任务，因此，合理的任务调度能够提高系统的生产效率和资源利用率。

在编程中，需要考虑如何优化任务的分配和处理顺序，以最大程度地减少等待时间和提高系统的吞吐量。

可以利用任务优先级、资源约束和时序关系等方法进行任务调度优化。

第三，异常处理是柔性生产系统编程中不可忽视的一部分。

由于柔性生产系统的复杂性，很容易出现各种异常情况，如设备故障、物料不足等。

在编程中，需要预先规划和处理这些异常情况，保证设备和生产系统能够快速恢复正常运行。

可以使用异常处理机制、传感器监测和报警系统等方法来实现。

最后，设备监控是柔性生产系统编程的一个重要环节。

在编程中，需要实时监测和控制设备状态以及生产过程中的性能指标。

可以利用传感器和监控系统实时采集数据，然后通过编程方式对数据进行处理和分析，以达到对设备和生产过程的实时监控和控制。

在实际应用中，柔性生产系统编程技巧的应用需根据具体的生产需求和系统特点进行灵活的调整和优化。

同时，随着智能制造技术的不断发展和创新，柔性生产系统编程技巧也需要不断地更新和提升。

总结起来，柔性生产系统编程技巧是智能制造中至关重要的一环。

工艺流程规划、任务调度优化、异常处理和设备监控是编程过程中需要关注和解决的关键问题。

数控机床的柔性制造系统设计与实现随着科技的不断发展，数控机床在制造业中的地位越来越重要。

数控机床的柔性制造系统设计与实现成为了制造业的热门话题。

本文将探讨数控机床柔性制造系统的设计原理和实现方法。

一、数控机床柔性制造系统的设计原理柔性制造系统（Flexible Manufacturing System，FMS）是一种集成了计算机控制、自动化设备和灵活制造工艺的制造系统。

数控机床作为柔性制造系统的核心设备，其设计原理主要包括以下几个方面：1. 自动化控制技术：数控机床通过计算机控制系统实现自动化加工操作。

该控制系统能够根据预先设定的加工程序，自动调整机床的工作参数，实现高精度、高效率的加工过程。

2. 智能化感知技术：数控机床配备了各种传感器，能够实时感知加工过程中的各种参数，如温度、压力、振动等。

通过智能化感知技术，机床可以根据实时数据进行自适应调整，提高加工质量和稳定性。

3. 数据交互与共享：数控机床通过网络与其他设备进行数据交互与共享。

通过与上位机、下位机以及其他机床的连接，实现生产信息的实时传递和共享，提高生产效率和协同性。

4. 灵活化加工工艺：数控机床具备多功能、多工序的加工能力。

通过灵活化加工工艺的设计，机床可以适应不同产品的加工需求，提高生产线的灵活性和适应性。

二、数控机床柔性制造系统的实现方法数控机床柔性制造系统的实现主要包括以下几个方面：1. 设备更新与改造：对现有的数控机床进行设备更新和改造，使其具备柔性制造的功能。

