邓崇林

摘要(Abstract)：

本研究为建立指南车自动控制系统,依古典控制理论将分立各组成控制环节的数学模型整合成系统控制方框图,推导出完全补偿作用所需的设计规范,证明了指南车控制乃属按扰动补偿原理工作的开环前馈控制自动调节系统,更系统性盘查行星齿轮系设计文献案例,运用机械原理与控制观点,全面交叉核实了本文控制理论的正确性,且于推理过程并没发现所谓的反馈机制。由于所有差动机构的传动比都是比例常数,因此,本文所创建的控制理论其数学模型都通用,凡是线性构件所建的指南车都适用。

关键词(KeyWords)： 指南车;自动控制;前馈控制;不变性原理

Abstract:

Keywords:

基金项目(Foundation):

作者(Author): 邓崇林

参考文献(References)：

• [1] 颜志仁.中国古代指南车的原理和构造[J].上海机械学院学报,1984,(3):31-41.YAN Z R.The principle and structure of south-pointing carriage in ancient China[J].Journal of Shanghai Mechanical College,1984,(3):31-41.(in Chinese)
• [2] 顾幸生,刘漫丹,张凌波.现代控制理论及应用[M].上海:华东理工大学出版社,2008:1.
• [3] 余成波.自动控制原理[M].北京:清华大学出版社,2006:10.
• [4] YAN H S,CHEN C W.A systematic approach for the structural synthesis of differential-type south pointing chariots[J].JSME International Journal Series C,2006,49(3):920-929.
• [5] NEEDHAM J.Science and civilization in China:Volume 4,Physics and physical technology.Part Ⅱ//Mechanical engineering[M].Cambridge University Press,1965:286-303.
• [6] 万百五.我国古代自动装置的原理分析及其成就的探讨[J].自动化学报,1965,3(2):57-65.WAN B W.On certain automatic equipments in ancient China—A discussion of their principles and achievements[J].Acta Automatica Sinica,1965,3(2):57-65.(in Chinese)
• [7] 万百五.话说指南车及其所应用的不变性原理[J].系统与控制纵横,2015,2(1):44-56.WAN B W.Discussion of invariance principle and its application in south-pointing chariot[J].All About Systems and Control,2015,2(1):44-46.(in Chinese)
• [8] 宋力斌.斜面顶推式指南车[P].中国专利第CN104990545A号,2017.
• [9] 央视网.车甲大作战视频[Z]:http://tv.cctv.com/2016/04/26/VIDEFsGwsu487KoI4jWpOfzu160426.shtml
• [10] 邓崇林.指南车广义运动方程的创建[J].物理与工程,2019,29(4):7-16+34.TENG C L.Performs the general motion equations of the South Pointing Chariot[J].Physics and Engineering,2019,29(4):7-16+34.(in Chinese)
• [11] 朱金榴.中国古代机器人定向原理与启迪[J].上海工程技术大学学报,2006,20(1):88-91.ZHU J L.Orientation principle and enlightenment of Chinese ancient robot[J].Journal of Shanghai University of Engineering Science,2006,20(1):88-91.(in Chinese)
• [12] Eric Constans and Rowan University,http://www.benchtophybrid.com/PG_Types.html.
• [13] 秦大同.机械设计手册[M].6版.北京:化学工业出版社,2016:9-8.
• [14] HSIEH L C,LIU J Y,HSU M H.Systematic method for the synthesis of south pointing chariot with planetary gear trains[J].Transactions of Canadian Society for Mechanical Engineering,1996,20(4):421-435.
• [15] 杨衍宗,蔡颖坚,等.指南车机构设计[J].机械工程,1986,(154):18-24.YANG Y Z,TSAI Y C,et al.Mechanism design of south pointing chariots[J].Mechanical Engineering,1986,(154):18-24.(in Chinese)
• [16] 李琛.皇帝指南车[P].中国专利第ZL01261541.2号,2003.
• [17] 闵峻英,林建平,谢红.指南车的新型定向机构设计及其系统误差分析[J].浙江工业大学学报,2008,36(5):565-567.MIN J Y,LIN J P,XIE H.New orientating structure design and system error analysis of south-pointing carriage[J].Journal of Zhejiang University of Technology,2008,36(5):565-567.(in Chinese)
• [18] 李绍青.差动轮系指南车的设计与分析[J].机械传动,2012,(6):40-43.LI S Q.Design and simulation of a differential gear compass chariot[J].Journal of Mechanical Transmission,2012,(6):40-43.(in Chinese)
• [19] 卢志明.中国古代指南车的分析[J].四川大学学报(哲学社会科学版),1979,(2):95-101.LU Z M.An analysis of the ancient Chinese south-pointing chariot[J].Journal of Siechuan University,1979,2:95-101.(in Chinese)
• [20] 陈俊玮.指南车之系统化复原设计[D].成功大学机械工程系研究所,2006:55-56.
• [21] 冯光烁,黄旭东,兰旭东,等.面齿轮副扭转振动建模与分析[J].清华大学学报(自然科学版),2018,58(10):888-898.FENG G S,HUANG X D,LAN X D,et al.Torsional vibration modeling and analysis of a face-gear pair[J].Journal of Tsinghua University (Science and Technology),2018,58(10):888-898.(in Chinese)
• [22] ASFAR K R,SHA'ABAN A T.Electro-mechanical direction sensor for vehicle guidance and control[J].Adv Automob Eng,2017,6(3):31-33.
• [23] MARSHALL S A.Introduction to control theory[M].New York:Palgrave,1978:2.