自动家用拖地机的设计【含proe三维及5张CAD图带开题报告-独家】.zip
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目 录目录1 英文文献翻译21.1 Research progress of electric load simulator2Research status of control methods81.2 电动负载模拟器的研究进展101.2.1 电动负载模拟器的基本原理111.2.2 电动负载模拟器发展现状111.2.3 控制方法研究现状142.4机械系统仿真原理与应用172.9液压与气压传动201 英文文献翻译1.1 Research progress of electric load simulatorIntroductionWith the modernization of national defense and the development of military science, the requirements for the accuracy, reliability and controllability of aircraft and precision guided weapons are more stringent. Since the maneuverability, rapidity, reliability and accuracy of the aircraft and missile systems are directly related to the performance of the flight control system, it is necessary to test the performance of the products under various complex conditions to ensure the strict performance of the developed aircraft. The requirement of the index is reached. But the classic self destruct all physical test is very destructive. In the process of the experiment, many financial, material and human resources are wasted, as well as certain danger, and the acquisition of data is not easy. In view of this, a new loading experiment platform is urgently needed to meet the real-time and efficient acquisition of high precision, high reliability and high frequency response test data. At the same time, the test data can be more repeatable, in order to shorten the study period, save the development fund, improve the reliability and success rate. Such a platform. The electric servo load simulator, with its simple structure, small size, low cost, high tracking ability with small signal, high loading resolution, stable characteristic and suitable for experimental research, has become a new development direction of load simulator.The basic principle of the electric load simulator The electric load simulator is to use the servo motor as the conversion element of electric energy - mechanical energy. The electric energy is converted into the mechanical energy of the motor rotor. The load is loaded in the form of torque in the form of torque, and the load is simulated by the control of the load torque. The working flow of the general electric load system is as follows: the control machine (upper computer) sends instructions to the load controller to enter the standby mode, and then judge the feedback signal to the control machine to notify the user to be ready and wait for the test. When the loading controller receives the start instruction, the signal is started and the torque control signal is output through DAC to control the servo driver and output the simulated load. During the period, the loading controller receives the feedback signal of the motor (including the angle sensor signal and the torque sensor signal etc.) to distinguish the working state and control the motor in real time. In the course of the experiment, the important experimental data are uploaded to the control machine, the control machine is processed, various curves are displayed, and the experimental results can be obtained by analyzing the results of many experiments.Development status of electric load simulator1、Development of load simulator The development of the load simulation system has gone through two stages: the mechanical system and the electro-hydraulic