例如，通过替换控制系统、更换传感器等方式，使机床能够实现自动化控制和智能化感知。

2. 软件开发与集成：开发适用于柔性制造系统的软件，实现对机床的全面控制和管理。

通过软件的集成，实现机床与其他设备的数据交互与共享。

3. 加工工艺优化：优化机床的加工工艺，提高加工效率和质量。

通过分析产品的加工需求和机床的性能特点，设计出最佳的加工工艺流程，实现生产线的高效运行。

4. 人机协同：加强人机协同，实现人机一体化的生产模式。

机床可编程控制系统在柔性制造中的应用研究在现代制造业中，柔性制造已成为提高生产效率和产品质量的重要手段之一。

而机床可编程控制系统作为柔性制造的核心技术之一，对于实现柔性制造具有重要的推动作用。

本文旨在探讨机床可编程控制系统在柔性制造中的应用研究，并分析其对于制造业的影响和意义。

一、机床可编程控制系统的基本概念和原理机床可编程控制系统是一种可以根据产品加工要求进行编程的系统，通过编程的方式，可以实现机床的自动化控制和灵活性生产。

该系统由计算机软硬件、传感器、执行机构等多个组成部分构成，能够根据不同的工艺要求完成加工程序的自动执行。

机床可编程控制系统的实现依赖于先进的计算机技术和控制算法。

通过计算机软件编写加工程序，在与机床连接的控制器上进行加载，并根据加工程序的指令和参数实现机床轴运动、刀具进给等操作。

传感器可以实时获取加工过程中的数据，并通过反馈机制控制和调整机床的运动状态，以保证产品加工的精度和质量。

二、机床可编程控制系统在柔性制造中的应用1. 提高生产灵活性：传统机床生产方式需要人工干预和调整，调整过程繁琐且耗时。

而机床可编程控制系统可以通过简单的程序修改实现不同产品之间的无缝切换，大大提高生产的灵活性和效率。

2. 降低生产成本：机床可编程控制系统中的自动化和智能化技术能够减少人为因素对生产造成的质量波动，降低废品率和生产成本。

此外，机床可编程控制系统可以根据实际加工需求进行主动调整和优化，进一步提高生产效率和降低生产成本。

3. 增强生产质量：传统机床生产方式容易受到操作人员的技术水平和经验影响，难以保证产品的一致性和稳定性。

而机床可编程控制系统通过精确的控制和反馈机制，能够实时监测加工过程中的参数变化，并根据预设的标准进行调整和修正，从而保证产品加工的精度和质量。

4. 提升生产效率：机床可编程控制系统能够实现自动化生产，减少人工操作的时间和成本，并能够根据不同的加工要求进行多任务处理，实现生产过程的并行化。

机床整体控制专家系统及智能柔性驱动编程方案(总26页)本页仅作为文档封面，使用时可以删除This document is for reference only-rar21year.MarchAdaptive fuzzy logic controller for DC–DC convertersExpert Systems with ApplicationsThis paper introduces a complete design method to construct an adaptive fuzzy logic controller (AFLC) for DC–DC converter. In a conventional fuzzy logic controller (FLC), knowledge on the system supplied by an expert is required for developing membership functions (parameters) and control rules. The proposed AFLC, on the other hand, do not required expert for making parameters and control rules. Instead, parameters and rules are generated using a model data file, which contains summary of input–output pairs. The FLC use Mamdani type fuzzy logic controllers for the defuzzification strategy and inference operators. The proposed controller is designed and verified by digital computer simulation and then implemented for buck, boost and buck–boost converters by using an 8-bit microcontroller.Article Outline1. Introduction2. Basic design of adaptive fuzzy logic controller3. Adaptation algorithm for the fuzzy logic controller4. Computer simulation of the AFLC5. Implementation of the AFLC with microcontroller6. ConclusionCommissioning of textor CC, the new TEXTOR control system and first operating experiencesFusion Engineering and DesignThe old TEXTOR control systems have successfully been updated. The machine control has replaced by textor CC, a solution based on the software package WinCC produced by Siemens. WinCC, and therefore textor CC, can be easily integrated with the already available Siemens S5/S7 hardware components. This new system has the advantage that it is based on industrial soft- and hardware , the lifetime of the control system is extended and the maintenance effort is reduced. The installation and commissioning of the new control system was done in parallel to TEXTOR operation. During this time each function was tested and compared with the actual TEXTOR data. All functionality of the former control system was step-by-step replaced. Special attention was given to the visualization, data and error logging. The machine control timing system has been replaced by an in house development in partnership with Siemens. It consists of transmitters and receivers based on PROFIBUS modulesand is fully compatible with the pre-existing timing infrastructure. The old programmable function generator (PFG) has been replaced by compact RIO modules, controlled and programmed by Labview. This new PFG system allows to program up to 84 different time dependent signals. In this paper we intent to present a more detailed overview of our, on WinCC-based work, and a first status report on this new control system for TEXTOR. Article Outline1. Introduction2. Replacement of critical items. Old S3 PLC-components. Programmable function generator. Timing2.3.1. Code generation2.3.2. Modules2.3.3. Software, Step7, WinCC3. textor CC4. Conclusion and outlookReferencesApplication of PLC to dynamic control system for liquid He cryogenic pumping facility on JT-60U NBI systemThe control system of the cryogenic facility in the JT-60 NBI system has been replaced by employing the PLC (Programmable Logic Controller) and SCADA (Supervisory Control And Data Acquisition) system. The original control system was constructed about 20 years ago by specifying the DCS (Distributed Control System) computer to deal with 400 feedback loops. Recently, troubles on this control system have increased due to its age-induced deterioration. To maintain the high reliability of the cryogenic facility, a new control system has been planned with the PLC and SCADA systems. Their attractive features include high market availability and cost-effectiveness, however, the use of PLC for such a large facility with 400 feedback loops has not been established because of insufficient processing capability of the early PLC. Meanwhile, the recent progress in the PLC enables to use the FBD (function block diagram) programming