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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... 相似文献
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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. 相似文献
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