system. The electric system is a new development direction. The first appearance of the vehicle load simulator is a mechanical load simulator. The document introduces the torsion bar type and the cantilever beam type mechanical load simulation system. The advantages of this load simulator are simple structure, high loading precision, no excess torque and high reliability, but its disadvantage is that the flexibility is weak and it is not easy to be realized. Force function loading can not achieve continuous load spectrum.Subsequently, researchers began to improve the mechanical loading system defects research. In the early 70s, Iketani Hikarui, a Japanese scholar, developed an electro-hydraulic servo load simulation system, and many countries have developed a torque load simulator used to simulate the aerodynamic force of the aircrafts rudder. In 70s, China began to study the load simulator and passive electro-hydraulic servo system, and achieved some results. Through the introduction of the structure and working principle of the electro-hydraulic load system, it can be seen that the electro-hydraulic loading system has the advantages of large torque, wide band, high precision and continuous loading load curve compared with the mechanical loader. But the system has complex power, large volume and regular professional cleaning, and the cost of application is high. At the same time, the redundant torque generated by its structural characteristics seriously affects the loading accuracy and the bandwidth of the system. At present, the system is mainly suitable for occasions with high frequency, large value and linear loading.In addition to the above two load systems, a magnetic powder clutch / brake loading system was developed in the 80s of last century. The system uses a special iron oxide alloy magnetic powder to transfer torque pressure according to the principle of electromagnetics, and adjusts the output of torque by adjusting the size of the magnetic coil current of the coupling. It is loaded smoothly and without noise, but the loading accuracy is low, and it can not be loaded fast and fast. It is only suitable for general torque simulation. In addition, the phenomenon of stuck occurs during the movement, and it is also inconvenient to maintain regular operation.2、 Development of electric loading related technology（1）The development of servo system With the motor manufacturing technology, the progress of the power electronics technology and the progress of the microprocessor technology, the computer control technology has made remarkable progress. The AC motor servo system has the technical performance of wide speed regulating range, high steady state precision, dynamic performance sensitive and four quadrant running well, and can be compared with the performance of DC servo motor. Beauty. In particular, the generation of magnetism permanent magnetic material has brought great changes to power transmission, which has the characteristics of high operating precision, small noise, reliable operation, high overload capacity and high efficiency. It has become the best choice for high dynamic motion standard. Therefore, the AC servo system has gradually replaced the DC servo system. At present, permanent magnet synchronous motor (PMSM) can be divided into permanent magnet synchronous