科创中国

Vehicle mass is an important parameter in vehicle dynamics control systems.Although many algorithms have been developed for the estimation of mass,none of them have yet taken into account the different types of resistance that occur under different conditions.This paper proposes a vehicle mass estimator.The estimator incorporates road gradient information in the longitudinal accelerometer signal,and it removes the road grade from the longitudinal dynamics of the vehicle.Then,two different recursive least square method(RLSM)schemes are proposed to estimate the driving resistance and the mass independently based on the acceleration partition under different conditions.A 6 DOF dynamic model of four In-wheel Motor Vehicle is built to assist in the design of the algorithm and in the setting of the parameters.The acceleration limits are determined to not only reduce the estimated error but also ensure enough data for the resistance estimation and mass estimation in some critical situations.The modification of the algorithm is also discussed to improve the result of the mass estimation.Experiment data on a sphalt road,plastic runway,and gravel road and on sloping roads are used to validate the estimation algorithm.The adaptability of the algorithm is improved by using data collected under several critical operating conditions.The experimental results show the error of the estimation process to be within 2.6%,which indicates that the algorithm can estimate mass with great accuracy regardless of the road surface and gradient changes and that it may be valuable in engineering applications.This paper proposes a recursive least square vehicle mass estimation method based on acceleration partition.

The identification of maximum road friction coefficient and optimal slip ratio is crucial to vehicle dynamics and control.However,it is always not easy to identify the maximum road friction coefficient with high robustness and good adaptability to various vehicle operating conditions.The existing investigations on robust identification of maximum road friction coefficient are unsatisfactory.In this paper,an identification approach based on road type recognition is proposed for the robust identification of maximum road friction coefficient and optimal slip ratio.The instantaneous road friction coefficient is estimated through the recursive least square with a forgetting factor method based on the single wheel model,and the estimated road friction coefficient and slip ratio are grouped in a set of samples in a small time interval before the current time,which are updated with time progressing.The current road type is recognized by comparing the samples of the estimated road friction coefficient with the standard road friction coefficient of each typical road,and the minimum statistical error is used as the recognition principle to improve identification robustness.Once the road type is recognized,the maximum road friction coefficient and optimal slip ratio are determined.The numerical simulation tests are conducted on two typical road friction conditions(single-friction and joint-friction)by using CarSim software.The test results show that there is little identification error between the identified maximum road friction coefficient and the pre-set value in CarSim.The proposed identification method has good robustness performance to external disturbances and good adaptability to various vehicle operating conditions and road variations,and the identification results can be used for the adjustment of vehicle active safety control strategies.

我国现行税收政策激励对小微企业创新发展作用不明显,缺乏足够的吸引力,需要借鉴发达国家的做法,建立促进小微企业创新发展的税收法律体系,引导小微企业用足刷好税收优惠政策,切实解决小微食业创新能力不足的问题.

分析了中小企业融资难的主要原因,指出物流融资是破解中小企业融资难的一条有效途径,并具体提出了中小企业发展物流融资的主要策略.

阐述了虚拟经营的内涵及特征,探讨了中小企业实施虚拟经营的优越性,在分析虚拟经营与中小企业核心竞争力相互作用的基础上,提出了适合中小企业发展的基于核心竞争力的几种虚拟经营模式.

近些年来,我国中小城市快速发展,城乡建设水平不断提高,水资源供需矛盾日益突出,由于水资源配置工程体系不完备,水环境污染仍然严重.从环境治理、水利建设和生态保持等综合角度,寻求切实可行的中小城市水环境建设与管理方法,具有重要的理论及现实意义.

抽汽压损是一种不明显的热力损失,使蒸汽的作功能力下降、热经济性降低.假定抽汽口的压力不变,加热器端差不变,分析抽汽压损变化对热力系统的影响.根据抽汽压损的理论分析和热力系统汽水分布方程建立抽汽压损对回热系统抽汽系数影响的数学模型,并结合炯平衡原理和小扰动理论建立抽汽压损对炯损分布的影响的数学模型.以某电厂N1000-25/600/600机组热力系统为例,在TRL工况下,定量计算热力系统炯损变化情况.根据定量计算结果定性分析了抽汽压损对热力系统的影响.

针对桃林口小坝及引青西线工程因受当时设计、施工条件限制存在诸多问题的现状,为保证引青济秦工程的安全运行,保障秦皇岛市用水安全,实施桃林口小坝加固及引青西线改造工程.分析了原有工程存在的具体问题,提出改造工程设计方案,通过经济评价,工程在经济上合理,并具有显著的社会效益.