SMA路面施工技术探讨

SMA沥青路面具有高温抗车辙、低温抗裂、抗水损害、抗老化和抗滑等特点,目前被广泛方式用使用,论述了SMA路面的施工过程中拌和、运输、摊铺、碾压的施工控制的一些经验。     

浅谈公路工程施工中的环境保护

根据多年道路施工的经验,浅谈了道路建设中应加强对环境的保护,并提出了在施工中环境保护要考虑的问题和注意事项。     

带吊舱水下机器人运动建模与仿真(英文)

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.     

冬季施工中混凝土的常见质量通病和预防措施

冬季施工中混凝土施工的准备以及冬季施工的主要技术质量控制的常见质量通病和预防措施。     

带有死区补偿的欠驱动AUV深度控制

由于舵桨联合操控的水下机器人舵机传动系统死区非线性的存在,严重影响了某水下机器人的深度控制效果。文章以该水下机器人为研究对象,同时考虑了其欠驱动的运动特性及外界有界干扰和模型参数摄动,设计了具有自适应补偿功能的PID控制器,利用Lyapunov稳定性理论,证明在该控制器作用下,该控制系统是全局稳定的。最后进行了仿真实验。实验结果表明该控制器具有很好的控制效果,是行之有效的。     

半潜平台动力定位系统模型预测控制器设计(英文)

This paper researches how to apply the advanced control technology of model predictive control(MPC) to the design of the dynamic positioning system(DPS) of a semi-submersible platform.First,a linear low-frequency motion model with three degrees of freedom was established in the context of a semi-submersible platform.Second,a model predictive controller was designed based on a model which took the constraints of the system into account.Third,simulation was carried out to demonstrate the feasibility of the controller.The results show that the model predictive controller has good performance and good at dealing with the constraints of the system.