motor (PMSM) with sine wave back EMF and permanent magnet synchronous motor with trapezoid wave back EMF, and the latter is called brushless DC motor (BLDCM), according to its working principle, driving current and control mode. Compared with PMSM, BLDCM has more obvious advantages: the control structure is more convenient, the torque generated by the unit current is larger than that of the PMSM, and the potential of the motor and inverter can be more fully realized, and it has a broad application prospect in the field of high performance and high precision servo drive. BLDCM AC servo system is the main direction of the development of high performance AC servo system. High performance, integration and modularization, generalization, networking and intellectualization will become the new development trend of the servo system in the future. Because the position sensor makes the motor system volume increase, the wire between the motor and the control system increases, the system is easily disturbed by the outside, the sensitivity is poor and the reliability is reduced in the bad working condition, and the installation deviation will cause the inaccuracy of the commutation. Scholars have proposed a sensorless brushless DC motor control method, such as back EMF method, continuous current diode method, inductance method, magnetic chain observation method, state observer method and other position detection methods, more perfect the brushless DC motor, making it smaller, more accurate, and more widely used.(2)Development of power electronics technology For the drive motor, the power electronic device is the interface of the power conversion between the weak and the strong. The inverter circuit, which is composed of high performance power electronic switching devices, is an indispensable necessary condition for the efficient use of the permanent magnet synchronous motor. Since the invention of the first power semiconductor switch thyristor in the world since 1958, power electronic components have gone through the first generation semi controlled thyristor, to the fourth generation of the integrated circuits and power devices, which integrate the microelectronic integrated circuits and power devices, and the intelligent power mode block IPM. Power electronic devices have been developing rapidly in the direction of high power, high speed, integration, intelligence, network and digitization, which greatly promoted the innovation of all kinds of motor control technology.(3)The development of digital driver application In the control technology, the AC speed control system is a very complex analog controller using the circuit. In 1980s, the development controller of large scale integrated circuit and COMS technology developed from 8 to 32 bit microcomputer and DSP (high speed digital signal processor), and realized the full digital control of the system. It is developing towards high-performance, reconfigurable array, multi-core technology, high integration and computing power. With its high-speed computing power and special hardware structure, DSP has replaced the IPC and MCU in many application systems, and has become the core of the control system. It not only simplifies the control circuit, but also makes the system control high precision, high reliability, high flexibility, strong storage ability and strong logic operation ability. The function of AC speed regulation system is more perfect, and it is more convenient and widely used.