Adaptive Sliding-Mode Tracking Control for an Uncertain Nonlinear SISO Servo System with a Disturbance Observer

An adaptive sliding mode controller with a disturbance observer (ASMC-DO) is proposed for the control of a single-input and single-output (SISO) servo system which has uncertain parameters, nonlinear friction, disturbance and input saturation. It is difficult to choose the suitable value of the parameters. The newly designed adaptive method is used to reduce the effects of system time-varying parameters, such as the moment of inertia and the damp coefficient. The robustness of object is improved. A DO is selected to approximate the compound disturbance and to render the estimate error convergent in finite time. The stability and the convergence of the closed-loop system are proved by using the Lyapunov theory. Experimental results show that the proposed ASMC-DO can better satisfy the influence of variable parameters and external disturbance to the control precision of the SISO servo system than other two controllers. The effectiveness of the proposed controller is showed. The control input stability and robust performances of the input saturation system are enhanced and the chattering is reduced.     

Adaptive Multi-Objective Optimization of Bionic Shoulder Joint Based on Particle Swarm Optimization

To get the movement mode and driving mechanism similar to human shoulder joint, a six degrees of freedom (DOF) serial-parallel bionic shoulder joint mechanism driven by pneumatic muscle actuators (PMAs) was designed. However, the structural parameters of the shoulder joint will affect various performances of the mechanism. To obtain the optimal structure parameters, the particle swarm optimization (PSO) was used. Besides, the mathematical expressions of indexes of rotation ranges, maximum bearing torque, discrete dexterity and muscle shrinkage of the bionic shoulder joint were established respectively to represent its many-sided characteristics. And the multi-objective optimization problem was transformed into a single-objective optimization problem by using the weighted-sum method. The normalization method and adaptive-weight method were used to determine each optimization index’s weight coefficient; then the particle swarm optimization was used to optimize the integrated objective function of the bionic shoulder joint and the optimal solution was obtained. Compared with the average optimization generations and the optimal target values of many experiments, using adaptive-weight method to adjust weights of integrated objective function is better than using normalization method, which validates superiority of the adaptive-weight method.     

Catalytic Combustion of Lean Methane Assisted by Electric Field over Pd/Co<Subscript>3</Subscript>O<Subscript>4</Subscript> Catalysts at Low Temperature

A series of Pd/Co₃O₄ catalysts were prepared by Self-Propagating High-Temperature Synthesis (SHS) method in this study, and electric field was applied for catalytic combustion of lean methane over Pd/Co₃O₄ catalysts at low temperature. When electric field was applied, the catalytic combustion performance of Pd/Co₃O₄ catalysts was greatly improved, and the application of electric field could reduce the load of active element Pd to some extent while maintaining the same efficiency. Based on experimental tests and the analysis results of X-ray diffraction (XRD), X-ray photoelectron spectroscopy (XPS), H₂-temperature-programmed reduction (H₂-TPR) and in-situ diffuse reflectance infrared Fourier transform spectroscopy (in-situ DRIFTS), the mechanism of catalytic oxidation of CH₄ over Pd/Co₃O₄ catalysts in electric field was proposed. The catalytic combustion of CH₄ occurs only when the temperature is higher than 250 °C normally, but when electric field was applied, the whole process of CH₄ oxidation was promoted significantly and the reaction temperature was reduced. Electric field could promote the reduction of the support Co₃O₄ to release the lattice oxygen, resulting in the increase of PdO_x and the surface chemisorbed oxygen, which could provide more active sites for the low-temperature oxidation of CH₄. Furthermore, electric field could accelerate the dehydroxylation of CoOOH to further enhance the activity of the catalysts.     

基于乘客出行时间的公交站距优化研究

经济的发展带动交通事业的进步,公共交通已成为人们出行过程中必不可少的工具。因此,如何提高公共交通运行效率也成为人们研究的重要内容,而对公交站间距的优化更是重中之重。本文在分析乘客出行过程的基础上,以时间为衡量标准,提出乘客出行时间最小的公交站距优化模型;并结合实际数据对各影响因素进行灵敏度分析,验证了模型的适用性和有效性。     

城市跨江轨道交通对居住用地分化的影响——以湖北省武汉市为例

在当前城市交通系统建设中,城市跨江轨道交通建设对城市居住用地分化产生极大影响。利用结构方程模型,对武汉市跨长江地铁线路——2号线金银潭站、范湖站、积玉桥站3个典型车站的土地利用格局进行度量,并结合现状予以分析。研究结果表明:城市跨江轨道交通的开通使长江两岸交通互通性得以提升,进而引发高档住宅在城市跨江轨道交通沿线的集聚效应;城市跨江轨道交通的开通使沿线地价上涨、土地利用效率提升、土地利用格局变化,在商业服务、居住用地格局升级的同时,受市场杠杆的调节作用影响居住用地形成圈层式居住等级变化。     

