Vehicle velocity estimation for real-time dynamic stability control

A new approach is proposed for nonlinear asymptotic observers based on the cascade observer system with a fusion of sensor signals. In the observers, the characteristic of the vehicle dynamic system, the nonlinear tire force estimation, load transfer estimation, and road ramp angle compensation are considered. The errors in the observation of vehicle velocity were diminished, and the computation cost was decreased for a real-time microcontroller. Simulation and real vehicle test results validate the higher accuracy of the velocity estimation by the proposed observers under complicated handling maneuver conditions.     

高大砼薄壳穹顶结构油罐施工技术

结合砼薄壳穹顶结构油罐施工,采用扣件式钢管满堂脚手架作为薄壳支撑体系,主要针对薄壳穹顶支撑体系的确定、支架承载力计算及薄壳穹顶混凝土浇筑弧形控制三方面进行分析研究,阐明了该施工技术的可行性、安全性、合理性.通过工程实践,给类似工程施工提供了很好的参考借鉴.