SUMMARYThis investigation describes the mechanical configuration and control environment for a novel cart-seesaw system. This mechanism is called a super articulated mechanical system (SAMS). The system comprises a cart that slides on the pneumatic rodless cylinder. The rodless cylinder is double-acting with the carrier bracket, on which a cart is a pinion mechanism for the tracks. The cart-seesaw system brings the cart from any initial position to a desired position on the seesaw by applying an appropriate force to the cart and thus adjusting the angle of the seesaw. The position of a cart denotes the first degree of freedom, which is activated by a pneumatic proportional valve, and the angle of the seesaw indicates the second degree of freedom that is not actuated. Consequently, the proposed new pneumatic cart-seesaw system is straightforward to construct and direct to operate in different scenarios of performance. A state feedback controller is applied for stabilization of the equilibrium point of the system. Moreover, this study adds a supervisory controller that takes control action in extreme situations. Test results reveal excellent properties in control performance. The proposed product can be extensively applied in SAMS and pneumatic control for robotics control laboratory.

According to the coupling characteristic of propulsion system and impact system of hydraulic rock drill, deduced the calculation formula of optimal axial thrust for the propulsion system of hydraulic rock drill. On the basics of the calculation formula before, the paper constructed compound driven propulsion system of hydraulic rock drill based on electro-hydraulic proportional pressure-reducing valve and high speed on-off valve, and established its dynamics model. Finally, the paper considered optimal axial thrust as the goal, and adopted the fuzzy PID control strategy to realize on-line, intelligent control to axial thrust of the propulsion system of hydraulic rock drill. Through mathematical modelling and simulation study show that fuzzy PID control method has its advantages as the fast response follow by target, high control precision, and small fluctuation, and provided theory reference and technology method for intelligent control of the propulsion system of hydraulic rock drill.