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Availability Analysis of a Repairable Series-Parallel System with Redundant Dependency 认领
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作者 HU Linmin YUE Dequan MA Zhanyou 《系统科学与复杂性学报:英文版》 SCIE EI CSCD 2020年第2期446-460,共15页
This paper investigates the steady-state availability of a repairable series-parallel system with redundant dependency.The different types of components and repairmen are taken into account,the failure rate of the ope... This paper investigates the steady-state availability of a repairable series-parallel system with redundant dependency.The different types of components and repairmen are taken into account,the failure rate of the operating component varies as the number of other failed components and the repair rate of the failed component is constant in each parallel redundant subsystem.To quantify the redundant dependency,a modified failure dependence function is introduced to determine the failure rate of the components in each subsystem.Markov theory and matrix analysis method are used to get the steady-state probability vector of each subsystem and the steady-state availability of the entire system.A numerical example is presented to illustrate the obtained results and to analyze the effect of redundant dependency class on the system availability. 展开更多
关键词 AVAILABILITY PROBABILITY redundant dependency repairable system SERIES-PARALLEL
一种基于MVI56E-MCM的冗余Modbus通信设计与实现 认领
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作者 李志刚 王伟 +2 位作者 杨灵飞 李婷婷 董伟光 《仪器仪表用户》 2020年第8期24-26,12,共4页
Modbus协议是应用于电子控制器上的一种通用语言,它已经成为一种公用通信语言,基于这一协议,不同厂商生产的控制系统可以集成到同一个控制网络中,进行集中监控。本文以某大型海上油气平台项目为例,在RockWell控制系统基础上,提出了一种... Modbus协议是应用于电子控制器上的一种通用语言,它已经成为一种公用通信语言,基于这一协议,不同厂商生产的控制系统可以集成到同一个控制网络中,进行集中监控。本文以某大型海上油气平台项目为例,在RockWell控制系统基础上,提出了一种基于MVI56E-MCM的冗余Modbus通信设计与实现,给出了硬件的选择及配置,并详细介绍了如何通过软件编程来实现此冗余Modbus通信。 展开更多
关键词 MVI56E-MCM 冗余 MODBUS
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A kind of biomimetic control method to anthropomorphize a redundant manipulator for complex tasks 认领
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作者 MO Yang JIANG ZhiHong +2 位作者 LI Hui YANG Hong HUANG Qiang 《中国科学:技术科学英文版》 SCIE EI CAS CSCD 2020年第1期14-24,共11页
It is an urgent problem for robots to operate complex tasks with some unknown motion mechanisms caused by the strong coupling of force and motion. However, humans can perform complex tasks well due to their natural ev... It is an urgent problem for robots to operate complex tasks with some unknown motion mechanisms caused by the strong coupling of force and motion. However, humans can perform complex tasks well due to their natural evolution and postnatal training. A novel biomimetic control method based on a human motion mechanism with high movement adaptability is proposed in this paper. The core is to present a novel variable-parameter compliance controller based on human operation mechanisms with an action-planning method derived from optimization by human motion, and the main contribution is to change the