language for 500 function blocks. Byoptimizing the function blocks and connecting them in the FBD language, the feedback loops have been successfully replaced from DCS to PLCwithout a software developer. Moreover, an oscillation of the liquid He level, which often occurs during the cooldown mode of the cryopumps, can be automatically stabilized by easily adding a new process program in the PLC. At present, the new control system has worked well.Article Outline1. Introduction2. Cryogenic facility for NBI system3. PLC based control system. Design concept. Construction of PLC based control system4. Operational results5. SummaryReferencesThe ECAL online software in the commissioning of the CMS detectorNuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated EquipmentThe Electromagnetic Calorimeter (ECAL) of the Compact Muon Solenoid (CMS) detector at the CERN Large Hadron Collider (LHC) is a crystal homogeneous calorimeter made of about 76 000 lead tungstate crystals.The detector was installed in the CMS experimental cavern in 2007 and 2008 and was commissioned with cosmic rays and with LHC beams in 2008.The trigger and data acquisition system of the CMS ECAL comprises 35 000 Front End ASICs and 170 Off Detector VME Boards. The operation of the system, performed by the ECAL online software, requires the configuration of O(107) parameters and the realtime monitoring of O(105) registers.In this paper we discuss the design and architecture of the ECAL online software and its performances in cosmic ray runs and with the first LHC beams.Article Outline1. Introduction2. Architecture of the CMS ECAL DAQ system3. Role and performances of the ECAL online software in the commissioning of the CMS Electromagnetic Calorimeter4. ConclusionsAcknowledgementsCurrent sharing of paralleled DC–DC converters using GA-based PID controllersWe demonstrate a concept for pulse-width modulation (PWM) control of a parallel DC–DC buck converter, which eliminates the need for multiple physical connections of gating/PWM signals among the distributed converter modules. The proposed control concept may lead to easier distributed control implementation of parallel DC–DC converters and distributed power systems.For equipment with significant power requirement, the traditional single power supply may not be adequate. Many power supplies with parallel regulation control can be used to solve this problem. This paper proposes a Proportional-Integral-Derivative (PID) controller to control paralleled DC–DC buck converters and current sharing is achieved. A genetic algorithm (GA) is employed to derive optimal or near optimal PID controller gains. Both simulations and experimental results are provided to verify the theoretical analysis through an experimental prototype of paralleled DC–DC buck converters.Article Outline1. Introduction2. A GA-based PID controller design3. Stability analysis4. Experimental results. Simulation results. Experimental results5. ConclusionsAcknowledgementsIntegrated modeling and control of a PEM fuel cell power system with a PWMDC/DC converterPower Sources A fuel cell powered system is regarded as a high current and low voltage source. To boost the output voltage of a fuel cell, a DC/DC converter is employed. Since these two systems show different dynamics, they need to be coordinated to meet the demand of a load. This paper proposes models for the two systems with associated controls, which take into account a PEM fuel cell stack with air supply and thermal systems, and a PWM DC/DC converter. The integrated simulation facilitates optimization of the power control strategy, and analyses of interrelated effects between the electric load and the temperature of cell components. In addition, the results show that the proposed power control can coordinate the two sources with improved dynamics and efficiency at a given dynamic load.Article OutlineNomenclature1. Introduction2. Modeling of a fuel cell stack, air supply and thermal circuit. PEM fuel cell stack2.1.1. Model improvement for the stack2.1.2. Parameters and simulation. Air supply system. Thermal system. Controls for the air and coolant flow rate3. DC/DC converter4. Power control of the PEM fuel cell system with the DC/DC converter5. Integration and simulation6. ConclusionAcknowledgementsReferencesInterleaved soft-switched active-clamped L–L type current-fed half-bridge DC–DC converter for fuel cell applicationsInternational Journal of Hydrogen EnergyIn this paper, an interleaved soft-switched active-clamped L–L type current-fed half-bridge isolated dc–dc converter has been proposed. The L–L type active-clamped current-fed converter is able to maintain zero-voltage switching (ZVS) of all switches for the complete operating range of wide fuel cell stack voltage variation at full load down to light load conditions. Active-clamped circuit absorbs the turn-off voltage spike across the switches. Half-bridge topology maintains higher efficiency due to lower conduction losses. Soft-switching permits higher switching frequency operation, reducing the size, weight