低碳经济下城市交通系统动力学模型及政策仿真

随着我国经济发展模式的调整,人们愈发关注由交通运输引发的一系列环境污染问题.新时期现代化交通运输系统逐渐向资源节约、绿色循环方向发展,在大力发展低碳经济的背景下,如何发展低废气污染的交通运输成为主要的研究方向.在深入研究城市交通拥堵和环境污染相互作用演化过程的基础上,从政府决策、人口、车辆、经济等因素出发,分析了城市人...     

应用零航速减摇鳍的海洋机器人近水面时的横摇减摇控制(英文)

A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave structure.It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer.The methods of input-output linearization and model reference were used to realize the tracking control.Simulations were presented to demonstrate the validity of the control law proposed.     

基于动态反馈线性化的海洋机器人近水面横摇减摇控制

海洋机器人在近水面低速航行时,在海浪干扰下将产生横摇运动,严重影响机器人安全性能,因此利用零航速减摇鳍系统对横摇运动加以有效控制.针对机器人非线性运动模型及零航速减摇鳍升力模型的特点,利用动态反馈线性化方法设计横摇减摇控制规律.该方法通过将原系统扩展为含有伪状态变量的新系统,实现系统线性化,解决由减摇鳍升力模型引起的系统非线性形式控制输入的问题.理论证明及仿真结果表明该横摇控制规律是稳定有效的.