parameters of compliance controller according to human operating intention synchronized with humanoid motion;this change could establish a humanoid map between the force and motion for a seven degree-of-freedom redundant manipulator to deal with the unknown motion mechanism in complex tasks, so the redundant manipulator can operate complex tasks with high performance. Sufficient experiments were performed, and the results validated the effectiveness of the proposed algorithm. 展开更多
关键词 REDUNDANT MANIPULATOR BIOMIMETIC control HUMANOID mapping COMPLEX task
Intelligent Robust Control of Redundant Smart Robotic Arm Pt I: Soft Computing KB Optimizer - Deep Machine Learning IT 认领
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作者 Alena V.Nikolaeva Sergey V.Ulyanov 《人工智能进展(英文)》 2020年第1期31-58,共28页
Redundant robotic arm models as a control object discussed.Background of computational intelligence IT on soft computing optimizer of knowledge base in smart robotic manipulators introduced.Soft computing optimizer is... Redundant robotic arm models as a control object discussed.Background of computational intelligence IT on soft computing optimizer of knowledge base in smart robotic manipulators introduced.Soft computing optimizer is the sophisticated computational intelligence toolkit of deep machine learning SW platform with optimal fuzzy neural network structure.The methods for development and design technology of control systems based on soft computing introduced in this Part 1 allow one to implement the principle of design an optimal intelligent control systems with a maximum reliability and controllability level of a complex control object under conditions of uncertainty in the source data,and in the presence of stochastic noises of various physical and statistical characters.The knowledge bases formed with the application of soft computing optimizer produce robust control laws for the schedule of time dependent coefficient gains of conventional PID controllers for a wide range of external perturbations and are maximally insensitive to random variations of the structure of control object.The robustness is achieved by application a vector fitness function for genetic algorithm,whose one component describes the physical principle of minimum production of generalized entropy both in the control object and the control system,and the other components describe conventional control objective functionals such as minimum control error,etc.The application of soft computing technologies(Part I)for the development a robust intelligent control system that solving the problem of precision positioning redundant(3DOF and 7 DOF)manipulators considered.Application of quantum soft computing in robust intelligent control of smart manipulators in Part II described. 展开更多
关键词 Intelligent control system Knowledge base Soft computing technology Decomposition Redundant robotic manipulator
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冗余透平调速系统在合成氨装置引风机透平上的应用 认领
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作者 杨海亮 《石油化工自动化》 CAS 2020年第1期9-12,共4页