and cost of the magnetic components. Interleaving of the two isolated converters is done using parallel input series output approach and phase-shifted modulation is adopted. It reduces the input current ripple at the fuel cell input, which is required in a fuel cell system and also reduces the output voltage ripples. In addition, the size of the magnetic/passive components, current rating of the switches and voltage ratings of the rectifier diodes are reduced.Article Outline1. Introduction2. Operation and steady-state analysis3. Design, performance and simulation results4. Conclusion and summaryAppendix. Converter designReferencesDevelopment and commissioning results of the KSTAR discharge control system The Korea Superconducting Tokamak Advanced Research (KSTAR) control system has been developed as a network-based distributed control system composed of several sub-systems. There are many local control systems for various sub-systems, and the central control system includes discharge control, machine control, and safety interlocks which aim for integrated control of the entire system. We have chosen the Experimental Physics and Industrial Control System (EPICS) as the middleware of the KSTAR control system because EPICS provides a software framework to integrate heterogeneous systems. The discharge control system, which is implemented in a part of the supervisory control system, performs the discharge sequence execution. The plasma control system,which has been implemented with general atomics and modified for KSTAR, is involved in the discharge control. The plasma control system performs real-time plasma control algorithms and provides the results of the control algorithms to the magnet power supplies. We are using a reflective memory-based real-time network for communication between the plasma control system and the magnet power supplies, thus we developed a fully digital control for the magnet power supplies. We have implemented the discharge control system with state notation language (SNL) in EPICS and also developed interface software among the sub-systems. We will present the details of the development of the KSTAR discharge control system and commissioning results.Article Outline1. Introduction2. Discharge control system3. Implementations4. The results of commissioning and operationAcknowledgementsReferencesBeam-commissioning study of high-intensity accelerators using virtual accelerator modelIn order to control large-scale accelerators efficiently, a control system with a virtual accelerator model was constructed. The virtual accelerator (VA) is an on-line beam simulator provided with a beam monitor scheme. The VA is based upon the Experimental Physics and Industrial Control System (EPICS) and is configured under the EPICS input/output controller (IOC) in parallel with a real accelerator (RA). Thus, the machine operator can access the parameters of the RA through the channel access client and then feed them to the VA, and vice versa. Such a control scheme facilitates developments of the commissioning tools, feasibility study of the proposed accelerator parameters and examination of the measured accelerator data. This paper describes the beam commissioning results and activities by using the VA at the J-PARC 3-GeV rapid-cycling synchrotron (RCS).Article Outline1. Introduction2. EPICS control system and the VA. EPICS control system. Construction of VA system3. Beam commissioning by the VA. Betatron tune. Chromaticity. Commissioning tool for injection line. BPM polarity. Optics correction4. Discussion5. SummaryAcknowledgementsThe commissioning and the first operational experiences of the CMS RPC detector control system at LHCThe CMS Resistive Plate Chambers (RPC) system consists of 912 double-gap chambers. The challenging constrains on the design and operation of this system imposed the development of a complex Detector Control System to assure the operational stability and reliability of a so large and complex detector and trigger system . The final layout and functionality of the CMS RPC DCS as well as the operational experience during the detector's commissioning and first phase of LHC operation are presented here.Article Outline1. Introduction2. The RCS low-level layers: description and performances. The RPC power supply system. RPC environmental and front-end electronics monitoring. Gas and external systems monitoring3. The RCS software layers. RCS supervisor architecture. The RPC supervisor GUI4. Commissioning with cosmic rays and pp collisionsSoftware architecture awareness in long-term software product evolution Systems and SoftwareSoftware architecture has been established in software engineering for almost 40 years. When developing and evolving software products, architecture is expected to be even more relevant compared to contract development. However, the research results seem not to have influenced the development practice around software products very much. The architecture often only exists implicitly in discussions that accompany the development. Nonetheless many