基于IC卡数据的武汉市轨道交通客流时空特征

为了精准评估武汉市轨道交通运行现状、科学辅助编制轨道交通线网规划与建设规划、探寻运营组织中的潜在问题,通过对全市公共交通IC卡记录以及地理信息数据的融合与挖掘,从全网、走廊、断面等方面量化分析轨道交通发展历程和客流时空分布特征。在此基础上建立职住辨识模型,用于获取典型居住和就业区域的空间分布信息。基于此分析通勤群体的出行时间、距离、范围、方向不均衡性以及换乘等特征,并通过群体出行规律分析城市空间布局。最后对城市轨道交通发展提出建议:建立多样化运营模式,大力发展公共交通一体化换乘,注重轨道交通沿线土地开发利用和配套设施建设,加强各行政区协同发展和鼓励就近就业等。     

基于信息理论的交通信息量度量

针对语音信息缺乏量化和指路标志信息度量未反应实际出行条件下路网规模的影响作用问题,引入信息理论,构建语音信息量度量模型和图像信息量度量模型. 设计包含23组不同信息量的实验路网,测定不同信息量下的驾驶员反应时间. 研究结果显示:交通信息总量为52.22、57.90 bit时,出现反应时间的区域峰值;信息总量在50.74～57.38 bit区间段时,利于驾驶员对交通信息的认知且不产生信息量过载的现象;标志信息量为45.1、49.7 bit时,语音信息量位于5.12～10.24 bit区间利于降低驾驶员反应时间;语音信息量为5.12 bit时,标志信息位于49.70～54.30 bit区间利于提高驾驶员对交通状况认知.      

基于人口合成技术的居民出行调查数据扩样

为提高居民出行入户调查样本代表性,使调查数据能够准确反映居民出行特征,在分析居民出行调查数据处理现状及常规扩样方法局限性的基础上,引入基于人口合成技术的IPU算法(iterative proportional updating)和GRE算法(generalized regression),对深圳市居民出行入户调查数据进行实证分析,并利用相关系数及相对误差指标对扩样结果进行评价.结果表明:利用算法关联家庭与个人表的频数矩阵,通过迭代调整扩样权重值、IPU算法和GRE算法均能很好地拟合家庭与个人的属性分布与总体一致,且相对误差控制在6％ 左右,满足扩样的精度要求.由于IPU算法更具普适性,算法不受初始权重及稀疏样本限制,其扩样误差及波动性较小,扩样结果更为稳健.     

内轴颈高铁车轴结构设计与强度分析方法

针对高速列车的轻量化设计需求,分析了内轴颈高铁车轴独特的内支承结构与承载特点,建立了内轴颈高铁车轴受力状态和结构强度理论分析模型,提出了内轴颈高铁车轴设计极限载荷和疲劳强度的解析计算方法;在此基础上,制定了基于理论分析、有限元方法和车辆系统动力学的内轴颈高铁车轴结构设计方法,并以17 t轴重的内轴颈高铁车轴为例开展了应用研究;基于内轴颈高铁车轴受力状态的理论分析结果,确定了车轴的临界安全截面和详细尺寸方案;建立了内轴颈高铁车轴的有限元模型,评估并校核了车轴的疲劳强度;建立了轴箱内置式高速动车的刚-柔耦合系统动力学仿真分析模型,验证了车辆的动力学性能和车轴的动荷载。分析结果表明：17 t轴重的新型内轴颈高铁车轴的质量为273.6 kg,比同轴重传统外轴颈高铁车轴的质量低约30%;内轴颈高铁车轴各截面疲劳强度的安全系数均大于1.66,临界安全截面转移至轴颈与轮座之间的卸荷槽及轴颈与轴身之间的过渡圆弧区域;采用内轴颈车轴的高速动车能够以350 km·h^-1的速度稳定通过半径为5.5 km的曲线线路,主要动力学性能指标优良;在选定曲线通过工况下车轴所承受的动载荷均能被设计极限载荷包络,据此开展的车轴结构设计和强度分析是稳健的。可见,内轴颈高铁车轴在实现高速列车轻量化设计方面有显著的技术优势,且高速适应性较好,在高速列车领域的发展和应用潜力巨大。     

加氢站运营管理云服务平台的设计与实现

针对当前加氢站运营管理存在的人工依赖程度高、管理效率偏低、站内设备运行状态数据的分析与预测困难等不足,研发了数据采集软网关以解决现有站控系统对外接口单一、无法满足多站点并发通信需求的技术难点,设计了加氢站信息对象模型并开发了加氢站运营管理云服务平台,实现高效、快捷的站内设备管理与安全生产监管,保障加氢服务安全、可靠、高...