(4)Development of motion controller Motion control means that the position and speed of mechanical moving parts are controlled and managed in real time, so that they can move according to predetermined track and prescribed parameters. Scholars have studied the motion controller in detail, and the motion controller can be divided into three categories. A motion controller with a single chip or microprocessor as the core: low cost but limited operating speed, weak processing capacity, complicated single chip system, difficult software programming and low precision, so this kind of controller is only in some low bit position control and not high trajectory requirements. The application of the control situation; Special chip (ASIC) is used as the motion controller of the core processor: open intelligent motor control card, such as PMAC or TRIO motor control card. The structure of this kind of motion controller is simple, the control is more accurate, but the cost is high and the flexibility is not strong. This kind of controller is suitable for the single axis point position control situation; PC+ motion controller: that is, the open motion control of the PC bus based on DSP and FPGA/CPLD as the core processor, the I/O, the operating interface, and the communication integrated in an independent unit. This kind of controller combines the information processing capability and the open characteristics of the industrial control machine with the motion locus control of the motion controller organically. It has the characteristics of powerful information processing ability, high openness, precise motion locus control, and excellent versatility. It can also provide multi axis coordinated motion control on board and complex motion trajectory planning, real-time interpolation operation, error compensation and servo digital filtering to realize closed loop control, which ensures that the driver can provide more accurate, omni-directional and three-dimensional data for loading test with complex, independent, accurate and real-time loading.At present, the products of PC+ motion controller are mainly based on the DeltaTau PMAC card series and the open motion controller series of China Gu Gao company. The loading controller is used as the control core, and the torque load loading, bending moment load loading and axial load load loading are carried out on the steering gear. It can be loaded separately for the three kinds of load, and can also be loaded with arbitrary bending moment, torque and axial force, so that the system can simulate the actual working load of the rudder, so as to test the dynamic and static performance of the rudder system under the condition of compound loading, and give the corresponding test results. . Therefore, the open, independent, intelligent and multi axis motion controller with good stability is the trend of the current and future controllers.Research status of control methodsAt present, many scholars have studied the load dynamic characteristics of the load motor control system to realize the verification and test of various advanced control algorithms, so as to test the performance of the motor power transmission system