of the software products have been used for over 10, or even 20 years. How do development teams manage to accommodate changing needs and at the same time maintain the quality of the product In order to answer this question, grounded theory study based on 15 semi-structured interviews was conducted in order to find out about the wide spectrum of architecture practices in software product developing organisations. Our results indicate that a chief architect or central developer acts as a ‘walking architecture’ devising changes and discussing local designs while at the same time updating his own knowledge about problematic aspects that need to be addressed. Architecture documentation and representations might not be used, especially if they replace the feedback from on-going developments into the ‘architecturing’ practices. Referring to results from Computer Supported Cooperative Work, we discuss how explicating the existing architecture needs to be complemented by social protocols to support the communication and knowledge sharing processes of the ‘walking architecture’.Article Outline1. Introduction2. Architecture, knowledge, and awareness. Software architecture. The role of the software architect. Software product evolution and architecture. Knowledge management. Awareness in software engineering3. Research methodology. Grounded theory. Analytic process. Confidence4. The companies and their architectural practice. Interviewees and organisation profiles. The presence of software architecture5. Analysis of interviews. Architecture: who needs it and at what level. Documentation5.2.1. Code base as actual documentation5.2.2. The absence of a document. Architecture knowledge acquisition: how newcomers learn the architecture 5.3.1. Discussion with a chief architect5.3.2. Intermixed with programming5.3.3. Learning by doing. The role of a chief architect5.4.1. Controlling and communicating architecture within a development team 5.4.2. Updating the ‘walking architecture’5.4.3. Interfacing to outward. Communication about changes5.5.1. Meeting5.5.2. Nightly builds and testing5.5.3. Concurrent versions system (CVS) and subversion repository5.5.4. Rich IDE5.5.5. Code review5.5.6. Wiki. Evolution and changes. The problems of the practitioners6. Discussion. Architecture awareness is achieved through ‘walking architecture’ practices . Good reasons for bad documentation. How to promote architecture awareness7. ConclusionsAcknowledgementsReferencesTime delay control for fuel cells with bidirectional DC/DC converter and battery International Journal of Hydrogen Energy氢能源的电池组及其电子配件交流直流转化与驱动Transient behavior is a key property in the vehicular application of proton exchange membrane (PEM) fuel cells.A better control technology is constructed to increase the transient performance of PEM fuel cells. A steady-state isothermal analytical fuel cell model is constructed to analyze mass transfer and water transport in the membrane. To prevent the starvation of air in the PEM fuel cell, time delay control is used to regulate the optimum stoichiometric amount of oxygen, although dynamic fluctuations exist in the PEM fuel cell power. A bidirectional DC/DC converter connects the battery to the DC link to manage the power distribution between the fuel cell and the battery. Dynamic evolution control (DEC) allows for adequate pulse-width modulation (PWM) control of the bidirectional DC/DC converter with fast response. Matlab/Simulink/Simpower simulation is performed to validate the proposed methodology, increase the transient performance of the PEM fuel cell system and satisfy the requirement of energy management.Article Outline1. Introduction2. Fuel cell system model. PEM fuel cell stack. Airflow system. Hydrogen flow system3. Flow control. Feedfoward control. TDC3.2.1. TDC compensator design3.2.2. TDC observer design4. Bidirectional DC–DC converter. Bidirectional DC/DC converter topology. Dynamic evolution control (DEC)5. Simulation results and analysis6. ConclusionAcknowledgementsA control-theoretic approach to the management of the software system test phaseA quantitative, adaptive process control technique is described using an industrially validated model of the software system test phase (STP) as the concrete target to be controlled. The technique combines the use of parameter correction and Model Predictive Control to overcome the problems induced by modeling errors, parameter estimation errors, and limits on the resources available for productivity improvement.We present an example of the technique applied to data from the execution of the STP of a commercial software development effort at a large software manufacturer. The example shows that the control technique successfully achieves the schedule and quality objectives despite uncertainty in the estimation of the model parameters. Article Outline1. Introduction. Contributions. Organization2. Related work. Software testing. Software process control. Software process modeling. Software cybernetics3. State model of the STP4. Problems of modeling. Errors in the