一种水下航行体控制系统分布式半实物仿真平台的构建

针对水下航行体控制系统半实物仿真平台要完成的功能日趋复杂的问题,提出了一种基于dSPACE和xPC的分布式半实物仿真平台,介绍了该平台的系统构架和软硬件实现;介绍了将dSPACE仿真机和xPC实时仿真机集成在同一个实时系统中的方法和要解决的问题,分析了该仿真平台的实时性;给出了1个水下航行体控制系统半实物仿真的应用实例。该平台将dSPACE和xPC集成在同1个分布式实时系统下,分布式的系统结构不仅在功能的实现和扩展方面非常方便,同时也利于实时注入式仿真、快速控制原型的实施。通过半实物仿真试验,该平台已经成功服务于某水下航行体控制系统的研制,证明了本文所提出方案的可行性。     

基于三维线形运行速度的山区旅游公路线形

公路线形设计的安全性评价常采用运行速度作为评价指标,针对山区旅游公路的复杂线形及车型构成,运行速度的计算工况应有针对性,计算手段也需改进。将洪雅—峨眉山旅游公路作为分析对象,以“三维线形条件下的复杂道路重载车辆行驶速度解算模型体系”为计算手段,针对长大纵坡路段左、右线的交通特点,分别解算并绘制了三维线形条件下典型车型和典型驾驶模式的运行速度曲线;分析了平纵面线形参数的协调性和安全性,提出线形修改建议;对于线形调整困难的情况,采用仿真模拟碰撞对混凝土护栏进行防护等级加强;同时检查了避险车道的设置。研究结果表明,综合道路空间线形、车型、驾驶员等因素进行系统分析和运行速度预测,能更接近实际地评价和改善山区公路的线形设计。     

氮氧化物分析仪在柴油车排放污染物检测中的应用

本文主要介绍氮氧化物分析仪在柴油车排放检测中的应用,并分析对检验检测结果有影响的因素,通过分析使机动车检验检测机构进一步提高氮氧化物的检测结果准确性,确保排放结果更加真实有效.     

Improving the robustness of an MPC-based obstacle avoidance algorithm to parametric uncertainty using worst-case scenarios

Previous work by the authors focused on obstacle avoidance in large, high-speed autonomous ground vehicles within unknown and unstructured environments. This work resulted in a nonlinear model predictive control based algorithm that simultaneously optimises both the speed and steering commands. The algorithm can exploit the dynamic limits of the vehicle to navigate it to a target position as quickly as possible without compromising safety. In the algorithm, a model of the vehicle is used explicitly to predict and optimise future actions, but in practice the model parameter values are not known exactly. Thus, in this paper, the robustness of the algorithm to parametric uncertainty is evaluated. It is first demonstrated that using nominal parameter values in the algorithm leads to safety issues in 24% of the evaluated scenarios with the considered parametric uncertainty distributions. To improve the algorithm's robustness, a novel double-worst-case formulation is developed that simultaneously accounts for the robust satisfaction of the two safety requirements of high-speed obstacle avoidance: collision-free and no-wheel-lift-off. Results from simulations with stratified random scenarios and worst-case scenarios show that the double-worst-case formulation renders the algorithm robust to all uncertainty realisations tested. The trade-off between robustness and the task completion performance is also quantified.     

Hybrid- and battery-electric vehicles offer low-cost climate benefits in China

Car ownership in China is expected to grow dramatically in the coming decades. If growing personal vehicle demand is met with conventional cars, the increase in greenhouse gas emissions will be substantial. One way to mitigate carbon dioxide (CO₂) emissions from passenger travel is to meet growing demand for cars with alternative vehicles such as hybrid- and battery-electric vehicles (HEVs and BEVs). Our study examines the cost-effectiveness of transitioning from conventional cars to HEVs and BEVs, by calculating their marginal abatement cost (MAC) of carbon in the long-run. We find that transitioning from conventional to hybrid and battery electric light-duty, four-wheel vehicles can achieve carbon emissions reductions at a negative cost (i.e. at a net benefit) in China. In 2030, the average MAC is estimated to be about −$140/ton CO₂ for HEVs and −$515/ton CO₂-saved for BEVs, varying by key parameters. The total mitigation potential of each vehicle technology is estimated to be 1.38 million tons for HEVs and 0.75 million tons for BEVs.     

磁悬浮列车信号通信系统研究

讨论了磁悬浮列车信号通信系统的构成,功能及实现方法,针对磁悬浮列车的特点,分析了整个系统的信号流向,着重叙述了车内设备和地面设备间的数据交换方法,提出几种系统组成方案,通过对比,结合实践,确定了符合现阶段的方案。     

机车车辆滚动振动试验台系统轮－轮接触关系的研究

机车车辆滚动振动试验台是以有限半径的滚轮代替轨道。滚轮的引入将导致滚轮与轮对之间的接触关系有别于轨道与轮对之间的接触关系,这将影响到滚动振动试验台进行机车车辆动力学性能试验的结果。本文就滚动振动试验台轮－轮接触几何关系及其接触界面多数进行了推导计算,结合实例与线路运行的轮－轨接触状态进行了分析比较,并给出误差影响情况。      

5G通信时代汽车智能座舱发展趋势探讨

随着在5G通信技术和车联网技术的不断发展,汽车座舱正开始逐步走向电子化,智能化.汽车座舱作为驾驶员与车辆最重要的交互窗口,客户体验将不断增强,功能越来越完善.5G通信技术作为最新一代的蜂窝移动通信技术,具有高速率、少延迟、低能耗、大容量及等显著优点.在5G通信技术的加持下,汽车将摆脱"驾驶"这一单一场景,对车智能、对地...     

多约束条件下无人艇和无人机集群协同航迹规划

[目的]为实现海上无人集群在执行任务过程中的安全航行和通信保持,开展无人艇(USV)和无人机(UAV)集群协同航迹规划问题的研究.[方法]采用禁入和禁出地理围栏进行场景建模,将规避威胁和障碍问题转化为地理围栏约束.针对平台之间的碰撞冲突和通信连接问题,提出基于时序检测的碰撞冲突和通信保持约束判断准则.以集群平均航行时间...     

多无人艇集群协同控制研究进展与未来趋势

当前,海洋航行器呈现智能化、网络化、集群化等重要发展趋势,多无人艇通过协同实现集群化作业,是未来海洋作业的主要形式之一.从无人艇运动数学模型出发,分析了多无人艇集群控制所面临的问题和挑战,根据多无人艇运动不同的场景,从轨迹导引、路径导引、目标导引3个方面综述了多无人艇集群协同控制的研究进展.最后,对多无人艇协同控制的研...