科创中国

The aerodynamic braking is a clean and non-adhesion braking, and can be used to provide extra braking force during high-speed emergency braking. The research of aerodynamic braking has attracted more and more attentions in recent years. However, most researchers in this field focus on aerodynamic effects and seldom on issues of position control of the aerodynamic braking board. The purpose of this paper is to explore position control optimization of the braking board in an aerodynamic braking prototype. The mathematical models of the hydraulic drive unit in the aerodynamic braking system are analyzed in detail, and the simulation models are established. Three control functions-constant, linear, and quadratic-are explored. Two kinds of criteria, including the position steady-state error and the acceleration of the piston rod, are used to evaluate system performance. Simulation results show that the position steady state-error is reduced from around 12–2 mm by applying a linear instead of a constant function, while the acceleration is reduced from 25.71–3.70 m/s2 with a quadratic control function. Use of the quadratic control function is shown to improve system performance. Experimental results obtained by measuring the position response of the piston rod on a test-bench also suggest a reduced position error and smooth movement of the piston rod. This implies that the acceleration is smaller when using the quadratic function, thus verifying the effectiveness of control schemes to improve to system performance. This paper proposes an effective and easily implemented control scheme that improves the position response of hydraulic cylinders during position control.

Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation(RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.

In the prediction of active vibration isolation performance,control force requirements were ignored in previous work.This may limit the realization of theoretically predicted isolation performance if control force of large magnitude cannot be supplied by actuators.The behavior of a feed-forward active isolation system subjected to actuator output constraints is investigated.Distributed parameter models are developed to analyze the system response,and to produce a transfer matrix for the design of an integrated passive-active isolation system.Cost functions comprising a combination of the vibration transmission energy and the sum of the squared control forces are proposed.The example system considered is a rigid body connected to a simply supported plate via two passive-active isolation mounts.Vertical and transverse forces as well as a rotational moment are applied at the rigid body,and resonances excited in elastic mounts and the supporting plate are analyzed.The overall isolation performance is evaluated by numerical simulation.The simulation results are then compared with those obtained using unconstrained control strategies.In addition,the effects of waves in elastic mounts are analyzed.It is shown that the control strategies which rely on unconstrained actuator outputs may give substantial power transmission reductions over a wide frequency range,but also require large control force amplitudes to control excited vibration modes of the system.Expected power transmission reductions for modified control strategies that incorporate constrained actuator outputs are considerably less than typical reductions with unconstrained actuator outputs.In the frequency range in which rigid body modes are present,the control strategies can only achieve 5–10 dB power transmission reduction,when control forces are constrained to be the same order of the magnitude as the primary vertical force.The resonances of the elastic mounts result in a notable increase of power transmission in high frequency range and cannot be attenuated by active control.The investigation provides a guideline for design and evaluation of active vibration isolation systems.

Dual mechanical port machine(DMPM), as a novel electromechanical energy conversion device, has attracted widespread attention. DMPM with spoke type permanent magnet arrangements(STPM-DMPM), which is one of several types of DMPM, has been of interest recently. The unique coupling characteristics of STPM-DMPM are beneficial to improving system performance, but these same characteristics increase the difficulties of control. Now there has been little research about the control of STPM-DMPM, and this has hindered its practical application. Based on a mathematical model of STPM-DMPM, the coupling characteristics and the merits and demerits of such devices are analyzed as applied to a hybrid system. The control strategies for improving the disadvantages and for utilizing the advantage of coupling are researched. In order to weaken the interaction effect of torque outputs in the inner motor and the outer motor that results from coupling in STPM-DMPM, a decoupling control method based on equivalent current control is proposed, and independent torque control for the inner motor and outer motor is achieved. In order to solve address the problem of adequately utilization of coupling, minimizing the overall copper loss of the inner motor and the outer motor of STPM-DMPM is taken as the optimization objective for optimal control, and the purpose of utilizing the coupling adequately and reasonably is achieved. The verification tests of the proposed decoupling control and optimal control strategies are carried out on a prototype STPM-DMPM, and the experimental results show that the interaction effect of torque outputs in the inner motor and the outer motor can be markedly weakened through use of the control method. The overall copper loss of the inner motor and the outer motor can be markedly reduced through use of the optimal control method, while the power output remains unchanged. A breakthrough in the control problem of STPM-DMPM is accomplished by combining the control methods. Good performance in the control of STPM-DMPM will enhance its practicality, particularly as applied to hybrid systems.

改革开放三十多年来,我国教学论学科取得了一些成绩,但也存在着诸多问题,这些问题与教学论研究的学科立场偏差密切相关.教学论研究学科立场的偏差主要表现在旨在普适性教学知识的寻求、限以自我为中心的教学表达以及止于教学论文本的逻辑运演等方面.教学论研究者需要确立基于现实教学问题解决的学科立场,明确界定教学问题、严格履行研究过程、谨慎对待教学认识、注重教学实践检验和强化研究主体意识.

