基于模型预测控制的智能车轨迹跟踪控制研究

为了完成智能车的轨迹跟踪,提出一种基于模型预测控制的轨迹跟踪方法,利用将运动学模型这个非线性系统线性化的方案,来获得必须的线性时变系统,采取模型预测控制的三要素来设计控制器。并且基于MPC在控制过程中能增加多种约束的优点,建立基于车辆运动学模型的约束做轨迹跟踪仿真实验,最后,基于山东理工大学智能车平台上GPS提供的定位信息,在校园中采集路线并对前提规划好的的轨迹进行实车验证。实验结果表明:基于MPC算法所设计的控制器能快速且稳定地跟踪期望轨迹。     

超大直径海底隧道盾构选型研究

根据复杂地质条件下超大直径海底隧道盾构选型的特点,并结合某海底隧道的工程特点及地质条件,对影响盾构选型的各种主要因素进行了分析,对泥水平衡盾构和土压平衡盾构从各个方面进行了综合比选,最终选择了适合本工程的大直径复合泥水盾构.由于目前国内外大直径复合泥水盾构在复杂地质条件下的工程应用很少,文章回顾了国内外复合泥水盾构类似工程应用情况.通过调查研究表明,大直径泥水盾构的制造及在该海底隧道中的应用是可行的.     

Analyzing urban bus service reliability at the stop, route, and network levels

Improving the reliability of bus service has the potential to increase the attractiveness of public transit to current and prospective riders. An understanding of service reliability is necessary to develop strategies that help transit agencies provide better services. However, few studies have been conducted analyzing bus reliability in the metropolis of China. This paper presents an in-depth analysis of service reliability based on bus operational characteristics in Beijing. Three performance parameters, punctuality index based on routes (PIR), deviation index based on stops (DIS), and evenness index based on stops (EIS), are proposed for the evaluation of bus service reliability. Reliability involves routes, stops, punctuality, deviation, and evenness. The relationship among the three parameters is discussed using a numerical example. Subsequently, through a sampling survey of bus lines in Beijing, service reliability at the stop, route, and network levels are estimated. The effects of route length, headway, the distance from the stop to the origin terminal, and the use of exclusive bus lanes are also analyzed. The results indicate low service reliability for buses in Beijing and a high correlation between service reliability and route length, headway, distance from the stop to the origin terminal, and the provision of exclusive bus lanes.     

静态爆破法在深圳地铁施工中的应用

静态爆破是近年来发展起来的一种新型爆破施工技术,它可在无震动、无飞石,无噪音、无污染的条件下破碎或切割岩石或混凝土构筑物。深圳地铁2号线东延线土建工程安托山站—侨香站区间矿山法施工竖井系选用此工法在2 500 mm×3 000 mm雨水箱涵附近成功地进行了中、微风化花岗岩开挖施工,确保了雨水箱涵的安全性。     

水平旋喷桩施工工艺在深圳地铁施工中的应用

在深圳地铁安托山站—侨香站区间矿山法隧道超前支护施工中,由于采用了水平旋喷桩施工工艺,成功地解决了安-侨区间暗挖隧道在饱和粉细砂层及砾砂层中近距离穿越大断面雨水箱涵及φ500 mm次高压燃气管线的难题,节约了施工成本,充分显示了水平旋喷桩施工工艺在富水砂层浅埋暗挖隧道开挖预支护工程应用上的经济优势。文章论述了水平旋喷桩的工艺机理、适应性、优缺点以及在该工程中的应用效果。     

Property Evolution of Sulphoaluminate Grouting Material under Pressure Circulation北大核心CSCD

Water-sealed underground oil tank projects are quite different from traditional underground projects since the water-sealing conditions are very strict and the difficulties caused by the geological specificity, structural specificity and construction specificity are key factors affecting the project. In light of the significant early initial setting time and rapid temperature increase of sulphoaluminate cement-based grouting material for a large domestic water-sealed underground oil tank with pressurized cyclic grouting, a laboratory grouting simulation is conducted. It is found that the properties of the sulphoaluminate cement-based grouting material are quite different under different pressure cycles, the hydration exothermic peak time gets shorter with an increase of circulation time, the compressive strength decreases with an increase of circulation time, and the longer the circulation time the more obvious the de-crease of compressive strength. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.     

Analysis on the Characteristics and Development Trends of the Support Technology of High Ground Stress Tunnels in China北大核心CSCD

Combining the present situation and development trend of different tunnel support technologies at home and abroad, this paper analyzes the problems of rockburst in hard rock tunnels and large deformation in soft rock tunnels caused by high ground stress. It is concluded that: 1) regarding the rockburst problem, the current support technology is mainly influenced by the rock burst mechanism which is dominated by static factors, and so the used support components are generally of smaller deformation performance and "passive support" properties; 2) as the rockburst is the result of dynamic-static stress coupling, and only the anchor bolt has the "active support" attribute in the current "shotcrete+anchor bolt+wire net" support system, so the best support system should have the two functions of active support and energy release in terms of the rockburst problem, and the key focus of the research and development is anchorage members; 3) there are three main support types for large deformation in soft rock tunnels, e.g. the heavy support, layered support and yielding support. Among them, the heavy support system in underground cavern with large deformation is easy to induce excessive surrounding rock pressure, and so the applicable conditions are limited. The layered support system is still not the best choice due to its immature theoretical study, difficult determination of the thickness value and the installation time of each support layer and the interference to construction progress. With the characteristics of timely support and yielding while supporting, the yielding support system can give full play to the performance values of surrounding rocks and supporting materials, and make both of them reach the optimal state, so it is the best choice for supporting the soft rock tunnels with large deformations. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.     

虚拟船舶中压电站系统设计

虚拟船舶中压电站系统以实际船舶的中压电站为原型。系统利用组态软件PIMS作为开发平台,通过数据库构建、人机交互界面设计及程序脚本的编写,实现虚拟船舶中压电站系统的各项操作功能。本系统是一个开放的系统,功能可以拓展。系统可以网络发布,在学员培训方面具有良好的应用前景。     

浅海锆钛砂矿采选一体船“泰鑫1”设计研究

主要介绍了我国首艘浅海锆钛砂矿采选一体船的设计背景、主要技术参数和功能,并进一步重点论述了本船总体设计、采矿系统、选矿系统、总纵强度计算和高压岸电系统的设计思路和成果,以供今后开发类似船型的行业同仁借鉴。