With the maturity of robotics, manual inspection is gradually replaced by inspection robots in large storage centres and other places where goods are densely packed. Aiming at the problems of low efficiency, high number of inflection points and inability to perform real-time obstacle avoidance in the traditional A* algorithm for mobile robot path planning, this paper proposes an improved A* search algorithm. Measures such as modification of the heuristic function, optimisation of the open list and curve smoothing are used to effectively improve the search efficiency.
In order to make the collector voltage distribution more balanced when multiple IGBT devices are connected in series, so as to realize the better application of IGBT in high voltage, large capacity and high power occasions. Based on the research of various IGBT series voltage equalization technologies, a new circuit combining inductance clamp circuit and active clamp circuit is proposed to realize static and dynamic voltage equalization, and the working principle of each part of the circuit is discussed. Detailed analysis and explanation. And using LTspice simulation software, a new voltage equalization simulation circuit is established. The simulation results show that the new voltage equalization circuit not only achieves a good voltage equalization effect when the IGBT drive signals are synchronized, but also maintains the voltage equalization well when the signals are not synchronized, and can also significantly suppress the overvoltage in the switching state. Feasibility of new voltage equalization circuits.
According to the primary and secondary loop resonance theory of Tesla transformer, the output characteristics of nonideal Tesla transformer under different coupling coefficients are studied. The MATLAB software was used to calculate the mutual inductance of the primary and secondary coils of different physical structures. The optimal primary and secondary coil structure and capacitance and inductance parameters corresponding to the high frequency AC voltage output with frequency of 300 kHz and amplitude of 255.9 kV were obtained. Then the model was simulated and verified by the Simulink module. Based on this, the physical prototype of the Tesla transformer was built. The output voltage of the frequency of 298.7 kHz and the amplitude of 241.1 kV is obtained by measurement, and the energy transfer efficiency was about 27.1%. The output voltage amplitude of the physical prototype deviates from the simulation value by 6.3%, which basically meets the design requirements. The Tesla transformer designed in this paper has certain application value for high voltage test, insulator string and other insulating materials in the performance detection under high frequency and high pressure environment.
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