内河航道智能微型测量船的设计与应用研究

传统的航道水深测量方式，测量成本较高，而且，很多情况下，由于水浅等原因，较大的常规测量船不能到达，而难以测量．文中介绍了航道水深测量遥控测量船的设计原理和应用情况．遥控船上安装有测量系统，能够实现远程手动遥控测量和按预定航线自动导航测量．该船吃水浅、航速快、稳性好、遥控距离远，有2套动力系统，可远程自由切换，安全性高．2011年投入使用以来，取得了较好的效果．     

基于风险网络的轨道交通车辆风险评价

针对轨道交通车辆系统的风险网络和关键部件风险评价开展研究，以系统部件和部件连接关系作为节点和边，建立了风险网络模型，分析了节点固有风险的影响因素和计算方法.根据节点之间故障传播概率得到边的作用强度和路径风险.对节点固有风险和路径风险进行分析，得到节点综合风险，并通过幂法对节点综合风险进行求解，从而识别部件对系统的影响程度.以转向架系统为例进行综合风险计算，结果表明：部件固有风险大小不能完全决定综合风险大小，还与部件连接关系和作用强度相关；与实际经验得出的关键部件综合风险排序对比，利用本文方法得到的关键部件排序一致性与其他方法相比有明显提升.     

Real-time model predictive control of connected electric vehicles

ABSTRACT

Electric Vehicles (EVs) motors develop high torque at low speeds, resulting in a high rate of acceleration with the added advantage of being fitted with smaller gearboxes. However, a rapid rise of torque in EVs fitted with central drive powertrains can create undesired torsional oscillations, which are influenced by wheel slip and flexibility in the halfshaft. These torsional oscillations in the halfshaft lead to longitudinal oscillations in the vehicle, thus creating problems with regard to comfort and drivability. The significance of using wheel slip in addition to halfshaft torsion for design of anti-jerk controllers for EVs has already been highlighted in our previous research. In this research, we have designed a look-ahead model predictive controller (LA-MPC) that calculates the required motor torque demand to meet the dual objectives of increased traction and anti-jerk control. The designed LA-MPC will improve drivability and energy consumption in connected EVs. The real-time capability of the LA-MPC has been demonstrated through hardware-in-the-loop experiments. The performance of the LA-MPC has been compared to other controllers presented in the literature. A validated high-fidelity longitudinal-dynamics model of the Rav4EV, which is the test vehicle of our research has been used to evaluate the controller.     

电动汽车整车运行性能检测试验技术

电动汽车的生产和制造需要符合相关的标准,并且还要对整车的性能进行测试,只有这样才能更好的符合汽车上路的条件。本文主要是将国标要求作为基础来对电动汽车的最高车速、滑行能力、加速性能、制动性能和爬坡能力和能量消耗率和续航里程进行测试,通过实施一定的检测试验方法和配套的相关试验设备来做好检测,并且要对测试的结果进行分析,对电动汽车的运行性能进行进一步的优化,从而推进我国电动汽车行业的更好发展和进步。     

Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring

ABSTRACT

This paper studies the low-speed manoeuvring problem for autono-mous ground vehicles operating in complex static environments. Making use of the intrinsic property of a fluid to naturally find its way to an outflow destination, a novel guidance method is proposed. In this approach, a reference flow field is calculated numerically through Computational Fluid Dynamics, based on which both the reference path topology and the steering reference to achieve the path are derived in a single process. Steering control considers three constraints: obstacle and boundary avoidance, rigidity of the vehicle, plus the non-holonomic velocity constraints due to the steering system. The influences of the parameters used during the flow field simulation and the control algorithm are discussed through numerical cases. A divergency field is defined to evaluate the quality of the flow field in guiding the vehicle. This is used to identify any problematic branching features of the flow, and control is adapted in the neighbourhood of such branching features to resolve possible ambiguities in the control reference. Results demonstrate the effectiveness of the method in finding smooth and feasible motion paths, even in complex environments.     

象山港大桥辅助通航孔通航净空尺度和技术要求论证

通过平面二维潮流数学模型和规范公式计算,对象山港大桥建设后桥区水流变化和海床演变及大桥辅助通航孔通航净空尺度进行了分析论证,结果表明:在象山港大桥主通航孔南北两侧各设2个辅助通航孔,通航1 000 t级及以下船舶,3个设计方案的通航净空尺度和水流条件均满足通航要求,通航航线可沿袭工程前的习惯航法。     

高职“船舶避碰与值班”教学改革的思索

通过对《船舶避碰与值班》在教学与学生实习过程中存在问题的分析与探讨,提出对该课程教学改革的相关建议。     

船用光纤陀螺随机漂移分析与研究

随机漂移是影响船用光纤陀螺精度的主要因素。对随机漂移进行建模并在系统中加以补偿是提高船用光纤陀螺及其导航系统精度的关键。本文对可用于精密仪器随机漂移研究的Allan方差法加以改进,将数字信号处理中加窗函数的方法应用于计算Allan方差,解决了某些频段内由于频混造成的随机漂移表征不唯一的问题。通过对光纤陀螺实测数据进行计算,得出各种随机漂移的系数,实验证明这是对光纤陀螺随机漂移进行研究的有效方法。     

关于海船在内河航行资格的思考

文中阐述了海船在内河航行方面的规定,建议海事管理机构根据海船在内河航行时的几种情形开展针对性的监督检查,从源头上杜绝海船在内河非法航行,消除安全隐患,保障通航安全。