model. Errors in the parameters5. Control objectives6. A model predictive control approach. Retrain the model. Linearize the model about the nominal trajectory. Discretize the linearized model. Solve an optimal control problem with the discretized model. Implement the control suggestions7. Benefits of optimal control with constraints8. Choosing the cost matrices9. An illustrated example10. Applying the approach in practice11. Parameter identification. The original calibration algorithm11.1.1. Estimating ζ and ξ11.1.2. Estimating x011.1.3. Re-estimating x011.1.4. Re-estimating ζ and ξ. An alternative calibration algorithm11.2.1. Simulation11.2.2. Pre-fit data smoothing. Assessment of the technique12. Conclusions and future workAcknowledgementsReferences5 kW级 DC/DC converter for hydrogen generation from photovoltaic sources 五千瓦直流整流/稳压逆变器/变压器在氢能与太阳能发电站的运用This paper covers the design of a DC–DC power converter aimed for hydrogen production from photovoltaic sources. Power conditioning for such application is usually driven by different constraints: high step-down conversion ratio is required if the input voltage of such equipment has to be compatible with photovoltaic sources that are connected to grid-connected inverters; galvanic isolation; high efficiency and low mass. Taking into account those factors, this work proposes a push–pull DC/DC converter for power levels up to 5 kW. The operation and features of the converter are presented and analyzed. Design guidelines are suggested and experimental validation is also given.Article OutlineNomenclature1. Introduction2. DC/DC converter: operation principle and features. PV and electrolyser electrical models. DC/DC converter design3. Application of a specific development. Initial specifications: photovoltaic array and electrolyser. Device selection. Input and output filters: calculations and realisation. Magnetic design: transformer and inductors. Driving and PWM control circuits4. DC/DC converter simulations and experimental results5. ConclusionsControl and data flow structural testing criteria for aspect-oriented programs Essential communication practices for Extreme Programming in a global software development teamSoftware Technology全球软件开发团队开发超大型程序的交流沟通平台的实践评估We conducted an industrial case study of a distributed team in the USA and the Czech Republic that used Extreme Programming. Our goal was to understand how this globally-distributed team created a successful project in a new problem domain using a methodology that is dependent on informal, face-to-face communication. We collected quantitative and qualitative data and used grounded theory to identify four key factors for communication in globally-distributed XP teams working within a new problem domain. Our study suggests that, if these critical enabling factors are addressed, methodologies dependent on informal communication can be used on global software development projects.Article Outline1. Introduction2. Background and related work. Global software development and requirements engineering practices. Extreme programming. Extreme programming case studies3. Research method4. Team and project description. Team factors. Process factors. Project factors. Project outcome5. Conjectures and recommendations. A definitive customer role for requirements management activities. Bridgehead. Short, asynchronous communication loops. Process visibility and control6. Case study limitations7. ConclusionAcknowledgementsAppendix A. Appendix. Project-specific questionsComparison of control schemes for a fuel cell hybrid tramway integrating twodc/dc convertersInternational Journal of Hydrogen Energy氢发电电流转化附件选用与集成方案的对比分析This paper describes a comparative study of two control schemes for the energy management system of a hybrid tramway powered by a Polymer Electrolyte Membrane (PEM) Fuel Cell (FC) and an Ni-MH battery. The hybrid system was designed for a real surface tramway of 400 kW. It is composed of a PEM FC system with a unidirectional dc/dc boost converter (FC converter) and a rechargeable Ni-MH battery with a bidirectional dc/dc converter (battery converter), both of which are coupled to a traction dc bus. The PEM FC and Ni-MH battery models were designed from commercially available components.The function of the two control architectures was to effectively distribute the power of the electrical sources. One of these control architectures was a state machine control strategy, based on eight states. The other was a cascade control strategy which was used to validate the results obtained. The simulation results for the real driving cycle of the tramway reflected the optimal performance of the control systems compared in this study. Article OutlineNomenclature1. Introduction2. Description of the tramway3. Fuel cell–battery hybrid system. Degree of FC–battery hybridization. Fuel cell. Battery. FC converter. Battery converter. Tramway loads. Braking chopper4. Control strategies for EMS of tramway . State machine control strategy. Cascade control strategy5. Simulation results6. ConclusionAcknowledgements。