引风机组是合成氨装置一段转化炉上的关键设备,引风机组是否能正常工作对于一段转化炉甚至整个合成氨装置至关重要。引风机通过透平进行驱动,透平调速系统的安全等级决定着引风机组的可靠性。针对该问题,介绍了基于Woodward调速器冗余... 引风机组是合成氨装置一段转化炉上的关键设备,引风机组是否能正常工作对于一段转化炉甚至整个合成氨装置至关重要。引风机通过透平进行驱动,透平调速系统的安全等级决定着引风机组的可靠性。针对该问题,介绍了基于Woodward调速器冗余透平调速系统在某合成氨改造项目中的应用,阐述了如何实现调速系统的冗余架构,通过最终实际应用验证了该方案的可行性,对工程设计及应用提供参考。 展开更多
关键词 引风机组 透平调速 冗余 调速器
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基于冗余方式的水轮发电机调速系统的可靠性提升 认领
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作者 凌胜军 《自动化仪表》 CAS 2020年第3期80-83,共4页
调速系统是水电站参与控制调节的重要设备,自动调节水轮发电机组的转速,满足电网对频率质量的要求。水电站采用“无人值班(少人值守)”的运行方式,提高了对水轮发电机调速系统可靠性的要求。冗余是增加重复部分或对原本的单一部分进行备... 调速系统是水电站参与控制调节的重要设备,自动调节水轮发电机组的转速,满足电网对频率质量的要求。水电站采用“无人值班(少人值守)”的运行方式,提高了对水轮发电机调速系统可靠性的要求。冗余是增加重复部分或对原本的单一部分进行备份,依靠冗余配置是提高调速系统可靠性的重要方式。通过对调速系统电源、电液转换、控制器、信号、压力油源、主配压阀几部分设备的冗余配置,分析各设备的功能、实现方法、效果,通过冗余配置提高了水轮发电机组和电站整体的可靠性。同时,该系统对于航运、水利、船舶等采用液压控制类的行业及领域具有较好的参考作用。 展开更多
关键词 冗余 水轮发电机 调速系统 水电站 可靠性
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核电厂核级冷水机组控制系统设计与研究 认领
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作者 王晓卫 郑伟智 +2 位作者 林颖杰 张弋 王童生 《自动化仪表》 CAS 2020年第2期80-84,共5页
目前,在二代加核电站中,核级冷水机组控制系统普遍采用可编程逻辑控制器实现机组控制及保护等功能。随着三代核电站对安全标准的提高,传统核级冷水机组控制系统已无法满足核电厂对控制系统安全分级、设备鉴定以及设计验证的要求。通过... 目前,在二代加核电站中,核级冷水机组控制系统普遍采用可编程逻辑控制器实现机组控制及保护等功能。随着三代核电站对安全标准的提高,传统核级冷水机组控制系统已无法满足核电厂对控制系统安全分级、设备鉴定以及设计验证的要求。通过分析三代核电厂对核级冷水机组的安全分级及功能要求,提出采用安全级数字化仪控平台实现机组的控制及保护。控制系统在设计过程中,采用了隔离、功能分散、故障安全以及冗余配置等设计方法,全面提升了核级冷水机组控制系统的可用性及可靠性,进而提高了核级冷水机组在电厂事故工况下执行安全功能的能力。该控制系统的设计及实施,为后续核级主设备采用安全级数字化仪控平台实现控制系统设计提供了更好的解决方案。 展开更多
关键词 核电厂 核级冷水机组 控制系统 隔离 故障安全 冗余 可靠性
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白油回收系统控制策略研究与仿真 认领
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作者 胡田力 邱叶林 《自动化与仪表》 2020年第6期88-91,共4页
为提高某企业白油回收系统的自动化程度,采用工业控制计算机、S7-300冗余PLC及现场的仪器仪表构成了小型DCS。通过该系统的冗余设置,提高了系统稳定性和可靠性;针对白油回收系统过程温度的非线性、大延时等特点,采用预测控制算法可有效... 为提高某企业白油回收系统的自动化程度,采用工业控制计算机、S7-300冗余PLC及现场的仪器仪表构成了小型DCS。通过该系统的冗余设置,提高了系统稳定性和可靠性;针对白油回收系统过程温度的非线性、大延时等特点,采用预测控制算法可有效解决传统PID控制的局限性;采用PID算法分别对白油回收过程液位和压力进行控制。MatLab仿真表明预测控制算法可精准地控制系统温度;实际运行结果表明运用PID算法有效地控制系统的液位和压力。 展开更多
关键词 集散控制系统 加氢法白油回收 冗余 预测控制算法 PID算法
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Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization 认领
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作者 Li Chen Ying Ma +1 位作者 Yu Zhang Jinguo Liu 《中国机械工程学报:英文版》 SCIE EI CAS CSCD 2020年第5期101-119,共19页
A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form ... A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking. 展开更多
关键词 Super redundant manipulator Multi target tracking Follow-the-leader Obstacle avoidance Bezier curve PSO
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A Novel Self-adaptive Circuit Design Technique Based on Evolvable Hardware 认领
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作者 Jun-Bin Zhang Jin-Yan Cai +1 位作者 Ya-Feng Meng Tian-Zhen Meng 《国际自动化与计算杂志:英文版》 EI CSCD 2020年第5期744-751,共8页
