Design of an adaptive controller for dive-plane control of a torpedo-shaped AUV

Underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane control, based on Lyapunov theory and back-stepping techniques, was proposed. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories was accomplished. Simulation results were presented which show effective dive-plane control in spite of the uncertainties in the system parameters.     

The Pollution-Routing Problem

The amount of pollution emitted by a vehicle depends on its load and speed, among other factors. This paper presents the Pollution-Routing Problem (PRP), an extension of the classical Vehicle Routing Problem (VRP) with a broader and more comprehensive objective function that accounts not just for the travel distance, but also for the amount of greenhouse emissions, fuel, travel times and their costs. Mathematical models are described for the PRP with or without time windows and computational experiments are performed on realistic instances. The paper sheds light on the tradeoffs between various parameters such as vehicle load, speed and total cost, and offers insight on economies of ‘environmental-friendly’ vehicle routing. The results suggest that, contrary to the VRP, the PRP is significantly more difficult to solve to optimality but has the potential of yielding savings in total cost.     

我国新能源汽车的关键技术与发展瓶颈

介绍我国新能源汽车的技术路线格局、关键技术及主要产品,探讨新能源汽车的发展瓶颈,并提出相应的对策建议。     

汽车底盘常见异响的故障直观诊断分析

判断汽车故障最直观的方法有眼观、耳听、手摸、鼻闻和比较等。主要围绕离合器、变速器、制动器、车轮和后桥等部件介绍了汽车常见异响的类型及其直观判别和诊断方法。     

改善轮轨接触状态的车轮型面几何设计方法

改进了车轮型面设计方法,给出了设计方法的解析数学表达式,将轮对等效锥度与轮轨型面接触状态联系起来,对设计实例进行了轮轨几何接触、非赫兹滚动接触和车辆动力学性能分析.研究结果表明:轮轨接触点能够均匀分散分布;由于接触斑面积增大约23%,最大接触压力降低约21%,使轮轨滚动接触应力降低了约20%;装备实例型面的车辆临界速度...     

公交浮动车辆到站时间实时预测模型

根据公交浮动车辆实时GPS数据,考虑不同时段的路段平均速度、公交车站、信号灯等多因素的影响,建立了一种新的公交车辆到站时间预测模型.通过估计到达下游最临近站点的时间和判断道路上GPS数据的有效性等方法,改善了预测模型的精度,并应用重庆公交车辆数据对模型进行验证.计算结果表明:该模型能够实时预测公交浮动车辆到达下游站点的...     

神华天津煤码头翻车机系统定位车的技术改造

介绍神华天津煤码头翻车机系统为适应接卸C70车型的要求,在原有接卸C64车型的基础上,对定位车进行的相关技术改造,详细分析了定位车落臂检测开关的选型.通过设备改造,翻车机系统实现了不摘钩接卸C70车型的作业,提高了系统生产效率,达到了预期效果.     

考虑环境因素的公交车队管理研究

提出了一种公交车辆管理模型,可以在考虑环境因素以及资金、技术等限制条件下做出车辆购买、淘汰的决策.在满足污染物排放限定条件下达到成本投入最小.通过案例分析,结果表明该模型行之有效.     

电动车辆动力系统设计及联合仿真

通过分析电动车辆对驱动电机转矩和转速的要求,以一电动车辆为例,选定了永磁无刷直流电机作为驱动电机,利用MATLAB中电气模块SimPowerSystems建立电机及其控制器仿真模型,设计了包含转速PID和电流滞环控制的双闭环控制策略;根据整车三维实体模型中硬点位置,在ADAMS中建立了整车机械仿真模型.通过MATLAB...     

混合动力汽车的动力系统

从城市汽车节能减排的角度,以不同动力系统的低排量混合动力汽车为对象,用ADVISOR软件进行仿真分析,证明小排量的并联式混合动力汽车同时具备良好的动力性、经济性和排放特性.结合城市行驶工况特点,得出小排量并联混合动力汽车比串联混合动力汽车更适合城市汽车节能减排、环境保护要求的结论.