Fuzzy-logic applied to yaw moment control for vehicle stability

In this paper, we propose a new yaw moment control based on fuzzy logic to improve vehicle handling and stability. The advantages of fuzzy methods are their simplicity and their good performance in controlling non-linear systems. The developed controller generates the suitable yaw moment which is obtained from the difference of the brake forces between the front wheels so that the vehicle follows the target values of the yaw rate and the sideslip angle. The simulation results show the effectiveness of the proposed control method when the vehicle is subjected to different cornering steering manoeuvres such as change line and J-turn under different driving conditions (dry road and snow-covered).     

配比设计与级配调试现场速解方法研究

应用EXCEL电子图表的数据处理功能，研究了混合料配比设计与级配调试的速解途径。结合混合料配比设计与料场管理的现实特点，发现借助多元最小二乘法拟合原理，由电算程序求解超静定线性方程组，不仅可以快速准确地完成配比设计，而且可以随配比调节同步显示出级配变化。结果表明电子图表既可作为配比设计模版，又可现场预知级配调控结果，是拌和场消除成品料级配废料的一种便捷手段。     

工程测量课程实训环节教学改革及质量控制方法探讨

如何在有限的课内实训环节教学过程中,有效地组织开展实训项目,充分完成好实训环节任务布置、方案设计、素材准备、组织实施、成果检查和质量控制等问题,如何实现"教学过程"和"生产过程"的准确对接,如何真正地实训"教、学、做一体化",是提高课程实训环节教学效果、提高测绘专业实训教学效果的重要途径。本文针对工程测量课程,主要探讨课内实训环节教学方法改革和质量控制方法。     

潜艇均衡系统自流注水调节阀稳态噪声试验研究

本文模拟建立了潜艇均衡系统自流注水试验系统,对不同假海压力、不同系统流量、不同出口背压及串联2台调节阀时自流注水稳定过程振动噪声进行研究。结果表明:潜艇均衡注水振动噪声随着假海深度的增大而增大;空气噪声随流量调节阀开度的增大而增大,在流量调节阀开度为60°-70°之间,振动加速度及水动力噪声产生峰值;在出口背压为0-0.5 MPa之间时,振动噪声值均大于无背压状态,峰值为0.2 MPa;串联2台流量调节阀可大幅降低自流注水振动噪声。     

浅谈FAS双中心建设及设备维护

重点分析了西安局集团公司由2K数调主系统组网更新改造为FAS双中心网络的建设方法,并根据日常维护经验,列举了调度台通道故障处理、FASB简易故障判断及计表倒换试验、FASA和FASB系统与MSC之间的业务故障处理等.     

公路建设项目征地拆迁补偿费用确定与控制方法研究

文中以广东省公路建设项目征地拆迁费用的确定为例,以现行实施的征地拆迁补偿相关规定为基础,探讨征地数量和标准的计量、计算方法,建立征地拆迁标准动态数据库,以期对征地拆迁费用的确定和控制提供思路和实际操作指导。     

考虑横向漂移的船舶路径跟踪自抗扰控制

针对船舶运动系统中内部动态不确定和外部干扰等问题,进行了欠驱动船舶路径跟踪的自抗扰方法研究。利用Backstepping设计参考航向角,并通过线性扩张状态观测器对流干扰和横向运动引起的横向漂移进行估计。其次,根据自抗扰算法对航向进行控制,采用线性扩张状态观测器对外界干扰及内部不确定项进行估计。最后仿真结果表明,在风流干扰下所设计的控制器仍能使船准确地跟踪上参考路径,验证了所提控制方案的有效性。     

基于计算机自动控制技术的多探头测深系统研制与改造

通过加装控制盒的方式,实现单探头测深仪与自动控制探头之间的流畅切换,将传统单探头测深仪改造成具有多探头功能的高效水下测量仪器系统,主要用于航道和码头基床等的水下扫测。利用该系统进行的码头基床扫测已经取得成功,可为同类测量设备的改造提供全新的思路。     

Vehicle platoon formation using interpolating control: A laboratory experimental analysis

This work addresses the formation phase of automatic platooning. The objective is to optimally control the throttle of vehicles, with a given arbitrary initial condition, such that desired ground speed and inter-vehicular spacings are reached. The steering of the vehicles is also controlled, because the vehicles should track a desired path while forming the platoon. In order to address the platoon formation problem, a cooperative strategy is formed by constructing a discrete state space model which represents the dynamics of a set of n vehicles. Once this model is set, a control method known as Interpolating Control, which aims at regulating to the origin an uncertain and/or time-varying linear discrete-time system with state and control constraints, is utilized. The performance of this control method is evaluated and compared with other approaches such as Model Predictive Control (MPC).Simulations are conducted which suggest that the Interpolating Control approach can be seen as an alternative to optimization-based control schemes such as Model Predictive Control, especially for problems for which finding the optimal solution requires calculations, where the Interpolating Control approach can provide a straightforward sub-optimal solution.In the experimental part of this work, the control algorithms for the platoon formation and path tracking problems are combined, and tested in a laboratory environment, using three mobile robots equipped with wireless routers. Validation of the proposed models and control algorithms is achieved by successful experiments.