Since traditional fault tolerance methods of electronic systems are based on redundant fault tolerance technique,and their structures are fixed when circuits are designed,the self-adaptive ability is limited.In order ... Since traditional fault tolerance methods of electronic systems are based on redundant fault tolerance technique,and their structures are fixed when circuits are designed,the self-adaptive ability is limited.In order to solve these problems,a novel circuit self-adaptive design technique based on evolvable hardware(EHW)is proposed.It features robustness,self-organization and self-adaption.It can be adapted to a complex environment through dynamic configuration of the circuit.In this paper,the proposed technique simulated.The consumption of hardware resources and the number of convergence iterations researched.The effectiveness and superiority of the proposed technique are verified.The designed circuit has the ability of resistible redundant-state interference(RRSI).The proposed technique has a broad application prospect,and it has great significance. 展开更多
关键词 Circuit design self-adaptive design redundant fault tolerance technique evolvable hardware(EHW) evolutionary algorithms(EA)
Design and analysis of a class of redundant collaborative manipulators with 2D large rotational angles 认领
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作者 Xiaodong JIN Yuefa FANG +1 位作者 Dan ZHANG Xueling LUO 《机械工程前沿:英文版》 SCIE CSCD 2020年第1期66-80,共15页
The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers.This paper focuses on designing a class of 2R1T(R:Rotation;T:Translation)parallel spindle... The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers.This paper focuses on designing a class of 2R1T(R:Rotation;T:Translation)parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension(2D)large rotational angles.In order to construct 2D rotational degrees of freedom(DOFs),a platform with 2D revolute joints is proposed first.Based on the constraint screw theory,the feasible limbs that can be connected in the platform are synthesized.In order to provide constant rotational axis for the platform,a class of redundant limbs are designed.A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion.The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform.The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed.The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers. 展开更多
关键词 parallel MECHANISM REDUNDANT MECHANISM LARGE rotational ANGLES machine tools 2R1T spindle head COLLABORATIVE manipulator
Research State and Trend of Fruit Picking Robot Manipulator Structure 认领
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作者 NIU Yida 《国际设备工程与管理:英文版》 2020年第1期36-50,共15页
Starting from the characteristics of fruit picking,the characteristics of fruit picking robot manipulators and the research state at home and abroad are reviewed.The analysis summarizes the difficulties in fruit picki... Starting from the characteristics of fruit picking,the characteristics of fruit picking robot manipulators and the research state at home and abroad are reviewed.The analysis summarizes the difficulties in fruit picking robotic arm research.Aiming at the configuration of the manipulator,the structure and characteristics of the manipulator with redundant degrees of freedom are introduced,and the feasibility of the redundant mechanism is demonstrated through the current research state of the manipulator. 展开更多