柔性制造系统中加工单元控制系统设计柔性制造系统（FMS）是一种集成了多种生产设备、控制系统和信息系统的现代化制造系统，具有灵活性、高效性和自适应性的特点。

加工单元作为FMS中的核心组成部分之一，其控制系统的设计对于实现FMS的灵活性和高效性至关重要。

加工单元控制系统设计的目标是实现对加工单元内各个设备的自主协作与协调，以实现FMS中工件在各个设备之间的自动传送和加工。

在加工单元控制系统设计中，需要考虑以下几个方面：1.软硬件结构设计：加工单元控制系统一般由硬件和软件两部分组成。

在硬件设计上，需要选择适合加工单元的各种传感器、执行器和控制器，并将其组合成一个可靠、高效的硬件系统。

在软件设计上，需要编写控制算法和编程代码，以实现对加工单元的自动控制。

2.通信网络设计：加工单元内的各个设备之间需要进行信息的传递和协作。

因此，需要设计一个可靠、高效的通信网络，以实现设备之间的数据交换和控制指令的传递。

3.控制策略设计：加工单元控制系统的控制策略应能够满足FMS的要求，即能够根据各个设备的状态和工件的需求，自主协调和控制工艺过程的进行。

因此，需要设计一个适应动态变化的控制策略，以保证系统的高效性和灵活性。

4.故障检测与处理：在加工单元中，可能会发生各种故障，如设备故障、传感器故障等。

因此，需要设计一套故障检测与处理机制，以实现对故障的及时检测和处理，并保证系统的可靠运行。

5.数据管理与分析：加工单元控制系统应能够对加工过程中产生的数据进行管理和分析，以提高生产效率和质量。

因此，需要设计一个数据管理与分析系统，以实现对数据的存储、查询和分析。

在加工单元控制系统设计中，需要综合考虑以上各个方面，以实现对加工单元的高效控制和管理。

通过合理设计和优化，可以提高FMS的生产效率和灵活性，从而满足不同的生产需求。

智能机器人柔性制造技术实验台操作步骤一、三菱FX2N 可编程及遥控的设定：1、打开气泵、打开电脑、按下PLC上的上电按钮。

2、打开电脑中三菱FX2N 可编程控制器程序3、在该程序中打开PLC下拉菜单选择遥控运行停止中的停止档。

4、再在该程序中打开PLC下拉菜单选择端口设置，将端口设置为COM1；速率设置为19200bp5、再次打开PLC下拉菜单选择遥控运行停止中的运行。

当你确认后：可编程设备上的复位按钮（蓝色的）会闪动；此时按动复位按钮，复位按钮就不闪动了、但是开始按钮开始闪动了、再按动开始按钮各灯均不闪动。

即三菱FX2N 可编程控制器及遥控控制均设定完成。

二、AGV小车设定：1、打开AGV小车上的电源开关（ON）2、看显示屏，调节（UP）上或（DOWN）下按钮，选择（RUN）运行档，按动中间的（OK）档，显示屏会显示为（Remark）3、再按动绿色的（RUN）按钮，显示屏会显示为AGV1；STATION 0即1号小车零号站点。

此时将小车放入零号站点即可。

实验完成后，先按动红色的（RESET）返回建；然后再关机OFF）。

三、组态王软件的调试：1、双击打开MYFMS软件2、双击打开AGV调度系统3、点击用户登录：用户名及密码均为1；点击登陆。

4、软件提示：连接组态王？确定后；当连接成功后软件会给提示连接成功。

确定5点击AGV调度；进入控制画面：注意：串口：COM2 波特率9600bp AGV1 0号站点；自动清除路障6点击连接AGV1 ，若连接上会出现数据代码并且AGV1小车通讯状态不再是红色。

7、点击开始：小车即开始运动。

四、运行过程：1、开始———AGV小车从零号位向一号位运动———到达一号位AGV小车停止2、上料———向AGV小车放货物———点击完成。

3、AGV小车从一号位向三号位运动——到达三号位AGV小车停止。

4、机械手：下——夹——上——左移——下——松——上——右移5、加工单元：工件将在旋转平台上被检测及加工。