单缸机控制技术研究

为提高研发效率、降低研发成本、缩短产品性能开发周期,本文搭建一种高压共轨单缸试验柴油机,提出一种共轨系统控制技术,为发动机性能开发提供一种高效的试验支撑装置。首先搭建单缸试验柴油机,确定单缸机整体架构、各系统架构及设计参数,根据发动机工况计算轨压设定值,通过轨压传感器采集到轨压实际值,轨压设定值与实际值偏差经过自适应PID调节得到期望供油量,根据油量计量单元特性曲线计算得到油量计量单元占空比。通过实验,分别验证发动机起动状态,建立轨压能力、不同转速段轨压控制稳定性、轨压设定值正向阶跃和负向阶跃时轨压实际值响应性。实验结果表明:轨压在发动机起动时建压速度较快、偏差小;不同转速波动时,轨压瞬态响应速度快,瞬态偏差小,具有较好的控制效果。     

适用于模拟复杂地质条件的微型TBM试验系统研制及应用

为研究TBM掘进隧道复杂地质的演化过程及破坏特征,研制了适用于复杂地质条件的微型TBM模型试验系统,主要由微型掘进装置、多功能岩箱、微型掘进机工位平移装置、四联液压系统以及微型掘进机掘进控制系统组成。该系统可实现推进速度0~50 mm/min可调、刀盘转速0~10 r/min可调、刀盘最大转矩可达1 000 N·m、刀盘最大安全掘进距离可达1 100 mm; 可以进行半断面可视化掘进和全断面高地应力模拟掘进,并提前了解TBM掘进复杂地质时隧道应力的变化规律,为现场高地应力大埋深复杂地质下TBM掘进提供可靠的参考资料。     

采制样系统破碎机防堵煤技术改造

通过分析采制样系统破碎机在实际应用中出现的堵煤情况,改变破碎机疏通器结构,减少系统堵煤情况的发生,保证了采制样系统高效稳定运行.     

大型客运站调机运用优化模型及算法

对铁路客运站调机运用进行科学合理的优化分析,对于提高客运站工作效率及保证旅客列车正点到发具有非常重要的意义。通过对客运站调机作业分析,建立客运站调机作业运用优化决策模型,将调机作业顺序模型转化为车辆数固定的、带时间窗口的车辆路径问题。采用模拟退火算法,实现调机运用的合理优化,并对模型和算法进行验证,得出优化效果明显的结论。     

微机及载波控制逆变CO_2焊机的应用前景

通过对载波控制技术在焊机上的应用的研究,集成微机控制技术、IGBT逆变焊机节能技术,研发新型高效节能的微机及载波控制逆变CO2焊机,其效率比传统的硅整流CO2焊机提高30%以上;比传统的IGBT逆变CO2焊机节电10%,效率达到95%.因此,它为耗能巨大的电焊作业提供了节能降耗重要途径.可见这种技术先进、功能强大、人机界面友好、性价比甚高的微机及载波控制的逆变CO2焊机必将成为船舶高效焊接重要的工艺装备.     

Virtual 3D city model as a priori information source for vehicle localization system

This paper aims at demonstrating the usefulness of integrating virtual 3D models in vehicle localization systems. Usually, vehicle localization algorithms are based on multi-sensor data fusion. Global Navigation Satellite Systems GNSS, as Global Positioning System GPS, are used to provide measurements of the geographic location. Nevertheless, GNSS solutions suffer from signal attenuation and masking, multipath phenomena and lack of visibility, especially in urban areas. That leads to degradation or even a total loss of the positioning information and then unsatisfactory performances. Dead-reckoning and inertial sensors are then often added to back up GPS in case of inaccurate or unavailable measurements or if high frequency location estimation is required. However, the dead-reckoning localization may drift in the long term due to error accumulation. To back up GPS and compensate the drift of the dead reckoning sensors based localization, two approaches integrating a virtual 3D model are proposed in registered with respect to the scene perceived by an on-board sensor. From the real/virtual scenes matching, the transformation (rotation and translation) between the real sensor and the virtual sensor (whose position and orientation are known) can be computed. These two approaches lead to determine the pose of the real sensor embedded on the vehicle. In the first approach, the considered perception sensor is a camera and in the second approach, it is a laser scanner. The first approach is based on image matching between the virtual image extracted from the 3D city model and the real image acquired by the camera. The two major parts are: 1. Detection and matching of feature points in real and virtual images (three features points are compared: Harris corner detector, SIFT and SURF). 2. Pose computation using POSIT algorithm. The second approach is based on the on–board horizontal laser scanner that provides a set of distances between it and the environment. This set of distances is matched with depth information (virtual laser scan data), provided by the virtual 3D city model. The pose estimation provided by these two approaches can be integrated in data fusion formalism. In this paper the result of the first approach is integrated in IMM UKF data fusion formalism. Experimental results obtained using real data illustrate the feasibility and the performances of the proposed approaches.     

Scheduling of Intelligent and Autonomous Vehicles under pairing/unpairing collaboration strategy in container terminals

A new class of Intelligent and Autonomous Vehicles (IAVs) has been designed in the framework of Intelligent Transportation for Dynamic Environment (InTraDE) project funded by European Union. This type of vehicles is technologically superior to the existing Automated Guided Vehicles (AGVs), in many respects. They offer more flexibility and intelligence in maneuvering within confined spaces where the logistic operations take place. This includes the ability of pairing/unpairing enabling a pair of 1-TEU (20-foot Equivalent Unit) IAVs dynamically to join, transport containers of any size between 1-TEU and 1-FFE (40-foot Equivalent) and disjoin again. Deploying IAVs helps port operators to remain efficient in coping with the ever increasing volume of container traffic at ports and eliminate the need for deploying more 40-ft transporters in the very confined area of ports. In order to accommodate this new feature of IAVs, we review and extend one of the existing mixed integer programming models of AGV scheduling in order to minimize the makespan of operations for transporting a set of containers of different sizes between quay cranes and yard cranes. In particular, we study the case of Dublin Ferryport Terminal. In order to deal with the complexity of the scheduling model, we develop a Lagrangian relaxation-based decomposition approach equipped with a variable fixing procedure and a primal heuristics to obtain high-quality solution of instances of the problem.     

广义罚函数法及其在电机优化设计中的应用

提出了一种新的适用于电机优化设计的广义罚函数法，该方法可以避免增目标函数的“病态”特性，具有收敛速度快、自动边界搜索等优点。在电机优化设计中的应用表明，该方法优于ＳＵＭＴ法。     

高压劈裂注浆加固滑体施工工法

高压劈裂注浆是一种经常使用的地基处理方法。位于陕西省彬县境内的312国道改建工程在施工中，右侧山体出现牵引式滑移．采用高压注浆方法，对滑体进行了有效的加固。本文叙述了用料、施工及设备等细节。