For the Cooperative Adaptive Cruise Control(CACC)Algorithm,existing research studies mainly focus on how inter-vehicle communication can be used to develop CACC controller,the influence of the communication delays and lags of the actuators to the string stability.However,whether the string stability can be guaranteed when inter-vehicle communication is invalid partially has hardly been considered.This paper presents an improved CACC algorithm based on the sliding mode control theory and analyses the range of CACC controller parameters to maintain string stability.A dynamic model of vehicle spacing deviation in a platoon is then established,and the string stability conditions under improved CACC are analyzed.Unlike the traditional CACC algorithms,the proposed algorithm can ensure the functionality of the CACC system even if inter-vehicle communication is partially invalid.Finally,this paper establishes a platoon of five vehicles to simulate the improved CACC algorithm in MATLAB/Simulink,and the simulation results demonstrate that the improved CACC algorithm can maintain the string stability of a CACC platoon through adjusting the controller parameters and enlarging the spacing to prevent accidents.With guaranteed string stability,the proposed CACC algorithm can prevent oscillation of vehicle spacing and reduce chain collision accidents under real-world circumstances.This research proposes an improved CACC algorithm,which can guarantee the string stability when inter-vehicle communication is invalid.

The existing research of the active suspension system(ASS) mainly focuses on the different evaluation indexes and control strategies. Among the different components, the nonlinear characteristics of practical systems and control are usually not considered for vehicle lateral dynamics. But the vehicle model has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, the nonlinear dynamic model of lateral system is considered and also the adaptive neural network of tire is introduced. By nonlinear analysis methods, such as the bifurcation diagram and Lyapunov exponent, it has shown that the lateral dynamics exhibits complicated motions with the forward speed. Then, a fuzzy control method is applied to the lateral system aiming to convert chaos into periodic motion using the linear-state feedback of an available lateral force with changing tire load. Finally, the rapid control prototyping is built to conduct the real vehicle test. By comparison of time response diagram, phase portraits and Lyapunov exponents at different work conditions, the results on step input and S-shaped road indicate that the slip angle and yaw velocity of lateral dynamics enter into stable domain and the results of test are consistent to the simulation and verified the correctness of simulation. And the Lyapunov exponents of the closed-loop system are becoming from positive to negative. This research proposes a fuzzy control method which has sufficient suppress chaotic motions as an effective active suspension system.

施工中土工膜的接缝试验检测有严格的质量标准,同时土工膜焊缝又是防渗的质量控制重点,施工中通过对土工膜检测设备的改进,缩短了土工膜的施工及焊接检测、验收的时间,保证了渠道工程的施工质量,加快了施工进度;达到了较理想的使用效果.

Multi-way principal component analysis(MPCA)has received considerable attention and been widely used in process monitoring.A traditional MPCA algorithm unfolds multiple batches of historical data into a two-dimensional matrix and cut the matrix along the time axis to form subspaces.However,low efficiency of subspaces and difficult fault isolation are the common disadvantages for the principal component model.This paper presents a new subspace construction method based on kernel density estimation function that can effectively reduce the storage amount of the subspace information.The MPCA model and the knowledge base are built based on the new subspace.Then,fault detection and isolation with the squared prediction error(SPE)statistic and the Hotelling(T2)statistic are also realized in process monitoring.When a fault occurs,fault isolation based on the SPE statistic is achieved by residual contribution analysis of different variables.For fault isolation of subspace based on the T2 statistic,the relationship between the statistic indicator and state variables is constructed,and the constraint conditions are presented to check the validity of fault isolation.Then,to improve the robustness of fault isolation to unexpected disturbances,the statistic method is adopted to set the relation between single subspace and multiple subspaces to increase the corrective rate of fault isolation.Finally fault detection and isolation based on the improved MPCA is used to monitor the automatic shift control system(ASCS)to prove the correctness and effectiveness of the algorithm.The research proposes a new subspace construction method to reduce the required storage capacity and to prove the robustness of the principal component model,and sets the relationship between the state variables and fault detection indicators for fault isolation.

防汛物资的管理和运用效果直接影响防汛抢险工作的成果,合理运用、科学管理是保证防汛物资能最大限度发挥其救灾效用的基础.应用现代仓库管理技术,通过严把物资入库验收关、对人库物资进行登账、立卡、建档以及盘点与清查等各个环节管理物资,按照防汛物资要求维护保养物资,能够为防汛抢险提供根本保障.同时,对加快防汛物资管理现代化建设等方面提出建议.