基于扰动观测的智能驾驶主动抗扰纵向车速控制算法

为了减少智能驾驶车辆的纵向车速控制的时滞,提高主动抗扰性,提出一种基于扰动观测的纵向车速控制算法,并进行了实车验证。模型中,采用前馈控制模块,并提前输出控制量,来提高车速跟随的响应性;以主动抗扰控制(ADRC)模块作为反馈环节,采用扩张状态观测器(ESO)在线估计内外部扰动,并在控制端进行补偿,实现了对车速的精确闭环控制。在弯道、环岛等路况下进行了实车实验。结果表明:该算法可以在5 s内控制车速从怠速快速跟踪到目标车速,总体平均误差为0.17 km/h。因而,该算法较传统的比例积分微分(PID)有更好的响应性、控制精度和抗扰性。     

汽车用风机馈电输入线上的瞬态骚扰及其测试

介绍汽车用风机馈电线上所产生的瞬态骚扰测试程序和所需仪器及环境。     

钢筋混凝土简支T型梁桥损伤识别的数值模拟

针对实际工程中大量钢筋混凝土简支T型梁桥的损伤、老化问题,对这类桥型进行损伤识别理论的研究。在建立典型T型梁桥有限元模型的基础上,采用便于T型梁桥工程应用的柔度差指纹和损伤确定准则组合成新的识别流程,成功地对钢筋混凝土简支T型梁桥主梁的损伤识别进行了数值模拟。考虑现有检测技术的限制(有限测点及测试噪声的干扰),利用MONTECARLO方法量化了噪声干扰对识别结果的影响。模拟分析的结果揭示了对该桥型进行损伤识别的特点并为其实际的损伤辨识提出了建议。     

反激式开关电源EMI传导骚扰的抑制

阐述反激式开关电源在工作中产生EMI传导骚扰的原因,分析了骚扰的根源和传播途径,提出对开关电源设计中在电路滤波设计方面来抑制EMI传导骚扰,并通过设计实例进行仿真.     

Numerical Simulation of Shield Tunnelling Under a Historic Building Based on the Local Stiffness Correction Method (DMSM)北大核心CSCD

The district modified stiffness method (DMSM) considers the effect of joints and hand holes on the stiff-ness of the lining ring, assuming the stiffness around the joint and hand hole is to be reduced and the stiffness else-where is not changed. Considering the stiffness reduction of the lining ring caused by the segment’s circumferential joint, the internal force of the lining structure, the ground surface settlement and the displacement response of the surrounding soil body induced by shield driving are analyzed by an HS small strain constitutive model, and a 3D FEM model is established to analyze the interactions among the tunnel, soil body and building to apply to the dou-ble-line running tunnel of Shanghai Metro Line 11, which crosses under a historic building. In contrast, a 3D numeri-cal model based on the routine method (RMM) is set up and a comparison with the site measured data is conducted,with results indicating that they agree very well. The simulation results show that the existing building not only changes the surface settlement trough but also largely reduces horizontal displacement at the corresponding measuring points of the settlement trough; the distortion values of the existing building are related to the positions of the tunnel face and the location of the building; and the final distortion doesn’t decrease after completion of tunnel construction, but major residual distortion remains. This simulation method provides a reference for the control of disturbances during shield construction in soft rock. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.     

无人驾驶机器人车辆非线性模糊滑模车速控制

为了实现不同行驶工况下车速的精确、稳定控制,提出一种基于非线性干扰观测器的无人驾驶机器人车辆模糊滑模车速控制方法。考虑模型不确定性和外部干扰对车速控制的影响,建立车辆纵向动力学模型。通过分析无人驾驶机器人油门机械腿、制动机械腿的结构、机械腿操纵自动挡车辆踏板的运动,建立油门机械腿和制动机械腿的运动学模型。在此基础上,分别设计油门/制动切换控制器、油门模糊滑模控制器以及制动模糊滑模控制器,并进行控制系统的稳定性分析。油门/制动切换控制器以目标车速的导数为输入来进行油门与制动之间的切换控制。油门模糊滑模控制器和制动模糊滑模控制器以当前车速以及车速误差为输入,分别以油门机械腿直线电机位移和制动机械腿直线电机位移为输出来实现对油门与制动的控制。模糊滑模控制器中,为了减少控制抖振,滑模控制的反馈增益系数由模糊逻辑进行在线调节。模糊滑模控制器中的非线性干扰观测器用于估计和补偿无人驾驶机器人车辆的模型不确定性与外部干扰。仿真及试验结果对比分析表明：本文方法能够精确地估计和补偿无人驾驶机器人车辆的模型不确定性和外部干扰,避免了油门控制与制动控制之间的频繁切换,并实现了精确稳定的车速控制。     

饱和软粘土地基沉桩过程中桩土挤压应力及超孔压计算

饱和软粘土地基沉桩过程中桩土挤压所引起的桩周土体超孔隙水压力效应是非常显著的 .本文从弹塑性理论出发推导出沉桩过程中桩周土体挤压应力及超孔隙水压力的计算公式 ,给出了考虑挤压应力和超孔隙水压力等影响因素的合理打桩间距的确定方法     

基于LabVIEW的柴油机状态监测数据库系统

柴油机状态监测系统不可避免地要涉及到状态数据的存储与管理问题,利用LabVIEW作为开发平台,利用Access2003为系统数据库开发工具开发出了柴油机状态监测数据库系统,其主要功能包括：数据存储、数据库管理、数据回放。此系统既能够发充分发挥虚拟仪器技术的优势,又能利用数据库强大的功能,提高了柴油机状态监测水平。     

The Force-Angle Measure of Tipover Stability Margin for Mobile Manipulators

Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to approach, or reach, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure of available stability margin. This work presents a new tipover stability measure (the Force-Angle stability measure) which has a simple geometric interpretation, is easily computed, and is sensitive to changes in Center of Mass height. The proposed metric is applicable to systems subject to inertial and external forces, operating over even or uneven terrains. Requirements for computation and implementation of the measure are described, and several different categories of application of the measure are presented along with useful normalizations. Performance of the Force-Angle measure is demonstrated and compared with that of other stability margin measures using a forestry vehicle simulation. Results show the importance of considering both center-of-mass height and system heaviness, and confirm the effectiveness of the Force-Angle measure in monitoring the tipover stability margin.     

盾构小曲线半径下穿注浆加固建筑群分析

盾构机掘进过程对周围建筑物、管线及道路的影响归根到底是隧道周边土体扰动造成的。本文以石家庄地铁三号线水上公园站-柏林庄站区间350 m半径小曲率转弯下穿预注浆加固建筑物为例,通过监测盾构机转弯过程中土体的分层竖向变形及水平位移数据,研究其规律及特点,同时对比直线段及曲线段特征规律。盾构机掘进过程中对土体扰动的最大沉降量为4 mm,最大上拱量为20 mm,外侧水平位移为3.9 mm,内侧水平位移为2.7 mm。结果表明,在小曲率半径转弯段,地基预注浆加固隧道周围土体仍易产生较大上拱,影响隧道施工安全,应采取有效措施进行预防。本研究可为盾构机在小曲率半径条件下通过预加固地段施工提供指导和借鉴意义。