由此可见频率不能太低的原因：变压器能效率高，电动机可以个头小功率大。频率不能太高的原因：线路和设备可以损耗小，发电机转速不必过高。
因此根据经验和习惯，我们的电能就被定在在50或60Hz。位于广东省东莞市核心地带，总投资100多亿元，是集商务办公、购物休闲、酒店服务、金融服务等元素于一体的城市综合体。国贸中心由T1-T5五座塔楼和一座商业裙楼组成，其中T2塔楼以423米的高度成为目前东莞高楼。项目建成后，国贸中心将帮助东莞从单纯加工制造，向品牌贸易内销转型，搭建起更广阔的平台，推动东莞实现产业转型升级。

本次贝加莱的赛题设计是围绕运动控制的算法设计，也就是通过合适的位置速度和电流指令，使得伺服电机以预期的速度和加速度走到预期的位置。
在光伏组件的机器人排版系统中，使用PC SDK工具包去开发一个光伏电池串组件机器人系统工业应用软件，来提升一线操作人员的工作效率和防止误操作的发生。选手们运用在课堂上学到的机器人应用知识，将C#编程语言用到工业应用当中去，在比赛中锻炼自己具体应用场景的软件二次开发能力，开发新功能的创新能力。


在比赛中能够用工程师视角对一个工程项目的二次开发的创新思维，对项目的可行性的验证，在本专业的基础上，对文案的设计和演讲表达能力进行一个提升Automation Studio是贝加莱的统一编程平台，贝加莱全线产品的逻辑编程、运动控制编程，上位界面编写以及数学模型运算等，都是在Automation Studio平台中完成。Automation Studio也是这次比赛大家将会使用多的一款主软件。


小车的运动轨迹规划，舵轮电机的控制算法，还有电机和小车的坐标系变换等，都是在Automation Studio中来编程实现。


Scene Viewer是一款3D图形显示软件，终小车的动态运行效果可以在Scene Viewer中查看。当控制策略设计不当的情况下，也可以在Scene Viewer中看到AGV在拐弯时撞到边界的报警。这里Scene Viewer软件是一款开源的软件。

MapleSim软件是建立在名的数学软件Maple之上，Maple软件具有强大的数值和符号计算能力，特别是Maple的符号计算，也就是数学公式推导，在世界上是首屈一指，比如微积分、求微分方程的通解和特解等。Maple和MapleSim是课堂教学和实践之间的桥梁工具。


赛题中的控制对象是一个AGV小车，我们在设计中无法使用实际小车，只能用仿真模型代替。AGV小车模型包括机构、电机和车轮，由电机驱动车轮在指定的赛道上运动。这个模型通过MapleSim与Automation Studio之间的接口连接，实现了控制算法与受控对象模型的集成闭环测试。


我们针对赛题已经提供了一个AGV仿真模型，软件内置的帮助系统列出了不同建模元件底层的数学方程，大家可以通过这些理解模型原理，然后动手实践，修改和改进模型。相信大家能够取得成功！首先这次比赛所采用的AGV模型，我们采用简单的三轮结构，其中一个是单舵轮，两个是被动轮。
thus it can be seen



The reason why the frequency cannot be too low is that the transformer has high energy efficiency and the motor can be small in size and high-power.



The reason why the frequency cannot be too high: the circuit and equipment can have low losses, and the generator speed does not need to be too high.



Therefore, based on experience and habits, our electrical energy is set at 50 or 60Hz.



Located in the core area of Dongguan City, Guangdong Province, with a total investment of over 10 billion yuan, it is an urban complex that integrates elements such as business office, shopping and leisure, hotel services, and financial services. The International Trade Center consists of five T1-T5 towers and a commercial podium, with the T2 tower becoming the tallest building in Dongguan at a height of 423 meters. After the completion of the project, the International Trade Center will help Dongguan transform from simple processing and manufacturing to brand trade and domestic sales, build a broader platform, and promote Dongguan's industrial transformation and upgrading.



The design of this Baikale competition is centered around the algorithm design of motion control, which is to use appropriate position, speed, and current commands to make the servo motor move to the expected position at the expected speed and acceleration.

In the robot layout system of photovoltaic modules, the PC SDK toolkit is used to develop an industrial application software for photovoltaic battery string module robot system to improve the work efficiency of frontline operators and prevent the occurrence of misoperations. The contestants apply the robot application knowledge they have learned in the classroom to apply the C # programming language to industrial applications, and exercise their software redevelopment skills in specific application scenarios and innovative abilities in developing new functions during the competition.




In the competition, we can use the engineer's perspective to carry out innovative thinking on the secondary development of an engineering project, verify the feasibility of the project, and on the basis of our own specialty, improve the design and presentation ability of the copywriting. Automation Studio is the unified programming platform of Bacardi, logic programming, motion control programming, upper interface programming and mathematical model calculation of the whole line of products of Bacardi, All completed in the Automation Studio platform. Automation Studio is also the main software that everyone will use the most in this competition.




The motion trajectory planning of the car, the control algorithm of the steering wheel motor, and the coordinate system transformation between the motor and the car are all programmed and implemented in Automation Studio.




Scene Viewer is a 3D graphics display software, and the dynamic running effect of the final car can be viewed in the Scene Viewer. When the control strategy is not designed properly, the alarm of AGV hitting the boundary when turning can also be seen in the Scene Viewer. The Scene Viewer software here is an open-source software.



MapleSim software is built on the famous mathematical software Maple. Maple software has strong numerical and symbolic computing capabilities, especially Maple's symbolic computing, that is, mathematical formula derivation, which is second to none in the world, such as calculus, general and special solutions of differential equations, etc. Maple and MapleSim are bridge tools between classroom teaching and practice.




The control object in the competition is an AGV car, and we cannot use an actual car in the design, we can only use a simulation model instead. The AGV car model includes a mechanism, an electric motor, and wheels, which drive the wheels to move on a designated track. This model achieves integrated closed-loop testing of control algorithms and controlled object models through the interface connection between MapleSim and Automation Studio.




We have provided an AGV simulation model for the competition question, and the built-in help system of the software lists the underlying mathematical equations of different modeling components. Through these, everyone can understand the model principles, and then practice, modify, and improve the model. I believe everyone can achieve success! Firstly, the AGV model used in this competition adopts the simplest three wheel structure, with one single steering wheel and two passive wheels.