关键词 fruit picking robot research state redundant degrees of freedom
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运载火箭大功率多余度电静压伺服机构技术研究 认领
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作者 陈克勤 赵守军 +2 位作者 刘会祥 赵迎鑫 张朋 《导弹与航天运载技术》 CSCD 北大核心 2020年第4期79-84,122,共7页
针对新型运载火箭对大功率推力矢量控制的需求,提出了大功率多余度电静压伺服机构(Electro-Hydrostatic Actuators,EHA)技术方案,研制了双余度原理性样机进行技术验证。采用高集成一体化的模块化设计,伺服电机泵并联实现大功率输出,单... 针对新型运载火箭对大功率推力矢量控制的需求,提出了大功率多余度电静压伺服机构(Electro-Hydrostatic Actuators,EHA)技术方案,研制了双余度原理性样机进行技术验证。采用高集成一体化的模块化设计,伺服电机泵并联实现大功率输出,单个伺服电机泵满足基本摇摆功能,同时实现一度故障容错能力。建立了伺服系统控制模型,进行了数学仿真分析,完成了样机设计制造和大惯量负载试验研究,-45°相频带宽达到25.8rad/s,质量仅65kg,动态性能好,功重比高,验证了中国未来三或四余度等更高余度等级和更大功率级别的航天电静压伺服机构的技术可行性。 展开更多
关键词 大功率 多余度 电静压伺服机构 伺服电机泵
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大型豪华邮轮固定式探火报警系统分析 认领
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作者 郭恒宇 《船海工程》 北大核心 2020年第S01期91-95,100,共6页
介绍大型豪华邮轮上的探火报警系统结构,对须满足安全返港等技术要求进行分析,通过对比普通客船双套火警结构布置与大型豪华邮轮中每一主竖区火警主单元相互冗余的环型结构布置的差异,得出不同结构设计的优劣性,并介绍环型结构设计的主... 介绍大型豪华邮轮上的探火报警系统结构,对须满足安全返港等技术要求进行分析,通过对比普通客船双套火警结构布置与大型豪华邮轮中每一主竖区火警主单元相互冗余的环型结构布置的差异,得出不同结构设计的优劣性,并介绍环型结构设计的主单元便于采集邮轮其他应急系统的信号,并在相应交互界面显示,体现该设计的稳定性及综合性。另外,对比寻址与非寻址式在邮轮分区上的不同。在保证系统稳定、可靠、节省成本的前提下,使相关技术要求能够在设计建造检验中得到落实。 展开更多
关键词 探火报警系统 安全返港 冗余 主竖区 豪华邮轮
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单点悬浮系统的自抗扰控制算法 认领
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作者 杨杰 石恒 +1 位作者 胡海林 黄晨 《兵器装备工程学报》 CAS 北大核心 2020年第4期167-171,共5页
针对传统控制算法在解决磁浮列车悬浮系统的参数摄动与外部干扰时的技术局限性,在单点悬浮动力学模型的基础上,提出一种“自抗扰控制”算法。该算法能够降低对被控对象内特性数学描述的依赖程度,克服系统非线性、时滞性与随机不确定性... 针对传统控制算法在解决磁浮列车悬浮系统的参数摄动与外部干扰时的技术局限性,在单点悬浮动力学模型的基础上,提出一种“自抗扰控制”算法。该算法能够降低对被控对象内特性数学描述的依赖程度,克服系统非线性、时滞性与随机不确定性对过程跟踪的影响,提高了磁浮列车行驶控制的即时性和抗干扰能力。通过与PID控制的比较,表明“自抗扰控制”在动态响应方面具有明显的技术优势。本文还对系统解耦和参数整定提供了相应的技术分析与解决方法。 展开更多
关键词 磁悬浮 自抗扰控制 扩张状态观测器 冗余性 PID控制
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阵元失效条件下的高精度DOA估计方法 认领
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作者 孙兵 吴晨曦 +2 位作者 阮怀林 叶文强 苏宝桐 《电子学报》 EI CAS CSCD 北大核心 2020年第9期1688-1694,共7页
为解决波达方向(Direction Of Arrival,DOA)估计方法在阵元失效条件下性能下降甚至失效的问题,本文提出一种基于Toeplitz协方差矩阵重构的DOA估计方法.首先,提出了一种失效阵元检测方法,并根据阵列的鲁棒性将失效阵元分为冗余阵元失效... 为解决波达方向(Direction Of Arrival,DOA)估计方法在阵元失效条件下性能下降甚至失效的问题,本文提出一种基于Toeplitz协方差矩阵重构的DOA估计方法.首先,提出了一种失效阵元检测方法,并根据阵列的鲁棒性将失效阵元分为冗余阵元失效和非冗余阵元失效两种情况.然后,分别针对两种失效场景提出相应DOA估计方法:一是冗余阵元失效,利用阵列冗余度,结合差联合阵列对失效阵元进行填充;二是非冗余阵元失效,利用阵列冗余度进行填充后仍存在空洞,结合矩阵填充理论,用迹范数代替秩范数进行凸松弛以恢复协方差矩阵,进而实现对虚拟阵元空洞的填充,恢复阵列自由度.相对于稀疏类算法,有效消除了模型失配的影响.最后,基于子空间方法进行DOA估计.理论和仿真结果表明,相对于现有方法,本文方法有效避免了阵元失效的影响,提高了估计精度. 展开更多
关键词 波达方向 阵元失效 阵元诊断 矩阵重构 冗余度
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核保护系统劣化模式下测试设计和分析 认领
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作者 董德英 张琳 《自动化博览》 2020年第3期82-83,共2页
单一故障准则是核保护系统设计的基本原则之一,确保保护系统在单一故障下,系统仍然能够实现预期的重要安全功能,确保核安全的实现。本文基于"华龙一号"工程实践,设计劣化模式下测试方案,通过测试分析,验证系统满足单一故障准... 单一故障准则是核保护系统设计的基本原则之一,确保保护系统在单一故障下,系统仍然能够实现预期的重要安全功能,确保核安全的实现。本文基于"华龙一号"工程实践,设计劣化模式下测试方案,通过测试分析,验证系统满足单一故障准则和具备冗余功能,满足设计和法规的要求。 展开更多