and drive in the test platform.According to whether the control strategy needs the precise mathematical model of the system, the control methods of the electric loading system can be divided into the traditional control method of the model based structure invariance principle, the compound control method, the adaptive control method, the multivariable decoupling control method, the H infinity control method, and the learning control method based on the control decision. An intelligent control method with initial control learning and neural network control.The traditional control is based on the control mode of the precise model of the controlled object, which is modeled for control, and usually only considers the linear model structure and neglects the nonlinear factors in the system. This is a suitable control method for the simple linear system which can be ignored by the precise and nonlinear factors of the model. If the nonlinear factors of the system are taken into full consideration, the difficulty and complexity of the design of the system controller are increased.With the development of intelligent control, the construction of adaptive controller with neural network has become a hot topic in some papers. The principle is to combine the robust adaptive system theory with the neural network theory, and to use the neural network to approximate any continuous real function on the compact set with arbitrary accuracy, and to identify the nonlinear dynamic system. Knowledge and control provide a very useful new tool.Some documents use direct torque control, using highly integrated ACS800 of ABB company, the high precision servo drive of Begala company ACOPOS series, which is simple and accurate, but the cost is too high. Many scholars have begun to combine the theory of intelligent control with the theory of direct torque control. There are many direct torque control systems based on fuzzy control and artificial neural network, which make the control performance more improved. Now it has become the most research in various communication speed control methods. At the same time, in view of the development of the electric load simulation system to the multi channel control direction, a multi axis motion control system is proposed. The PMAC (multi axis motion controller) card with PID control and feedforward control is used to control the driver, which ensures that the driver can be loaded in a complex, independent, accurate and real time loading test. For more accurate, omni-directional and stereoscopic data. Summary The above is the general situation of the research on electric load simulator by domestic and foreign scholars.The electric load simulator plays a more important role in aviation, weapons, machinery and other fields because of its advantages of simple structure, large torque and precise control. Therefore, it has the advantages of simple structure, small size, low cost, high tracking ability with small signal, high loading resolution, stable characteristic and high integration degree, which is the research direction of new load system. The current rapid development of the electric load is constantly meeting these requirements, and tends to multi drive, multi-channel multi axis control so that different types of motor can be controlled, and load experiments can be carried out in different ways at the same time, which will make the composite electric load more accurate, stable, and more comprehensive test data. 1.2 电动负载模拟器的研究进展引言随着国防现代化和军事科学的发展，人们对航空飞行器、精确制导武器的精度、可靠性和可控制性等整体性能要求更加严格。