6×6无人地面车辆差速转向分析与优化

差速转向越来越多的被应用于无人地面车辆，介绍了差速转向相比于传统转向轮转向的一些优势，并对差速转向进行了简单的运动学分析。差速转向消耗的功率大，提出通过调整悬架装置改善转向效率，并对车辆悬架调整前后的模型进行静力学分析。     

Findings from subjective evaluations and driver ratings of vehicle dynamics: steering and handling

This paper investigates subjective assessments (SA) of vehicle handling and steering feel tests, both numerical and verbal, to understand drivers’ use of judgement scales, rating tendencies and spread. Two different test methods are compared: a short multi-vehicle first-impression test with predefined-driving vs the standard extensive single-vehicle free-driving tests, both offering very similar results but with the former saving substantial testing time. Rating repeatability is evaluated by means of a blind test. Key SA questions are identified by numerical subjective assessment autocorrelations and by generating word clouds from the most used terms in verbal assessments, with both methods leading to similar key parameters. The results exposed in this paper enable better understanding of SA, allowing improving the overall subjective testing and evaluation process, and improving the data collection and analysis process needed before identifying correlations between SA and objective metrics.     

关于“航海”一词概念的几点探讨

以《中国大百科全书》中关于航海的定义为基础,对现有的几种航海定义进行了分析,并指出了这些定义中存在的不足之处,由此笔者得出对航海的定义。     

基于RBF网络和遗传优化的船舶操纵模糊控制器

设计了一种基于RBF网络和遗传优化的船舶操纵模糊控制器。首先讨论了传统模糊控制器应用于船舶操纵控制的不足，然后根据模糊系统在特定情况下与RBF网络具有等价关系的特点，采用具有加权平均输出的RBF网络构造了一个船舶操纵模糊控制器，有效地消除了小偏差范围的舵角抖动现象。在此基础上，根据船舶操纵的特点提出了一种尺度变换因子的自整定方法，并采用遗传算法对自整定过程中的可变参数进行优化，以使控制器能够适应实时控制过程中的时变性和不确定性，保持良好的控制性能。最后针对某大型船舶的非线性模型，采用Matlab 6．1的Simulink工具进行了转艏操纵仿真试验，获得了满意结果。     

米轨客车迫导向转向架动力学性能研究

建立了米轨迫导向转向架客车的动力学模型，提出了迫导向机构的等效处理方法，以研究迫导向转向架导向机构参数对客车动力学性能的影响，计算结果表明，增大迫导向机构刚度和增益有利于提高蛇行失稳临界速度和曲线通过能力；连杆间铰链的间隙则对迫导向机构的性能有明显不利的影响。     

MAX7219在船舶操舵模拟器中的应用

本文基于S7-200PLC硬件平台,利用MAX7219实现船舶操舵模拟器的LED显示器。介绍了MAX7219的工作原理,实现MAX7219与S7-224CPU的硬件连接和软件编程。     

基于MSC1210单片机的汽车电动助力转向ECU系统的开发

阐述采用MSC1210Y3单片机控制汽车电动助力转向系统的工作原理、硬软件开发,对电机的双H桥驱动电路硬件以及车速和发动机转速测量软件等进行重点介绍。     

Common underlying steering curves for motorcycles in steady turns

We study the steady turn behaviours of some light motorcycle models on circular paths, using the commercial software package ADAMS-Motorcycle. Steering torque and steering angle are obtained for several path radii and a range of steady forward speeds. For path radii much greater than motorcycle wheelbase, and for all motorcycle parameters including tyre parameters held fixed, dimensional analysis can predict the asymptotic behaviour of steering torque and angle. In particular, steering torque is a function purely of lateral acceleration plus another such function divided by path radius. Of these, the first function is numerically determined, while the second is approximated by an analytically determined constant. Similarly, the steering angle is a function purely of lateral acceleration, plus another such function divided by path radius. Of these, the first is determined numerically while the second is determined analytically. Both predictions are verified through ADAMS simulations for various tyre and geometric parameters. In summary, steady circular motions of a given motorcycle with given tyre parameters can be approximately characterised by just one curve for steering torque and one for steering angle.     

Simulation of active steering control for curving under traction in hauling locomotives

Active steering control in the form of secondary yaw control (SYC) and actuated wheelset yaw (AWY) have been in prototype development. This paper presents a new active steering bogie design, actuated yaw force steering (AY-FS), that is able to steer under high traction loads in tight curves. The AY-FS bogie design is compared with the AWY design. The steering performance AWY under high traction loads has not been previously reported. This paper examines five control methods, three for AWY and two for AY-FS bogies and assesses the traction curving and stability control performance of the alternative designs and control methods compared with each other and to passive steering bogie designs. The curving performance results showed considerable advantage in the proposed AY-FS bogies over the AWY. It was shown that control must be applied to both the yaw angle and the steering angle of the bogie to achieve the best traction steering performance which was not possible with the AWY bogies. The proposed new bogie designs of AY-FS overall give better traction curving and stability performance than the AWY designs.