带漂角和输入饱和的水面船舶航向控制

[目的]为处理水面船舶航向控制过程中受到的非零漂角和输入饱和影响,提出一种基于反步法的航向控制方法。[方法]首先,利用相对速度求出实际漂角,再通过漂角对航向角误差进行修正;然后,采用一种预滤波方法减小航向改变时对航速变化的影响,同时引入双曲正切函数和Nussbaum函数逼近输入约束,结合自适应律对逼近误差和艏摇方向上的扰动进行估计;最后,借助指令滤波器简化反推过程,并通过Lyapunov理论证明控制系统的稳定性。[结果]仿真结果表明,所提控制器有效减小了水面船舶的航向输出误差,且能始终保持较小的控制输入力矩。[结论]研究成果可为水面船舶航向控制设计提供参考。     

双闭环控制对Buck类变换器动态响应的影响

Buck类变换器最基本的控制方式包括单电压闭环控制以及电压电流双闭环控制。相较于单电压闭环控制,基于输出电压外环、电感电流内环的双闭环控制方式具有稳态性能好、动态响应速度快、抗干扰能力强等优势。本文从阻抗的角度揭示闭环控制对Buck类变换器动态响应特性的影响机理,并进行了比较分析。最后,通过仿真验证了本文提出的阻抗分析法的正确性。     

存在饱和输入的欠驱动船舶航迹跟踪控制

针对控制输入存在饱和限制的欠驱动船舶的航迹跟踪问题,提出鲁棒饱和控制方法。以船舶纵向速度和艏向角速度为虚拟输入,设计饱和运动学控制器,并引入二阶滤波器形式对控制器进行简化;利用反步法并引入Nussbaum型函数,设计饱和动力学控制器,以实现对任意光滑航迹的跟踪控制,并保证跟踪误差收敛至零点附近的一个有界区域内。仿真算例验证了设计方法的有效性和鲁棒性。     

路面对四轮汽车的输入谱矩阵

通过理论分析,导出了前后轮距不同以及后轮双胎时路面对四轮车辆的输入谱矩阵。与试验数据对比证明,本文提出的模型更为符合实际情况,而且具有很大的通用性,因此可为汽车随机振动及平顺性的的理论分析和试验工作提供了较为合理的谱矩阵数学模型。     

影响车辆转向瞬态响应特性的因素研究

利用ADAMS/CAR二次开发模块,建立了国产某小客车的整车多体系统动力学仿真模型。分析了车辆转向盘角阶跃输入和脉冲输入时的瞬态响应特性,并对相关的影响因素进行了预测分析,通过调整后轮侧倾刚度等参数,优化转向瞬态特性响应结果,经过样车的试验验证了优化结果。     

乔列斯基分解应用于偏相干问题的可行性研究

在应用传统的偏相干方法进行噪声源识别时,计算条件输入和耦合较为繁琐、复杂。文章首先通过对偏相干和乔列斯基分解的分析,得到两者之间的关系;进一步运用数学归纳法,从理论上证明了乔列斯基分解应用于偏相干问题的可行性;然后指出对归一化互谱矩阵进行乔列斯基分解,可直接得到各源的贡献比大小;最后给出了应用乔列斯基分解解决偏相干问题的一般步骤。舱段试验验证了该方法的可行性和实时性。     

绥中36-1CEP至终端上岸管道总传热系数分析

首先分别用理论分析法和管道实际运行数据反算的方法计算出了绥中36-1CEP至终端上岸管道的总传热系数,对计算结果进行了比较和分析,建议采用管道实际运行数据反算确定总传热系数.然后,进一步计算分析了总传热系数对管道温降及起输压力的影响,结果表明总传热系数对管道的起输压力和终点温度影响很大,总传热系数越小,管道的终点温度越...     

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在实际的快速路交通流系统中,入口匝道的流量和快速路主路的速度都是受限的,因此在对快速路交通流进行控制时考虑这些限制十分必要. 基于迭代学习控制的快速路入口匝道控制是近年来快速路控制领域的一个研究热点,然而,至今为止还没有在输入和状态同时受限情况下的相关收敛性分析. 本文首先介绍了快速路交通流模型,并将交通密度控制转化为输出跟踪问题;然后通过严格的数学分析证明了在入口匝道流量受限和主路速度受限的情况下,基于迭代学习控制的入口匝道控制仍然能保证交通流密度收敛于期望密度;最后通过仿真研究验证了该方法在受限情况下能达到很好的控制效果.     

Road roughness estimation based on discrete Kalman filter with unknown input

ABSTRACT

The road roughness acts as a disturbance input to the vehicle dynamics, and causes undesirable vibrations associated with the ride and handing characteristics. Furthermore, the accurate measurement of road roughness plays a key role in better understanding a vehicle dynamic behaviour and active suspension control systems. However, the direct measurement by laser profilometer or other distance sensors are not trivial due to technical and economic issues. This study proposes a new road roughness estimation method by using the discrete Kalman filter with unknown input (DKF-UI). This algorithm is built on a quarter-car model and uses the measurements of the wheel stroke (suspension deflection), and the acceleration of the sprung mass and unsprung mass. The estimation results are compared to the measurements by laser profilometer in-vehicle test.     

Dynamics of inorganic nutrient species in the Bohai seawaters

Within the frame of a Sino-German Joint Research Program, two cruises of “R/V Dong Fang Hong 2” were carried out in September–October 1998 and April–May 1999, respectively, to understand the dynamics of nutrients in the Bohai. Nutrient species (NO₃⁻, NO₂⁻, NH₄⁺, PO₄³⁻ and SiO₃²⁻) are determined colorimetrically on board for five anchor and 30 grid stations. In situ incubation experiments are performed to determine planktonic nutrient uptake and benthic exchange flux. Nutrient concentrations display short-term variability and seasonal change in the Bohai, with higher levels in shallow coastal waters than in the Central Bohai. The influence of riverine discharge on nutrient levels can be seen from salinity isopleths, nutrient distribution and species ratios. Near-bottom (nb) waters have similar nutrient concentrations as to the surface waters in the Central Bohai, whereas stratification takes place in the Bohai Strait and North Yellow Sea. In situ incubation experiments provide evidence that the uptake ratio (i.e. N, P) by phytoplankton is proportional to the ratios among nutrient species in ambient waters. Based on the data of this study and previously publications, a preliminary estimate of nutrient budgets via riverine input and atmospheric deposition is established. The results indicate that atmospheric deposition gains importance over rivers in delivering nutrients into the Bohai and sustain the new production, following recent decrease in riverine inflow caused by drought periods in North China and damming practices. A historical review of nutrient data indicates that concentrations of nitrogen increase and phosphorus and silica decrease in the Central Bohai over last 40 years. This potentially has an important influence on the health of ecosystem in Bohai (e.g. food web and community structure), though further study is needed to examine the scenario in more detail.