Development of a navigation algorithm with dead reckoning for unmanned ground vehicles

A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS) units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS units.     

纤维对水泥稳定碎石基材抗弯拉强度影响试验研究

纤维掺入水泥稳定碎石中,研究其对基材抗弯拉强度的影响。结果表明,纤维对水泥稳定碎石基层弯拉强度的增强存在一个最佳掺量值,当掺量低于该值时,其对基材抗弯拉强度的增强作用随着掺量的增加而增加,当掺量高于该值时,则随着掺量的增加而逐渐降低。     

基于碰撞机理的全气缸取样机构设计

从设计思路、执行部分设计、驱动部分和复位部分设计、模拟气缸设计等方面,介绍了一种基于接触碰撞机理的非破坏性、可重复使用的全气缸取样机构的设计,并进行了模拟碰撞试验和实车碰撞试验。试验结果表明,所设计的碰撞式全气缸取样机构可靠性好,能够满足全气缸取样要求。     

丰田FCHV-4型燃料电池汽车的结构特性分析

丰田汽车公司开发的FCHV-4型采用燃料电池和辅助电池作为混合动力系统的能源,极大提高能源转换效率,使汽车具有良好的性能。燃料电池与牵引电机逆变器直接相连,与辅助电池和DC/DC器串联。该燃料电池汽车的效率为传统内燃机汽车的3倍。     

电喷发动机闭缸循环工作排放与经济性试验研究

介绍了电喷发动机闭缸循环工作节油的理论基础,给出了闭缸循环工作的控制电路和工作模式,并进行了怠速和等速行驶燃油消耗和排放性能的对比试验。试验结果表明,两缸闭缸循环工作能够有效地降低燃油消耗量。     

铰接汽车转向器座可靠性分析

针对铰接式城市客车转向器座的受载特点,运用有限元分析方法计算了几种典型工况下某铰接汽车转向器座的疲劳强度,得到了转向器座接近实际工况的应力循环,然后利用其S-N曲线,基于Miner线性累计损伤准则计算其疲劳寿命。通过与成熟的产品疲劳分析结果的比较,获得了新车型的可靠性数据,减少了试验成本。     

基于ADVISOR的电动汽车动力性能仿真分析

在某微型燃油汽车底盘基础上,设计以铅酸蓄电池组和无刷直流电动机驱动的电动汽车动力系统。利用ADVISOR仿真软件,建立蓄电池、电动机及驱动系统和整车仿真模型。经过对该车整车动力性能仿真分析,表明该车动力系统设计方案是实用、可行的。     

多级加载路堤沉降的非线性规划法预测

利用太沙基单向固结理论,按照多级加载路堤沉降的叠加原理,建立非线性规划模型。用沉降实测资料确定模型参数,确定最优化模型后预测任意时刻沉降量。最后,用工程实例说明其方法在预测提前量上具有明显优势,是一种有效而实用的沉降早期预测方法。     

动力总成悬置动静刚度的应用与影响因素

对发动机动力总成悬置的动刚度和静刚度参数的确定及相互关系进行阐述,提出动力总成悬置匹配计算中关于动、静刚度的一般选取原则,指出影响动刚度值的因素主要有频率、预载荷和动态载荷幅值三个因素。     

Impact of hilly road information on fuel economy of FCHEV based on parameterization of hilly roads

Under real-life driving conditions, hilly roads are prevalent. Hilly road profile substantially influences fuel economy (FE) due to large impacts (increase or decrease) on power demand profile. Thus, the utilization of future altitude profile information has large potential to improve FE. In this paper, for optimal energy management of fuel cell hybrid electric vehicles (FCHEV), we investigate how much FE could potentially be improved when future altitude profile information is available. In particular, the simulation results are analyzed to justify the reason for this potential improvement and to identify which characteristics of hilly roads leads to large FE improvements. First of all, four statistical parameters are defined to characterize hilly roads: mean value, standard deviation (STD), distance interval (DI), and total distance. Then, several types of virtual hilly roads are generated based on various parameter combinations. In order to evaluate the potential FE improvement two energy management strategies (EMSs) are utilized: the first is Dynamic Programming, which evaluates the globally optimal FE when future hilly road information is available; the other is the Equivalent Consumption Minimization Strategy (ECMS) with adaptive equivalent factor for charge-sustenance, which represents the baseline EMS when future hilly road information is not available. The results show that downhill roads have much larger potential than uphill roads do for FE improvements when the future altitude profile is properly used for EMS. Furthermore, if the battery capacity is not large enough to handle the difference in potential energy, future hilly road information is more important to prevent violations of the maximum state-of-charge bound.