ROV attitude control based on multi-motor cooperative propulsion北大核心CSCD

[目的]为了提高遥控水下航行器(ROV)在复杂水下环境中的姿态控制性能,开展多电机协同推进的ROV姿态控制研究。[方法]首先,针对多电机系统的结构和算法,分别提出一种基于PID速度补偿器的偏差耦合结构和一种新型非奇异终端滑模控制(SMC)算法,并设计一种新颖的基于多电机协同推进的ROV姿态控制方法;然后,建立ROV的运动学和动力学模型,开展推进器组推力建模分析、解耦简化ROV动力学模型研究;最后,设计一种ROV滑模姿态控制器。[结果]仿真结果表明,所提的结构和算法可提高多电机系统的抗干扰性、同步性和快速响应能力,进而提高ROV姿态控制系统的稳定性与鲁棒性。[结论]所提方法可为ROV姿态控制提供一种新的可用方案。     

Influence of initial heeling angle on ship roll motion response北大核心CSCD

[目的]系统地研究初始横倾角对随机横浪下船舶横摇运动响应的影响。[方法]以路径积分法为基础,通过数值求解控制横摇运动微分方程概率属性的Fokker-Planck方程,得到横摇运动响应的概率分布。[结果]结果显示,初始横倾角对船舶横摇运动响应谱的影响有限,但对横摇角概率分布以及横摇运动响应极值分布的影响十分明显,且会造成船舶安全性的显著恶化。[结论]路径积分法可作为研究随机海浪下船舶横摇运动特性的有效数值方法。     

沈大高速公路路面平整度的控制

结合沈大高速公路改扩建工程简述了SMA路面平整度的影响因素和控制方法。     

山区公路路基主要病害的防治

通过多年山区公路养护管理实践,阐述了山区公路路基主要病害的防治措施。     

Basic Analytical Study of Pantograph-catenary System Dynamics

For a high speed electrical rail system, good dynamic performance of the pantograph-catenary system is vital for smooth and continuous current collection. It has been known for many years that to achieve this the head of the pantograph should be made as light as possible and the average stiffness of the catenary should be high. These conclusions, however, have been reached by numerical modelling and operational experience. In this paper the pantograph-catenary system is modelled as a time-varying, single degree-of-freedom system to facilitate an analytical investigation of the system dynamics. Although the model is very simple, it allows physical insight into the dynamic behaviour of the system, and because the excitation is parametric it also allows the stability of the system to be investigated. The finite element method is used to determine the catenary characteristics and Floquet theory is used to analyse the behaviour of the coupled system.     

Effects of RE on the Microstructure of Mg-SZn-4Al Magnesium Alloys

The effects of RE on the microstrcture of as-cast Mg-8Zn-4Al magnesium alloys were investigated. The results show that the solidification range of Mg-8Zn-4Al-xRE alloys increases with RE additions. A binary eutectic reaction can arise and produce a new phase （Mg：Al：Zn：RE） and the temperature of phase transformation point of the new phase is 412.85 C. In Mg-8Zn-4Al-1.5RE alloy, a small amount of Mg：Al：Zn：RE phase and ε phases are found besides a（Mg）,φand r phases. Also microstructures of Mg-8Zn-4Al alloys can be refined by addition of 1.5% RE obviously.     

地铁屏蔽门的常见故障

北京地铁5号线地下车站屏蔽门系统采用西屋公司的全高安全门,具有安全、节能、减噪等优点。但当屏蔽门发生故障时,会对乘客及车辆造成影响。在诸多故障中,常见故障包括：站台单元控制器故障、安全回路故障、驱动电源故障、绝缘故障。针对这4种常见故障进行分析,阐述其发生原因及处理办法。     

客运专线ZPW-2000A轨道电路应用分析

介绍客运专线ZPW-2000A轨道电路的结构组成,分析应用特点,阐明其与既有ZPW-2000A设备相比所具备的先进性及高可靠度,提出日常维护和故障处理的建议。     

驾驶员稳态预瞄动态校正假说

针对汽车运动学和动力学自身的特点及驾驶员对其的理解和认识，基于预瞄跟随理论和预测控制理论，在驾驶员行为建模中作出了汽车运动学和动力学特性的分隔处理，提出了驾驶员稳态预瞄动态校正假说，并结合仿真计算和驾驶模拟器实验论证了假说的合理性和有效性。