ROV attitude control based on multi-motor cooperative propulsion北大核心CSCD

[目的]为了提高遥控水下航行器(ROV)在复杂水下环境中的姿态控制性能,开展多电机协同推进的ROV姿态控制研究。[方法]首先,针对多电机系统的结构和算法,分别提出一种基于PID速度补偿器的偏差耦合结构和一种新型非奇异终端滑模控制(SMC)算法,并设计一种新颖的基于多电机协同推进的ROV姿态控制方法;然后,建立ROV的运动学和动力学模型,开展推进器组推力建模分析、解耦简化ROV动力学模型研究;最后,设计一种ROV滑模姿态控制器。[结果]仿真结果表明,所提的结构和算法可提高多电机系统的抗干扰性、同步性和快速响应能力,进而提高ROV姿态控制系统的稳定性与鲁棒性。[结论]所提方法可为ROV姿态控制提供一种新的可用方案。     

Development and prospects of initial alignment method for strap-down inertial navigation system北大核心CSCD

Initial alignment technology is directly related to the navigation accuracy and startup time of the strap-down inertial navigation system (SINS), and has always been regarded as a challenging focal point in the research field of inertial navigation. This paper makes a comprehensive survey of SINS initial alignment technology, briefly introduces the basic principles of initial alignment without latitude, coarse alignment with known latitude and precise alignment, and points out their advantages, disadvantages and applicable conditions. The research and effects of existing initial alignment error suppression techniques are then analyzed and discussed. Finally, according to the problems of existing initial alignment methods and the development requirements of the carrier, the future research direction of SINS initial alignment technology is predicted. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Influence of initial heeling angle on ship roll motion response北大核心CSCD

[目的]系统地研究初始横倾角对随机横浪下船舶横摇运动响应的影响。[方法]以路径积分法为基础,通过数值求解控制横摇运动微分方程概率属性的Fokker-Planck方程,得到横摇运动响应的概率分布。[结果]结果显示,初始横倾角对船舶横摇运动响应谱的影响有限,但对横摇角概率分布以及横摇运动响应极值分布的影响十分明显,且会造成船舶安全性的显著恶化。[结论]路径积分法可作为研究随机海浪下船舶横摇运动特性的有效数值方法。     

S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.     

先张法预应力空心板梁放张方法的探讨

传统的先张法预制空心板梁钢绞线的放张方法不能满足目前施工生产的需要,介绍一种对称切割钢绞线放张的施工工艺,保证了先张法预制梁板的施工质量。     

Dynamics of Tracked Vehicles

This paper provides a brief review of the state-of-the-art of tracked vehicle dynamics, including mobility over soft terrain, ride dynamics over rough surfaces and manoeuvrability. It is found that considerable progress has been made in the development of analytical frameworks for evaluating and predicting tracked vehicle mobility over soft terrain, taking into account the characteristics of terrain response to normal and shear loading. Certain computer simulation models for tracked vehicle mobility have been gaining increasingly wide acceptance by industry and governmental agencies in product development and in procurement. It is also found that most of the research on tracked vehicle ride dynamics and manoeuvrability is confined to operations on rigid surfaces. To achieve a realistic evaluation and prediction of the dynamic behaviour of tracked vehicles in the field, the key is to have a better understanding of terrain response to dynamic vehicular loading, including its dynamic stiffness and damping. Challenges that face vehicle dynamicists in this emerging field are identified.     

双相化处理工艺对冷拔双相钢丝组织和性能的影响

研究了08Mn2Si钢不同工艺处理后双相组织的形态及冷拔中组织与性能的变化,结果得到:950℃预淬火后再经临界区加热淬火时可以得到细小均匀的纤维状双相组枳,这种组织在冷拔中转变为很细的平行于拔丝方向的纤维状组织,且具有最好的强度和韧性。     

基于VTS的海事信息发布系统

此文论述了建立海事信息发布系统的必要性,并结合海上交通的发展,特别是VTS的使用, 提出了海事信息发布系统的总体结构和实现方式。实际应用表明,该系统能满足海事信息化、政务化和商务化的要求。     

曲线钢轨抗磨耗损伤技术的应用

文章结合永安—漳平段线路钢轨现状调查,建立了抗磨损研究试验段,通过对试验结果分析,总结出减少钢轨鱼鳞损伤,以及机车轮缘磨耗的措施,为线路钢轨养护提供借鉴经验。     

联合型汽车金融服务模式探讨

我国的汽车消费贷款自2003年以前迅猛增长,2004年有所下滑,不良贷款率高,究其原因主要是我国汽车消费信贷风险过高。为了促进我国汽车工业的发展,必须探索适合我国国情的汽车金融服务模式。为此,本人特提出以下的联合型汽车金融服务模式。