由于飞行器和导弹等武器系统的机动性、快速性、可靠性及准确性与其飞行控制系统的性能好坏有直接关系在新型飞行器或者导弹的研发过程中，需要在各种复杂条件下对产品的性能进行测试，以确保所研制的飞行器的性能严格达到指标要求。但是经典的自破坏全实物试验破坏性较大，实验过程中造成许多财力、物力、人力的浪费，以及一定的危险性，且数据的获取也有不易。鉴于此，迫切需要一种新型的加载实验平台来满足实时高效的获取高精度、高可靠性和高频率响应试验数据，同时使试验数据可重复性更强，以达到缩短研究周期、节约研制经费、提高可靠性和成功率的目的，负载模拟器就是这样一种平台。而电动伺服负载模拟器以其结构简单、体积小、成本低，具有小信号跟踪能力强，加载分辨率高，特性稳定，适合试验研究等特点成为负载模拟器的一个新的发展方向。1.2.1 电动负载模拟器的基本原理电动负载模拟器就是利用伺服电机作为“电能机械能”的转换元件，将电能转换成电机转子的机械能，以转矩形式对承载设备加载，通过对加载转矩的控制实现对负载的模拟。一般电动负载系统工作流程如下：控制机（上位机）发送指令使加载控制器上电进入待工作态，判断检测系统各相关装置状态无误后将反馈信号传给控制机通知用户准备就绪并等待试验。当加载控制器接收到启动指令时，启动信号并通过 DAC 对加载控制器输出转矩控制信号控制伺服驱动器，输出模拟载荷。期间，加载控制器接收电机反馈信号(包括角度传感器信号和转矩传感器信号等)，对工作状态进行判别，对电机进行实时控制。同时实验过程中，将各项重要的实验数据上传至控制机，由控制机处理，显示各种曲线， 并可结合多次实验结果分析得出实验结论。1.2.2 电动负载模拟器发展现状1、负载模拟器的发展负载模拟系统的发展主要经历了机械式系统和电液式系统两个阶段，电动式系统是它的一个新的发展方向。首先出现的飞行器负载模拟器是机械式负载模拟器，文献分别介绍了扭杆式和悬臂梁式机械式负载模拟系统，这种负载模拟器的优点是结构简单，加载精度高，不产生多余力矩，可靠性高，但其缺点是灵活性弱，不易实现对任意力函数加载，无法实现连续变化的载荷谱。随后，科研人员开始了改善机械式加载系统缺陷的研究。七十年代初，日本学者池谷光荣研发出电液伺服负载模拟系统，之后许多国家也都研制了用于模拟飞行器舵面所受空气动力的力矩负载模拟器。中国也在七十年代开始了对负载模拟器以及被动式电液伺服系统的研究工作，并取得了一定的成果。通过文献对电液负载系统的结构及其工作原理进行了介绍可以看出，与机械式加载器相比，电液式加载系统具有大力矩、宽频带、高精度，连续加载的载荷曲线等显要优点。但该系统加压动力复杂，体积大， 且需定时专业清洗，应用成本较高。与此同时由其结构特点所产生的多余力矩，严重地影响加载精度及系统的频带宽度。目前系统主要适用于高频、大幅值、直线加载的场合。除了上述两种负载系统，在上世纪八十年代研发出一种磁粉离合/制动器加载系统，该系统是根据电磁学原理使用特制的氧化铁合金磁性粉末传递转矩压凹凸，通过调节联轴器磁性线圈电流的大小，调整转矩的输出。它加载平稳、无噪音但加载精度低，无法正反快速加载，只适用于一般的扭矩模拟。此外，在运动过程中会出现“卡死”现象，还需定期维护操作不方便。2、电动加载相关技术的发展（1）伺服系统的发展随着电机制造技术，电力电子技术的进步和微处理器技术的进步使计算机控制技术取得显著进步，交流电机伺服系统具备了调速范围宽、稳态精度高、动态性能灵敏及四象限运行良好的技术性能，且可与直流伺服电机性能相媲美。特别是钕铁硼永磁材料的问世，给电力传动带来重大变化，使其具有运行精度高、噪声小、运行可靠、过载能力大、效率高等特点，成为高动态运动标准的最佳选择，因而交流伺服系统逐步取代直流伺服系统已成为一种趋势。目前，永磁同步电机按其工作原理、驱动电流和控制方式的不同，可分为具有正弦波反电动势的永磁同步电机（PMSM）和具有梯形波反电动势的永磁同步电机，后者又称为无刷直流电机（BLDCM）。BLDCM和PMSM 相比，具有更加明显的优越性：控制结构更为简便，单位电流产生的力矩BLDCM较PMSM的大,能够使电机和逆变器各自的潜力得到更充分的发挥，在高性能、高精度的伺服驱动领域具有广阔的应用前景。BLDCM 交流伺服系统是高性能交流伺服系统发展的主要方向，高性能化、集成化和模块化、通用化、网络化、智能化将成为今后伺服驱动系统的新发展趋势。由于位置传感器使得电机系统体积增大，电机与控制系统间的导线增多，系统易受外界干扰；在恶劣工况下灵敏度差，可靠性降低；同时安装偏差会引起换相不准确。学者提出了无位置传感器的无刷直流电机控制方式，如反电动势法、续流二极管法、电感法、磁链观测法、状态观测器法等位置检测方法，更加完善了无刷直流电机，使其更小、更精准、应用更广泛。（2）电力电子技术的发展 对于驱动电机而言，电力电子器件是弱电与强电之间功率变换的接口，由高性能电力电子开关器件组成的逆变电路是永磁同步电机高效使用的不可或缺的必要条件。自1958年世界上第一个功率半导体开关晶闸管发明以来至今，电力电子元件己经历了从第一代半控式晶闸管，到如今第四代将微电子集成电路、功率器件集成在一起的功率集成电路和智能功率模块IPM。电力电子器件始终朝着大功率、高速、集成化、智能化、网络化、数字化方向迅猛发展，极大地推动了各类电动机控制技术的革新。（3）数字驱动器应用的发展在控制技术方面，交流调速系统从初期的采用电路十分复杂的模拟控制器，20世纪80年代，大规模集成电路技术和COMS技术的发展控制器经历了从8位到32位微机及DSP（高速数字信号处理器）发展，实现了系统的全数字化控制，同时向高性能、可重构阵列结构、多核技术、高集成、运算能力快方向发展。DSP以其高速计算能力和特殊的硬件结构已经在许多应用系统中取代了工控机和单片机，成为控制系统的核心。不但使控制电路简化，而且使系统控制高精度、高可靠性、高灵活性、强存储能力、强逻辑运算能力，交流调速系统的功能更加完善，同时使用更加方便，应用更广。（4）运动控制器发展运动控制即对机械运动部件的位置、速度等进行实时的控制管理，使其按照预定运动轨迹和规定参数运动。学者对运动控制器进行了详尽的研究，目前的运动控制器可分成三类：以单片机或微处理器作为核心的运动控制器：成本低但是处理器运行速度有限，处理能力弱，且单片机系统比较复杂，软件编程的难度较大，精度不高，因此这类控制器在一些只需要低速点位运动控制和对轨迹要求不高的运动控制场合应用；以专用芯片(ASIC)作为核心处理器的运动控制器：开放式智能电机控制卡，如 PMAC 或者 TRIO 电机控制卡，这类运动控制器结构比较简单，控制也较为精确， 但成本高且灵活性不强，这类控制器适合对单轴的点位控制场合； “PC+ 运动控制器”：即基于PC总线的以DSP和FPGA/CPLD为核心处理器，I/O、操作界面以及通讯集成于一个独立的单元中的开放式运动控制。这类控制器将工控机的信息处理能力和开放式的特点与运动控制器的运动轨迹控制有机地结合在一起，具有强大的信息处理能力、高度的开放性、精准的运动轨迹控制、优良的通用性的特点。还可以提供板上的多轴协调运动控制与复杂的运动轨迹规划、实时插补运算、误差补偿、伺服数字滤波，实现闭环控制，保证驱动器可以复合、独立、精确、实时的加载为加载试验提供更精确、全方位、立体的数据。