A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces

In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model ‘UniTire’. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.     

磁浮功能件长效防腐体系的实践与探索

磁浮功能件是高速磁浮交通系统中轨道梁的主要组成部分,也是磁浮列车实现电磁力传递、支撑、导向和牵引功能的关键部件之一.如何使其达到设计使用寿命40年(按金属热喷涂工艺规定的使用寿命)和免维护的长效防腐要求,最大限度地减少对列车正常运营的影响,一直是高速磁浮交通建设中深受关注的内容之一.以上海磁浮示范运营线为例,介绍了电孤喷涂金属复合涂层防腐体系及其功能件涂装与特点,并对功能件防腐体系的设计及实施效果进行了分析.一个完整的长效防腐体系主要根据需保护构筑物的腐蚀环境、建设使用工况及重要程度而进行设计.对类似结构件的长效防腐体系设计与实施的主体进行了调查研究.     

船用微型锅炉非线性温度系统控制器仿真与研究

为了实现对船用微型锅炉高、低水温的控制，在Matlab环境下对实测和计算的数据进行曲线拟合，建立了船用微型锅炉水温系统的非线性数学模型。运用滑模变结构控制理论，选取线性切换面和比例型趋近率，设计了一种滑模控制器，实现了双输入双输出非线性耦合温度系统的解耦和控制。通过Matlab／Simulink软件的仿真，结果显示滑模变结构控制算法对非线性系统的控制有响应快、超调小、调节时间短、无误差和抖动的特点。     

A modified integral sliding mode control to lateral stabilisation of 4-wheel independent drive electric vehicles

This paper presents a novel sliding mode controller (SMC) and its application in the lateral stability control of a 4-wheel independent drive electric vehicle. The structure of the SMC is modified and online-tuned to ensure vehicle system stability, and to track the desired vehicle motion references when an in-wheel motor fault happens. The proposed controller is faster, more accurate, more robust, and with smaller chattering than common SMCs chatter. The effectiveness of the introduced approach is investigated through conducted simulations in the CARSIM and MATLAB software environments.     

车门密封胶条力学性能衰变分析

按照国家标准的规定,检测自然条件使用的密封胶条样品的硬度和拉伸性能(拉伸强度、拉断伸长率),从自然老化的角度分析了密封胶条老化前后力学性能变化规律,从性能保持率的角度分析了密封胶条的劣化程度,最后基于密封胶条拉断伸长率的数据,构建了6阶拉格朗日插值多项式,对车门密封胶条使用寿命进行了预测,结果显示其使用寿命是185个月。     

基于RANSE的螺旋桨模型敞水数值模拟方法研究

本文采用基于RANSE的船舶水动力学CFD求解器,开展螺旋桨模型敞水数值模拟研究,求解器采用基于Laplace权函数插值计算的交界面方法,实现不同计算域之间的耦合计算。以典型螺旋桨模型为对象,研究不同计算方法、网格形式,以及交界面位置对计算结果的影响,通过多方案的对比计算与分析,验证了Laplace权函数插值方法能够提高螺旋桨敞水计算稳定性,保证计算精度。同时给出了螺旋桨敞水性能数值计算的推荐方案,并采用推荐计算方案开展了螺旋桨模型敞水性能计算应用测试,结果与试验数据符合良好,初步建立了基于该水动力学CFD求解器的螺旋桨模型敞水数值模拟方法。     

Fuzzy sliding mode control method for vertical motion of autonomous underwater gliders北大核心CSCD

［Objective］This paper proposes a fuzzy sliding mode controller based on T-S fuzzy logic for the vertical plane motion control of an autonomous underwater glider (AUG) with limited actuator capability. ［Methods］In the fuzzy sliding mode controller, the fuzzy switching rate is used to replace the switching rate in the fixed time controller to effectively suppress buffeting. The fuzzy switching rate is obtained by fitting the switching rate of the fixed time controller with T-S fuzzy rules. Based on the limited capabilities of AUG actuators, a saturation auxiliary system is designed to improve the actuator saturation effect. Finally, the performance of the system is verified by Lyapunov stability analysis and numerical simulation. ［Results］The results show that the AUG under the fuzzy sliding mode controller and the saturation auxiliary system can converge in finite time. The effectiveness of the fuzzy sliding mode controller and the saturation auxiliary system are verified by numerical simulation. ［Conclusions］By making comparisons with the fixed-time controller, it is verified that the two controllers have similar control performance, and the buffeting of the fuzzy sliding mode controller is lesser. © 2022 Journal of Clinical Hepatology. All rights reserved.     

某新能源汽车复合材料前车门轻量化设计

本文以汽车前门作为研究对象,以碳纤维结构设计及铺层形式进行研究。经过仿真分析表明,碳纤维前车门的模态、刚度、强度都得到了明显的提升,在满足性能要求的基础上,重量得到了减轻,实现了轻量化的目的。     

欠驱动船舶路径跟踪的神经滑模控制

为实现欠驱动船舶在存在风浪流外界干扰和参数摄动条件下的路径跟踪控制,提出一种基于可视距离的神经滑模路径跟踪鲁棒控制器。利用可视距离思想,根据期望路径与当前位置信息,分别设计船舶纵向速度和艏摇角的参考值,并视为镇定位置误差的虚拟控制律,将路径跟踪问题转化为纵向速度和艏摇角的镇定问题;结合神经网络和滑模方法,设计一种新的神经滑模鲁棒控制器,实现了对虚拟控制律的跟踪控制,无需确定参数摄动和外界干扰的上界,避免了控制器容易出现的饱和问题和抖振现象。仿真试验表明,设计的控制器对欠驱动船舶的模型摄动和外界干扰变化不敏感,可以实现路径的理想跟踪。     

轿车车门安装件的力学性能分析

国内在轿车车门的设计过程中出现很多问题,尤其是车门铰链、车门安装点等安装件的性能,大大影响了车门的机械性能、声品质。分析车门安装件的性能、提高其力学性能是主机厂十分关注的问题。本文阐述了车门安装件的结构及其性能要求,然后应用计算机辅助分析对车门铰链、车门安装点进行了力学分析。本文的研究方法对于车门安装件的力学分析有参考作用。