智能分布式驱动汽车路径跟踪/制动能量回收协同控制策略研究

为了解决智能分布式驱动汽车路径跟踪与制动能量回收系统间的协同控制难题,充分考虑分布式驱动汽车四轮扭矩独立可控在智能驾驶系统中的优势,设计适应不同路面附着条件的智能分布式驱动汽车转向、制动分层协同控制策略。上层控制器依据不同的路面类型设计差异化的多目标代价函数,以综合优化各工况下的控制目标。高附路面下,制定满足最大能量回收值的全局参考车速,在线优化路径跟踪指令,实现最优能量回收的同时减小系统运算负荷;低附路面下,优先考虑车辆的路径跟踪性能和行驶稳定性,在多目标代价函数中取消对全局参考车速的跟随要求,增设终端速度约束与能量回收项性能指标并减小能量回收项性能指标的权重系数。上层控制器基于模型预测控制方法对多目标代价函数进行滚动优化与预测求解,得到期望的前轮转角及4个车轮的总制动扭矩需求。下层控制器根据制动扭矩需求对四轮的液压制动扭矩和电机制动扭矩进行分配,最终完成整个复合制动过程。基于MATLAB/Simulink和CarSim软件,搭建控制器在环仿真平台,并在高附和低附路面条件下对所提出的策略进行试验验证。研究结果表明：高附路面下,所提出的控制策略在准确跟踪期望路径的同时相较固定比例制动力分配方法可提升2.7%的能量回收值并减少约0.02 s的单次计算时间;低附路面下,与使用高附控制策略相比,能够保证车辆的路径跟踪准确性与行驶稳定性,同时可提升7.8%的能量回收值;控制器在环试验结果证明了该协同控制策略对车辆性能提升的有效性。     

HEART AT SOUTH CHINA SEA

After accomplishing his mission of recovering the Yongxing Island,Li Jing Sen returned to Guangzhou on the naval ship Yong Xing.The beautiful scenes of the blue ocean,lush vegetation on the island,and flocks of seabirds kept appearing in his mind.The crew＇s next assignment was an anti-smuggling inspection at the Pear River Estuary. They stationed at Hu Men ships while they checked passing by for smuggling activity. Three months later, they received order to patrol the South China Sea. This assignment gave Li the opportunity to sail through the area. In addition to patrolling, the ship also brought supplies to soldiers garrisoned on the islands, and replacement personnel.     

Direct resolution of the pitch of DNA on positively charged lipid bilayers by frequency-modulation AFM

High resolution structural studies of DNA and DNA binding proteins by atomic force microscopy (AFM) require well-bound samples on suitably flat substrates. Adsorbing the DNA onto a positively charged supported lipid bilayer has previously been shown to be a potentially effective strategy for structural studies with AFM. Here, using our home-built frequency-modulation AFM (FM-AFM), we show that these bilayer substrates are only maximally effective for high resolution AFM when the samples are short, linear DNA, compared with circular plasmid DNA. We find that, with the former sample, the measured width of the DNA is about 2 nm, the known DNA diameter, and there is a clear height modulation along the length of the DNA with a periodicity of about 3.4 nm, in excellent agreement with the known pitch of the double helix. This sample preparation strategy is expected to enable higher resolution studies of DNA and DNA binding proteins with FM-AFM than that can presently be achieved.     

浅析建筑废弃物在虹桥综合交通枢纽的应用

该文对虹桥综合交通枢纽市政配套工程固废利用试验段的实施进行了总结,提出了建筑渣土用于路基处理是可行的,但使用HEC固结建筑渣土时应加强对施工工艺的改进,使用水泥固结建筑渣土时应就近设置破碎拌和厂;同时,由于HEC/水泥固结建筑渣土的后期开裂性能未有进入研究,建议在道路基层中应谨慎使用。     

建设城市机动车单行路应重点把握的几个问题

从单行路规划设计、路面宽度、出口顺畅、信号设置、单行路管理等方面论述了机动车单行路建设应把握的问题.     

把对企业的扶持作用发挥到极致

作为国家政策性银行,中国进出口银行与船舶工业一直不离不弃,为中国船舶工业的跨越式发展做出了巨大贡献.然而,危机关头,进出口银行如何再显身手,帮助深受融资难题困扰的造船行业走出困境?全国人大代表,中国进出口银行行长李若谷在接受本刊专访时强调:中国进出口银行将一如既往地给船舶工业以最大的支持!     

基于数据驱动的隧道地质信息精细化管理系统研发与应用

针对现阶段隧道超前地质预报系统管理粗放、数据利用率低等问题，结合数据驱动原理重塑业务逻辑，研发新的隧道地质信息系统TGIS。通过高度集成隧道勘察设计阶段地质、施工阶段超前预报地质及掌子面开挖揭示地质，实现基于数据驱动的预报方法优选、临近预报提醒、分级实时预警与有效处置、掌子面自动素描、预报成果辅助判识等功能，达到隧道地质信息精细化管理的目的。经现场使用表明： 基于数据驱动的隧道地质信息精细化管理系统界面友好、运行稳定、效果良好，各项功能达到设计要求，相对于传统超前地质预报系统具有明显的优势，可普遍服务于隧道建设。     

A programmable calculation procedure for number of traffic conflict points at highway intersections

Traffic movement conflict points at intersections are the points at which traffic movements intersect (including crossing, merging, and diverging). Numbers and distribution of different types of conflict points are used to evaluate intersection access management designs and safety performance. Traditionally, the determination of the numbers of conflict points for different traffic movements is based on manual methods, which causes the difficulty for computerized procedures to evaluate safety performance of different access management designs. Sometimes, a programmable calculation procedure may provide more effective solutions as compared with manual methods. This paper presents a programmable calculation procedure for the determination of the numbers of conflict points, which could be used as a basis for a computerized procedure. Concepts of virtual movement lanes and intersection quadrants are introduced to specify types of intersections, traffic lane configurations, and traffic movement regulations. Calculation models, based on such concepts, for traffic movement conflict points at signalized and unsignalized intersections can be obtained. In support of the procedure, case studies are presented in the paper. The procedure presented in the paper can be programmed into a computer program for the purpose of a computerized evaluation of intersection safety and design performance of different access management or control approaches. Copyright © 2012 John Wiley & Sons, Ltd.     

ALA转子磁阻同步电动机的开环运行特性

研制了一台高凸极比的两极ＡＬＡ转子磁阻同步电动机，实验研究了电机的开环运行特性，研究结果表明电机开环运行时存在一个比较严重的低频振荡，这个振荡发生在电机电源频率略大于电机的自然频后的谋一频段，且会导致电机失去同步。     

公路CAD系统三维设计方法

结合样条函数提出了公路三维设计方法。以此方法作为公路ＣＡＤ软件开发的数学基础，能够表达公路三维实体，便于公路表面三角网的建立，为公路ＣＡＤ软件开发提供了一条思路。