目前采用“PC+ 运动控制器”为体系的产品主要以DeltaTau公司PMAC卡系列和中国固高公司开放式运动控制器系列为主，以加载控制器为控制核心，对舵机进行扭矩负载加载、弯矩负载加载和轴向力负载加载。可为上述三种负载的单独加载，也可以任意的弯矩、扭矩和轴向力组合方式进行加载；使系统能够模拟舵机的实际工作负载情况，从而实现对舵机系统的复合加载工作情况下的动、静态性能进行测试，并对给出相应的测试结果。由此，开放性、独立性、智能型，稳定性优良的多轴运动控制器是当前和将来控制器的发展趋向。1.2.3 控制方法研究现状目前许多学者在研究负载电机控制系统能够实现该实验平台负载动态特性的模拟得以最终实现对各种先进控制算法的验证和测试从而对试验平台中电机电力传动系统及驱动器进行性能测试。 根据控制策略是否需要系统精确数学的模型来分类，电动加载系统的控制方法可分为对基于模型的结构不变性原理法、复合控制法、自适应控制法、多变量解耦控制法、H控制法的传统控制方法，和基于控制决策的学习控制法、带初始控制的学习控制法、神经网络控制法的智能能控制方法。 传统控制是基于被控对象精确模型的控制方式，为了控制而建模，而且通常仅考虑线性模型结构，忽略系统中的非线性因素。这对于模型精确、非线性因素可以忽略的简单线性系统，是一种适用的控制方法，若充分考虑系统的各种非线性因素，这使系统控制器设计的难度和复杂程度加大。 随着智能控制的发展，利用神经网络构建自适应控制器成为一些论文研究的热点，其原理是把稳健自适应系统理论和神经网络理论相结合，利用神经网络能以任意精度逼近在紧密集上的任意连续实函数，为非线性动态系统的辨识和控制提供了一种很有利的新工具。 有的文献采用了直接转矩的控制方式，使用高度集成化的ABB公司的ACS800，贝加莱公司ACOPOS系列的高精度伺服驱动器对驱动器控制，此方式简单，精准，但是成本太高。许多学者开始把智能控制理论和直接转矩控制理论相结合，还有文献提出了许多基于模糊控制和人工神经网络的直接转矩控制系统，使其控制性能有了更进一步的提高，现在它已成为各种交流调速方法中研究最多。同时还有针对电动负载模拟系统向多通道控制方向发展的研究，提出了多轴运动控制系统，采用带有PID控制和前馈控制方式的PMAC（多轴运动控制器）卡控制驱动器，保证驱动器可以复合、独立、精确、实时的加载为加载试验提供更精确、全方位、立体的数据。总结上述是国内外学者对电动负载模拟器的的研究概况，从这些研究可以看出，电动负载模拟器以其结构简单，转矩大，控制精准等优点在航空，武器，机械等领域发挥着更为重要的作用。因此，结构简单、体积小、成本低，具有小信号跟踪能力强，加载分辨率高，特性稳定，集成度高适合试验研究，成为新型负载系统的探索研究方向。当前飞速发展的电动负载器正在不断的满足这些需求，而且趋向于多驱动器、多通道多轴控制这样能控制不同类型电机，还可以同时对负载系统进行不同方式的加载实验，将使复合电动加载更为准确，稳定，测试数据更为全面。 2 专业阅读书目2.1数控技术 内容摘要： 制造业是国民经济的支柱产业，数控机床及其先进制造系统是制造业的基础，数控技术是现代制造系统的核心，对制造系统水平和制造能力具有决定性作用。因此，数控技术水平的高低和数控设备拥有量是体现国家制造能力、综合国力、工业现代化水平的重要标志之一。 当今世界科学技术日新月异，装备制造业突飞猛进，以数控技术为基础的先进制造系统越来越凸显其重要作用，培养和造就掌握数控技术、具有数字化制造能力和创新精神的工程应用型人才，对提升制造能力、打造制造强国具有极其重要的现实意义和战略意义。 为适应工程应用型人才培养的要求，本书充分吸收国内外最新的数控技术和国内实际应用成果，融基础理论、工程实例、经典例题、经验总结、实践训练于一体，力求做到实用性、系统性和先进性。主要介绍了数控技术的基础知识、数控机床的主要组成部分、现代制造系统的发展趋势、数控程序的编制、计算机数控系统和数控机床用可编程控制器、插补原理、进给伺服系统及位置控制、数控机床机械结构及部件、数控机床的故障诊断，以及现代化技术。（马宏伟 张旭辉 贺辛亥，数控技术M，电子工业出版社，2010）2.2机械工程神经网络控制方法 内容摘要： 人工神经网络的研究至今已有60年历史，其发展过程曲折起伏，自20世纪80年代中期以来，人工神经网络引起了国内机械工程领域广大科研人员的浓厚兴趣，并进行了大量的研究工作，目前，人工神经网络的理论和应用研究工作方兴末艾，每年都有大量研究成果问世，发表的论文数以千计，其应用领域极为广阔，几乎涉及到机械工程领域的各个方面。 人工神经网络能够在机械工程领域获得广泛应用，是神经网络模仿人脑结构及智能行为，以及大规模进行处理、容错、自组织和自适应能力及联想功能等待性决定的。作为一种新颖的建模工具，人工神经网络不像专家系统那样需要事先建立知识库，知识的获取只需足够的训练样本，训练合格的网络将只是存储在权系数中，人工神经网络能够模拟现实系统复杂的输入输出关系，具有很强的非线性建模能力，人工神经网络具有良好的容错性能，在局部结点或连接失效、部分规则不掌握的情况下，仍能正常工作等。所有这些特点，都是处理机械工程领域各种不同建模必须的特性。 面对浩如烟海的国内外大量文献，本书从众提取了神经网络在机械设计、机械结构优化设计、机械制造工艺及设备、摩擦学及表面处理等方面的若干应用实例。展现了人工神经网络在机械工程各领域的应用方法和思路。（曾红 机械工程神经网络控制方法M。机械工业出版社，2003）2.3 机电控制基础理论及应用 内容摘要： 机电一体化已逐渐成为一个新兴的热点研究领域。机电一体化技术以机械工程学科和电子工程学科为支撑，是交叉学科的产物，这种多学科交叉的特点也对新时期工程技术人员和工科大学的学生做出了新的要求。 本书从工程科学的角度出发，在理论和实际应用之间架起一座桥梁，通过介绍机电控制系统的分析、综合和设计方法，使读者对机电一体化系统的基本构成、分析设计与选型原则、常用控制算法及实现手段等有系统的、全面的认识和了解，并能举一反三的将这些方法应用到实践中区解决实际工程问题，本书首先主要介绍机电控制的基本概念，系统构成及机电系统的动、静态特性，然后介绍机电控制系统中常用的检测元件和驱动元件，再介绍机电控制常用的控制算法及微机实现，最后通过两个典型机电系统的设计和实现例子，使得读者能够很好地将理论和实践有机联系起来。（王田苗 丑武胜.机电控制基础理论及应用M.清华大学出版社，2003） 2.4机械系统仿真原理与应用 内容摘要： 系统仿真是利用系统模型对实际系统进行实验研究的过程。在实际科学研究中，为减少实验次数，或有目的的进行实验，或系统实验比较困难甚至无法实现时，系统仿真技术就成为一项有利的工具。它涉及系统分析、模型建立、控制理论和计算方法等诸多领域。近年来，系统仿真技术已逐步发展成为机械工程学科中重要研究方法之一，大量的理论和工程实践研究采用此技术。 此书中介绍了采用键合图法构建机械连接系统动力学模型的原理及方法。键合图法是仿真模型建立方法中的一种重要方法，它可以研究多能源综合机电系统，广泛应用在机械产品、液压设备和汽车等机械产品的动力学研究中，并通过直动式溢流阀的仿真实力，使读者掌握该方法的使用过程。 机械离散系统仿真的原理和应用过程是机械系统仿真研究中的又一个重要分支。书中在介绍离散系统仿真一般方法的基础上，通过单队列单服务设备系统仿真实例。（高洪.机械系统仿真原理与应用M.合肥工业大学出版社，2008）2.5 机械工程控制基础 内容摘要： 机械是人类生产和生活的基本工具要素之一，是人类物质文明最重要的一个组成部分。机械工业担负着向国民经济各部门，包括工业、农业和社会生活各个方面提供各种性能先进、使用安全可靠的技术装备的任务，在国家现代化建设中占有举足轻重的地位。20世纪80年代以来，以微电子、信息、新材料、系统科学等为代表的新一代科学技术的发展及其在机械工程领域中的广泛渗
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