基于模型预测控制的智能车轨迹跟踪控制研究

为了完成智能车的轨迹跟踪,提出一种基于模型预测控制的轨迹跟踪方法,利用将运动学模型这个非线性系统线性化的方案,来获得必须的线性时变系统,采取模型预测控制的三要素来设计控制器。并且基于MPC在控制过程中能增加多种约束的优点,建立基于车辆运动学模型的约束做轨迹跟踪仿真实验,最后,基于山东理工大学智能车平台上GPS提供的定位信息,在校园中采集路线并对前提规划好的的轨迹进行实车验证。实验结果表明:基于MPC算法所设计的控制器能快速且稳定地跟踪期望轨迹。     

基于三点模型的柴油机热工参数预测

准确预测热工参数劣化趋势是对柴油机实施预测维修的前提。已有预测技术均视不同时段信息所具有的建模价值相等,忽略了近期信息比远期信息更能反映设备当前运行态势这一客观事实,导致预测模型难以准确描述柴油机热工参数的真实变化规律。针对该问题,提出一种基于三点模型的柴油机热工参数预测方法,并采用新陈代谢法同步更新建模数据,以提高建模数据的利用效率及预测精度。与灰色系统GM(1,1)模型预测精度的对比结果表明,三点模型能够有效处理不同时段信息在反映设备运行态势能力上的差异,得到更为准确的预测结果。     

Soil Body Deformation Caused by Construction of a Double-Line Shield Tunnel with Multiple Factors北大核心CSCD

Considering the influence of many factors (soil loss, frontal additional thrust, the friction force of the shield shell and the additional grouting force), a method for improving the uniform soil body movement model is pro-posed, and a mechanical calculation model is established to study the calculation method for soil body deformation caused by double-line parallel shield driving. Based on the Mindlin solutions of elastic mechanics, the theoretical solutions for soil body deformations caused by the last three factors are calculated; considering the uniform soil body movement model, the theoretical solutions for soil body deformations caused by soil loss are calculated, then the to-tal theoretical solutions for soil body deformations under multiple factors are obtained by means of superposition. The vertical surface settlement, vertical horizontal displacement, and vertical displacements of the soil body at different depths of Hangzhou Metro Line 1 are calculated to analyze the variation laws. Meanwhile the influential factors for horizontal displacement variation are studied. The research shows that with a change of depth, the settlement of the soil body changes within the scope of 10 to 13 m in the horizontal direction near where the maximum settlement occurs;the direction of the horizontal displacement of the soil body changes with a change of the positional relationship be-tween the calculation points and the tunnel; and with an increase of interval J for the two tunnels, the horizontal dis-placement of the soil body of a deep double-line tunnel decreases while the displacement near the surface changes slightly. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.     

"计算机网络"课程教学研究

"计算机网络"课程的特点是计算机技术与通信技术的结合,从事"计算机网络"课程教学的教师应具备计算机网络建设、管理和研究的背景。课堂教学应以主流技术和主要应用为教学内容,理论与应用相结合,辅助多媒体教学手段,实践教学则以典型网络案例为内容,帮助理解理论教学并提高学生动手能力。     

基于知识点关联的网络教学平台的集成设计

教学课件各种信息成分的组织与关联是网络教学系统集成设计中的重要问题,本文给出了基于知识点的课件内容关联设计的实现.该平台支持多种教学方式,提供了灵活的设置以满足教学中的动态管理.     

美国联邦公路局路阻函数探讨

路阻函数在交通分配过程中左右着路径的选择,目前广泛采用的路阻函数是美国公路局提出的BPR函数,但在交通分配的实践过程中使用美国公路局推荐BPR参数得到的结果并不理想。论文对国内外关于BPR函数的修正模型研究进行了介绍;分析了现存BPR模型的优点与缺陷;提出了BPR函数适用情况的思考。     

Multisim在模拟电子技术设计性实验中应用的研究

根据实践性教学环节中开设设计性、综合性实验的要求,从实验方法和实验手段的改革出发,本文介绍了Muhisim2001软件及其在电子技术设计性实验中的应用．     

共享单车现金奖励调度策略的用户接受意愿研究

为探讨共享单车用户在不同影响因素下对现金奖励调度策略的接受程度,设定了针对共享单车用户的调查问卷,并在济南市进行了调查,得到519份有效问卷。基于扩展的计划行为理论（Extended Theory of Planned Behavior, ETPB）模型和相关结构方程模型（Structural Equation Model, SEM）,设定了社会规范、支付能力、体力、感知服务、感知绿色价值5个构念以及5个相关假定,以测度不同奖励调度情境下共享单车用户对奖励策略的接受程度。结果显示,支付能力和体力对用户接受调度的影响程度最大,其次是社会规范和感知服务,感知绿色价值的影响程度最小。在此基础之上,提出了增大站点密度、实行现金奖励及提高车辆质量等建议,以降低运营成本、提升用户满意度与车辆使用率。     

大连新建地铁对公交出行选择的影响

为了分析城市新建地铁项目对居民公共交通出行的影响,改善公交服务水平,提高公共交 通的分担率,针对大连市新建地铁线路展开研究。以大连市地铁1 号线沿线站点作为研究区域, 采用SP （Stated Preference） 调查方法,收集了300 名地铁沿线居民对常规公交以及新建地铁两种 出行方式的选择数据。通过建立二项Logit 模型,分析出行成本、换乘时间等选择方案特性变 量,出行特性变量以及出行者特性变量对于居民出行方式选择行为的影响,并计算弹性值及模型 精度。结果表明,通过调整出行成本及换乘时间可有效提高地铁分担率。由此提出相关政策建 议：对于出行成本,可从出行者年龄及出行次数两方面制定不同的优惠政策;对于换乘时间,可 从提高可达性、完善购票系统以及调整发班频率三方面进行改善。     

Unsteady finite-depth effects during resistance tests on a ship model in a towing tank

This paper covers an extension of the study of Doctors et al. (J Ship Res 52(4):263–273, 2008) on oscillations in wave resistance during the constant-velocity phase of a towing-tank resistance test on a ship model to the case of relatively shallow water. We demonstrate here that the unsteady effects are very prominent and that it is essentially impossible to achieve a steady-state resistance curve in a towing tank of typical proportions for a water-depth-to-model-length ratio of 0.25. This statement is particularly true in the speed region near a depth Froude number of unity. However, on the positive side, we show here that an application of unsteady linearized wave-resistance theory provides an excellent prediction of the measured total resistance, when one accounts for the form factor in the usual manner. Finally, a simple application of the results to the planning and analysis of towing-tank tests is presented.