Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system

A four-wheel-independent-steering (4WIS) electric vehicle (EV) with steer-by-wire (SBW) system is proposed in this paper. The fast terminal sliding mode controller (FTSMC) is designed for the SBW system to suppress external disturbances. Taking unstructured and structured uncertainties into consideration, a robust controller is designed for the 4WIS EV utilizing μ synthesis approach and the controller order reduction is implemented based on Hankel-Norm approximation. Since sideslip angle is the feedback signal of robust controller and it is hard to measure, the extended Kalman filter (EKF) is employed to estimate sideslip angle. To evaluate the vehicle performance with the designed control system, step and sinusoidal steering maneuvers are simulated and analyzed. Simulation results show that the designed control system have good tracking ability, strong robust stability and good robust performance to improve vehicle stability and handing performance.     

A signal-based fault detection and classification method for heavy haul wagons

This paper proposes a signal-based fault detection and isolation (FDI) system for heavy haul wagons considering the special requirements of low cost and robustness. The sensor network of the proposed system consists of just two accelerometers mounted on the front left and rear right of the carbody. Seven fault indicators (FIs) are proposed based on the cross-correlation analyses of the sensor-collected acceleration signals. Bolster spring fault conditions are focused on in this paper, including two different levels (small faults and moderate faults) and two locations (faults in the left and right bolster springs of the first bogie). A fully detailed dynamic model of a typical 40t axle load heavy haul wagon is developed to evaluate the deterioration of dynamic behaviour under proposed fault conditions and demonstrate the detectability of the proposed FDI method. Even though the fault conditions considered in this paper did not deteriorate the wagon dynamic behaviour dramatically, the proposed FIs show great sensitivity to the bolster spring faults. The most effective and efficient FIs are chosen for fault detection and classification. Analysis results indicate that it is possible to detect changes in bolster stiffness of ±25% and identify the fault location.     

5-羟色胺转运体基因多态性和抑郁症的发病、性别、严重程度及自杀行为的相关性

目的探讨中国汉族人群5-羟色胺转运体启动区(5-HTTLPR)基因多态性和抑郁症的发病、性别、严重程度及自杀是否相关。方法应用聚合酶链式反应(PCR)扩增技术测定150例抑郁症患者和150例正常对照者的5-HT-TLPR基因型和等位基因,分别验证各种基因型与中、重度抑郁症发病、性别及自杀行为的相关性。结果病例组SS、LS基因型及S等位基因频率均高于对照组(26.0% vs.20.0%;52.7% vs.46.0%;52.3% vs.43.0%;P均<0.05);两组性别分层比较,女性S等位基因频率高于对照组(55.3% vs.43.6%,P<0.05);病例组严重程度分层比较差异无统计学意义(P>0.05);病例组有无自杀行为分层比较,有自杀行为患者SS基因型频率(37.3% vs.20.2%)及S等位基因频率(61.8% vs.47.5%)均高于无自杀行为患者(P<0.05);抑郁自杀组性别分层比较未显示显著性差异(P>0.05);抑郁自杀组病情程度分层比较,重度抑郁自杀者SS基因型频率(42.5% vs.18.2%)及S等位基因频率(68.7% vs.36.4%)均高于中度抑郁自杀者(P<0.05)。结论在中国汉族人群中,5-HTTLPR多态性和抑郁症相关。S等位基因可能是抑郁症的易感基因,特别是女性,SS型可能是抑郁症易感基因型;S等位基因可能是抑郁症患者自杀的危险基因,SS基因型人群可能是抑郁症患者自杀的危险人群,特别是携带S等位基因的重度抑郁症患者更易自杀。     

Singular perturbation composite control of a free-floating flexible dual-arm space robot

The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.     

分布电容对舰船电力系统接地方式选择的影响

本文主要讨论分布电容对舰船电力系统接地方式选择的影响,分析了舰船电力系统在高电阻接地和谐振接地的方式下分布电容对系统的影响,发现在中压系统中大分布电容的情况下,采用高电阻接地会产生超过有关标准的故障电流。在谐振接地的情况下,需要合理的配置消弧线圈来产生感性电流来抵消系统对地电容产生的容性残流。同时依据具体数据,利用高斯定理对电缆电容进行了估算,与实际结果相吻合。     

一种网格 k-近邻集的边界点识别算法

为了高效识别聚类边界,根据边界周围区域存在密度差异的特征,提出了一种网格 k‐近邻集的边界识别算法（BGN ）。在网格空间中,该算法根据网格单元和它最近邻居单元的 k‐近邻集的质量及其单元间中心距离确定边界度,由边界度和边界阈值判断每个网格单元是否为边界单元或噪声单元。通过从边界单元中提取更靠边缘的数据作为边界点的方式,使得边界更精细。实验结果表明,该算法能有效和快速识别出多密度数据集的聚类边界和噪声。     

地铁环控方案的综合评价

采用模糊数学的方法构造模型,以南方某地铁为例,对开式、闭式及屏蔽门式等3种地铁环控方案,从社会、经济、技术、环境等几个方面进行综合评价。最终确定:在非炎热地区,可不设空调时,采用开式环空方案为最优;在其它一定要设空调的地区,采用屏蔽门方案为最优。     

城市轨道交通建设中土地效益开发模式探讨

城市轨道交通建设项目投资大、回收期长,如何实现项目的未来收益多元化和经营的可持续发展,一直为人们所关注。现行建设模式以银行贷款为主,导致固定利息支出过高,影响项目未来的融资能力,造成项目资金无法平衡。土地效益开发模式研究了土地资源及其衍生效益,提出了土地效益开发的相应方案。     

Gomaco GP-4000四履带滑模摊铺机(带IBDI装置)在梅河高速公路路面施工中的应用

结合梅河高速公路第一合同段24 km水泥混凝土路面滑模机械施工情况,从满足平整度要求的角度论述Gomaco GP-4000四履带滑模摊铺机(带IBD I装置)的配置技术特点及在连续配筋、双钢混凝土路面滑模施工的应用、效果。     

硬质颗粒含量对CNG阀座性能的影响

试验研究了硬质颗粒的含量对阀座的室温、高温硬度及压溃强度的影响,硬质颗粒对阀座烧结温度的影响,并通过模拟台架试验分析了硬质颗粒含量对阀座下沉量影响,综合确定了阀座材料中适宜的硬质颗粒含量。