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.     

短线匹配法预制拼装技术及其工程应用

短线匹配法节段预制拼装技术是将整孔箱梁设计成若干个标准节段,工厂内逐节段匹配预制,架桥机现场拼装的施工技术。该项技术1965年最早出现在法国,在国外得到了广泛应用。2002年自苏通大桥开始,我国逐步实现了短线匹配法的大规模应用以及设计、施工、装备、材料等技术的全面国产化。结合我国已建成的几座代表性的短线匹配法桥梁工程,对短线匹配法节段预制拼装的接缝质量控制、线形控制及长期性能保证等关键要点进行了论述,对短线匹配法施工技术应用中存在的问题及未来发展趋势进行了初步分析。     

面向控制的SCR催化转化器温度模型

为了建立面向控制的SCR催化器温度模型,根据能量守恒和质量守恒方程并考虑热平衡中所涉及的换热过程不同,建立了4种SCR催化器温度的数学模型,并利用Matlab/Simulink构建图形化的计算模型。采用柴油机欧洲稳态循环(ESC)和欧洲瞬态循环(ETC)条件下的台架实测数据对模型进行检验,基于最大离散程度、拟合度和计算时间3个指标对模型进行评价和比较。结果表明,考虑催化器与废气和周围环境对流换热的温度模型具有良好的预测精度和实时性,更适合用于SCR控制策略。     

小型直喷式柴油机燃用生物质能燃料的性能研究

文章主要研究了生物质能混合燃料在柴油机上的应用,通过在一台小型直喷式柴油机上进行不同组分柴油-生物柴油-乙醇混合燃料的燃烧、油耗和排放性能对比试验,分析了乙醇含量的改变对混合燃料的发动机燃烧压力、滞燃期、放热规律、比油耗和排放的影响．     

客运专线轨道板悬臂门吊起升机构设计

针对京津城际轨道交通工程博格轨道板铺设过程中要求精确对位和平整度微调的要求,介绍了悬臂门吊起升机构总体结构型式的确定、起升机构采用的“四点起吊三点平衡”技术及起重小车和吊具结构形式的确定。实践证明,博格板门吊起升机构技术性能指标达到设计要求,大大提高了施工工效。     

体外预应力技术的发展与应用

随着预应力技术的发展,体外预应力技术越来越被工程上重视。文章介绍了体外预应力技术的体系,体外预应力技术在桥梁上的应用及其优缺点和体外预应力桥梁的特点,并对体外预应力技术前景进行了展望。     

A data model applied to the knowledge-based ICAS

Image-guided computer aided surgery system (ICAS) contributes to safeness and success of surgery operations by means of displaying anatomical structures and showing correlative information to surgeons in the process of operation. Based on analysis of requirements for ICAS, a new concept of clinical knowledge-based ICAS was proposed. Designing a reasonable data structure model is essential for realizing this new concept. The traditional data structure is limited in expressing and reusing the clinical knowledge such as locating an anatomical object, topological relations of anatomical objects and correlative clinical attributes. A data structure model called mixed adjacency lists by octree-path-chain (MALOC) was outlined, which can combine patient's images with clinical knowledge, as well as efficiently locate the instrument and search the objects' information. The efficiency of data structures was analyzed and experimental results were given in comparison to other traditional data structures. The result of the nasal surgery experiment proves that MALOC is a proper model for clinical knowledge-based ICAS that has advantages in not only locating the operative instrument precisely but also proving surgeons with real-time operation-correlative information. It is shown that the clinical knowledge-based ICAS with MALOC model has advantages in terms of safety and success of surgical operations, and help in accurately locating the operative instrument and providing operation-correlative knowledge and information to surgeons in the process of operations.     

正常绒毛和葡萄胎中Mel-CAM标记中间型滋养细胞的增殖情况

目的探讨葡萄胎中Mel-CAM与滋养细胞黏附、浸润之间的关系以及Mel-CAM标记中间型滋养细胞(IT)的增殖情况。方法采用双重免疫组化法,检测Mel-CAM标记IT的Ki-67表达情况。结果葡萄胎中Mel-CAM表达较正常绒毛明显增高,差异有统计学意义(P<0.05);葡萄胎绒毛表面有Mel-CAM标记IT出现,而正常绒毛表面则无;葡萄胎组织中IT的Ki-67指数较正常绒毛明显增高,差异有统计学意义(P<0.05)。结论葡萄胎绒毛表面有Mel-CAM表达,表现出双重分化方向,这可能与葡萄胎的发病机制有关;检测葡萄胎组织中IT的Ki-67指数对于预测葡萄胎的转归有潜在的价值。     

脑弥漫性轴索损伤实验装置的研制及动物模型的建立

目的 自制一种脑弥漫性轴索损伤(DAI)装置并成功建立DAI动物模型.方法 自制头颅瞬间旋转损伤装置,使大鼠头颅在瞬间(<3ms)旋转90°造成剪切损伤.观察损伤后大鼠的生命体征及行为学改变;于伤后2、6、12、24、36、72h及10d分别处死损伤组动物,制备脑石蜡切片,行镀银及HE染色,光镜下观察神经轴索变化.结果 伤后大鼠均即刻出现原发昏迷,其中2只于损伤后20min内死亡,余持续时间1-30min不等;伤后大鼠呼吸节律紊乱,瞳孔对光反射减弱或消失,醒后均有程度不等的反应性下降,肢体活动迟缓;肉眼可见广泛蛛网膜下腔出血或脑室出血;光镜下可见皮髓交界区、胼胝体区、脑干、小脑白质等部位的神经轴索有不同程度的肿胀、断裂、轴索球形成,后期有小胶质细胞增生,局部呈巢样聚集.结论 本装置能造成大鼠脑DAI,且具有简便、可控、确切的特点,适合进行中、小型动物DAI模型的实验研究.     

三甲益肝冲剂对实验性肝纤维化大鼠脂质过氧化的影响

目的观察三甲益肝冲剂对大鼠肝纤维化的作用并探讨与抗脂质过氧化有关的作用机制。方法雄性SD大鼠40只,随机分为模型组、复方丹参组、三甲益肝冲剂组和正常组。以二甲基亚硝胺(DMN)腹腔注射诱导大鼠肝纤维化模型,复方丹参组造模同时给予复方丹参灌胃,三甲益肝冲剂组造模同时给予三甲益肝冲剂灌胃,共4周。4周后处死大鼠取肝组织标本,光镜观察肝组织的病理变化,放射免疫法测定血清丙二醛(MDA)含量和超氧化物歧化酶(SOD)活性。结果与正常组比较,模型组肝组织Masson染色胶原纤维面积和血清MDA含量显著增加(P<0.05),而血清SOD活性明显下降(P<0.05);与模型组比较,三甲益肝冲剂组Masson染色胶原纤维面积和血清MDA含量显著下降(P<0.05),而SOD活性明显升高(P<0.05)。Masson染色胶原纤维面积和血清MDA含量表达呈正相关关系(r=0.435,P<0.05),与SOD活性呈负相关关系(r=-0.358,P<0.05)。结论三甲益肝冲剂具有良好的抗实验性大鼠肝纤维化作用,其主要作用机制与抗肝脏脂质过氧化损伤有关。