关键词 单一故障 保护系统 劣化模式 冗余
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油气管道SCADA系统高可靠冗余网络设计与实现 认领
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作者 尤冬青 《油气储运》 CAS 北大核心 2020年第6期679-684,共6页
目前对SCADA系统的研究多集中于工程应用、软件架构设计、通信协议的数据传输和处理,对大型油气管道SCADA系统网络的研究与应用涉及较少,研究成果无法满足生产调度对业务数据网络传输的高质量、高可靠冗余要求。为此,设计了一种适用于大... 目前对SCADA系统的研究多集中于工程应用、软件架构设计、通信协议的数据传输和处理,对大型油气管道SCADA系统网络的研究与应用涉及较少,研究成果无法满足生产调度对业务数据网络传输的高质量、高可靠冗余要求。为此,设计了一种适用于大型SCADA系统的高可靠冗余网络架构,其设计思想是分层的架构设计、各层设备冗余及各设备之间链路冗余。根据PVST+生成树、HSRP、EIGRP、BGP、路由映射表等协议的算法特点,在各层网络组合中使用上述协议,从而确保了油气管道生产业务数据网络传输连续不中断,实现了站场与调度控制中心之间的生产数据可以根据链路情况自动选择最佳路径进行传输,满足了油气管道调度运行对业务数据网络传输的要求。(图1,参20) 展开更多
关键词 SCADA系统 网络 高可靠 冗余
火电厂给煤机控制回路优化与应用 认领
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作者 孙岩 《仪器仪表用户》 2020年第9期99-102,共4页
宁夏枣泉电厂给煤机在启动后多次发生跳闸事件,经过分析验证后,发现给煤机启动回路可靠性较低,送变频器的常开启动触点断开后,会导致给煤机电机跳闸。对给煤机控制回路进行改造,提高了给煤机运行的可靠性,保障了机组长周期安全稳定运行。
关键词 给煤机 控制回路 改造 冗余
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Encoding methods matching the 16×16 pixel CZT detector of a coded aperture gamma camera 认领
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作者 Xiao-Lei Shen Pin Gong +2 位作者 Xiao-Bin Tang Rui Zhang Jin-Chao Ma 《核技术:英文版》 SCIE CAS CSCD 2020年第9期82-89,共8页
With the advancements in nuclear energy,methods that can accurately obtain the spatial information of radioactive sources have become essential for nuclear energy safety.Coded aperture imaging technology is widely use... With the advancements in nuclear energy,methods that can accurately obtain the spatial information of radioactive sources have become essential for nuclear energy safety.Coded aperture imaging technology is widely used because it provides two-dimensional distribution information of radioactive sources.The coded array is a major component of a coded aperture gamma camera,and it affects the key performance parameters of the camera.Currently,commonly used coded arrays such as uniformly redundant arrays(URAs)and modified uniformly redundant arrays(MURAs)have prime numbers of rows or columns and may lead to wastage of detector pixels.A 16×16 coded array was designed on the basis of an existing 16×16 multi-pixel position-sensitive cadmium zinc telluride detector.The digital signal-to-noise(SNR)ratio of the point spread function at the center of the array is 25.67.Furthermore,Monte Carlo camera models and experimental devices based on rank-13 MURA and rank-16 URA have been constructed.With the same angular resolution,the field size of view under rank-16 URA is 1.53 times that of under rank-13 MURA.Simulations(Am-241,Co-57,Ir-192,Cs-137)and experiments(Co-57)are conducted to compare the imaging performance between rank-16 URA and rank-13 MURA.The contrast-to-noise ratio of the reconstructed image of the rank-16 array is great and only slightly lower than that of rank-13 MURA.However,as the photon energy increases,the gap becomes almost negligible. 展开更多
关键词 Coded aperture imaging CZT Gamma camera Uniformly redundant arrays
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