Adaptive backstepping control of train systems with traction/braking dynamics and uncertain resistive forces

Although backstepping control design approach has been widely utilised in many practical systems, little effort has been made in applying this useful method to train systems. The main purpose of this paper is to apply this popular control design technique to speed and position tracking control of high-speed trains. By integrating adaptive control with backstepping control, we develop a control scheme that is able to address not only the traction and braking dynamics ignored in most existing methods, but also the uncertain friction and aerodynamic drag forces arisen from uncertain resistance coefficients. As such, the resultant control algorithms are able to achieve high precision train position and speed tracking under varying operation railway conditions, as validated by theoretical analysis and numerical simulations.     

一类更细的正项级数审敛原则

以一组收敛速度更慢的级数∑from n=1 to ∞(1/(Π from i=0 to (k-1)(lan(i,n)lan(k,n)~p))(p为常数,k∈N ,lan(i,n)=(lnln…ln)i个ln为标准,在对数判别法、Rabbe判别法和Gauss判别法的基础上建立起一类更强、更精细的审敛原则;同时随常数k的增大,该级数敛散更慢,以此为基的审敛法就越强、越细、越精,能判定敛散的级数范围也越宽,而k是可以无限增大的,使得新的判别法在理论上可以判别绝大部分级数的敛散性.     

均衡隧道各级围岩施工产值利润率的探讨

通过对隧道工程不同围岩条件下施工产值利润率差异较大的原因分析，指出围岩级别不同的隧道施工产值利润率不均易引发施工安全和工程质量问题。此文提出，消除这种现象的根本对策是完善和改进隧道工程工程量清单计量规则。     

海绵城市径流控制模型研究

通过模型可以精细化地计算海绵城市的核心指标——年径流总量控制率，但建立模型时需要关注其参数、边界，并对概化以及率定进行相应的规范化。为此，在建模过程中，对降雨序列长短、步长影响以及模型概化过程中的管网考虑进行了分析，同时比较了渗透速度、不透水率、硬化面积收集率、蒸发量的不同设置方式等建模敏感参数，并对率定方式进行了初步探索。所归纳出的结论可为其他海绵城市径流模型搭建提供借鉴。     

浅议高等职业院校的错位竞争

文章通过分析目前高等职业教育的发展现状,提出了高等职业院校只有正确定位,扬长避短,以培养适合社会需求的高技能应用型人才为目标,突出办学特色,打造品牌,与其他院校错位竞争,才能提高就业率。     

一例船舶发电柴油机并车故障的分析及修复

文章介绍了一例船舶发电机发生并车故障时的具体情况，分析了产生故障的原因，并提出了具体的修复方法和改进措施．     

Rear-heavy car control by adaptive linear optimal preview

Adaptive linear optimal preview control theory is applied to a simple but non-linear car model, with parameters chosen to make the rear axle saturate first in any quasi-steady manoeuvre. The tendency of such a car to spin above a critical speed, which is a function of its running state, causes control to be especially difficult when operating near to the limit of the rear-axle force system. As in previous work, trim states and optimal gains are computed off-line for a given speed and a full range of lateral accelerations. Gain-scheduling with interpolation over trims and gain sets is used to keep the control appropriate to the running conditions, as they change. Simulations of manoeuvres are used to test and demonstrate the system capability. It is shown that utilising the rear-axle lateral-slip ratio as the scheduling variable, in the case of this rear-heavy car, gives excellent tracking, even when the tyres are run close to full saturation. It is implied by this and previous work that the general case can be treated effectively by monitoring both front- and rear-axle slips and scheduling on a worst-case basis.     

一种改进的位移释放率计算方法及其在Ⅴ级围岩中的应用

为了探究高地应力作用下Ⅴ级围岩的开挖卸载效应，针对隧道开挖过程中实时位移释放率难以计算这一问题，提出一种改进的位移释放率计算方法，对不同工法作用下Ⅴ级围岩的变形规律进行数值分析和模型试验研究。首先基于正交试验原理，以黄土、砂、石膏、水泥、水为原材料配置得到Ⅴ级围岩相似材料；然后以自行设计的模型试验箱为载体，对配制出的相似材料进行平行试验，以保证每组材料在改变一种原材料基础上其余材料均不变，从而得到各组材料的应变-时间变化曲线；最后利用改进的位移释放率计算方法，结合模型试验过程实时监测数据，得到Ⅴ级围岩不同开挖工法下的位移释放率变化曲线，并与数值分析结果进行对比验证。研究结果表明：配制出的围岩相似材料在物理力学性能上均能很好地满足试验需要且具有经济环保等优点；平行试验下，各组材料均对开挖卸载产生影响且石膏产生的影响最大；模型试验结果表明，开挖前期台阶法位移释放率最大，随着开挖的进行双侧壁导坑法位移释放率逐渐增大直至最大，模型试验所得位移释放率在数值上虽与数值模拟结果略有区别但整体趋势保持一致，两者均显示隧道开挖过程中CRD法的位移释放率最小且开挖后期位移释放率逐渐趋于平稳，故建议在该高地应力Ⅴ级围岩段隧道施工时全程采用CRD法。     

ISS-based robust adaptive fuzzy algorithm for maintaining a ship＇s track

This paper focuses on the problem of linear track keeping for marine surface vessels. The influence exerted by sea currents on the kinematic equation of ships is considered first. The input-to-state stability （ISS） theory used to verify the system is input-to-state stable. Combining the Nussbaum gain with backstepping techniques, a robust adaptive fuzzy algorithm is presented by employing fuzzy systems as an approximator for unknown nonlinearities in the system. It is proved that the proposed algorithm that guarantees all signals in the closed-loop system are ultimately bounded. Consequently, a ship＇s linear track-keeping control can be implemented. Simulation results using Dalian Maritime University＇s ocean-going training ship ＇YULONG＇ are presented to validate the effectiveness of the proposed algorithm.     

基于观测器的一类非线性系统的自适应模糊控制

针对一类单输入单输出非线性不确定系统,在系统不完全直接可测的情况下,基于李亚普诺夫理论设计方法,通过采用自适应模糊逻辑系统逼近被控对象的未知非线性和引进一种误差观测器,设计了一种基于观测器的鲁棒自适应模糊控制。该方法考虑了函数逼近误差和系统外扰的存在,给出了这个界的自适应估计项,最后证明了所设计的控制器稳定收敛。