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。     

基于核磁共振与无侧限抗压试验对纤维加固红黏土的宏微观特性研究

红黏土因其具有孔隙比大、易压缩等不良工程特性,常在工程建设中引起一列工程问题.为此,采用聚丙烯纤维对红黏土进行加固,并采用核磁共振(NMR)技术和无侧限抗压强度试验对不同含量纤维加固后土体的宏微观特性进行测试,得到以下结论:1)不同含量纤维加固后红黏土的T2谱形态基本保持一致,均在弛豫时间为1 ms附近出现峰值,且纤维含量为0.2％时,试样内部信号最强;不同含量纤维加筋土内部的孔径主要分布在0.01μm到0.05μm之间,且0.02μm孔径所占比例最大;试样的孔隙度和T2谱峰值面积随纤维含量的增加表现出先增加后减小的趋势,且均在纤维含量为0.2％时到达最大值;2)纤维能够明显增加红黏土的抗压强度,加筋土的抗压强度与纤维含量保持良好的线性增加关系;且随着纤维含量的增加,试样由脆性破坏逐渐表现为韧性破坏特征.3)纤维在土体中起到加筋作用,显著增加了土体间的连接力,且纤维相互交叉连接形成了空间网状结构,限制了土体的变形,使得加筋土抗压强度增加并表现出韧性破坏特征.     

腹地经济发展对港口吞吐量影响的动态研究

腹地经济规模和经济结构的变化影响着港口的发展方向，但是一般的静态回归模型中解释变量参数是固定的，无法反应腹地各种影响因素变化对港口吞吐量产生的动态影响，而变参数状态空间模型克服了这一缺陷，解释变量的参数可以随时间改变，充分体现了解释变量对因变量影响关系的改变，因此能够更加准确反映考察期内腹地各种因素对港口吞吐量的动态影响。在介绍模型的基础上，就东北经济对大连港集装箱吞吐量影响进行了实证研究，得出了较为详尽的结论，这些结论是港口未来发展的重要决策依据。     

Research on the Influence of Vertical Deformation of Bridge on the Track RegularityEI北大核心

Research purposes: The vertical deformation of high-speed railway (HSR) bridge will cause the track irregularity, which threatens the safe and efficient operation of the HSR. Taking the 32 m simple supported beam bridge as the research object, based on the existing mapping analytical model for bridge vertical deformation and rail geometry, the influence of the track regularity of the CRTS Ⅰ slab ballastless track structure caused by the key parameters such as the bridge vertical deformation amplitude, the hanging length of the beam end and the vertical stiffness of mortar layer were studied, and the corresponding measures to control the rail deformation were proposed, to provide theoretical reference for comprehensive treatment of rail deformation of HSR bridge. Research conclusions:(1) The pier settlement, the vertical rotation of the beam end and the beam fault will cause the rail to follow the beam deformation, and "up-warping" of the rail on the vertical deformation boundary will appear. (2) The rail deformation is directly proportional to the vertical deformation amplitude of the bridge and the key to control the rail deformation is to reduce the vertical deformation of the bridge. (3) The rail deformation can be controlled by reducing the hanging length of beam and vertical stiffness of mortar layer. (4) The research results can provide a theoretical reference for controlling the vertical rail deformation of high-speed railway bridges. © 2018, Editorial Department of Journal of Railway Engineering Society. All right reserved.     

The Reinforcement Analysis of Prestressed Anchor Frame Beam in the Deep Cutting Slope under Three Dimensional Strong EarthquakeEI北大核心

Research purposes: In order to further study the reinforcement of prestressed anchor frame beam in the deep cutting slope under three dimensional strong earthquake, a model of the deep cutting slope is built through FLAC 3D simulation software, the seismic wave to the model from three directions of x,y and z is input, and the dynamic response of the slope is analyzed. Then, the prestressed anchor frame beam reinforcement measures are applied to the model, and this paper analyzes the reinforcement effect of the prestressed anchor frame beam to the deep cutting slope under three dimensional strong earthquake. Research conclusions:(1) The prestressed anchor frame beam has a good effect on restraining the horizontal displacement of the deep cutting slope. (2) Under the three dimensional strong earthquake, the prestressed anchor frame beam has a good effect on the horizontal acceleration and horizontal velocity of the deep cutting slope, which reduces the peak of horizontal acceleration and horizontal velocity. (3) Through the comparison of the response before and after the reinforcement of the prestressed anchor frame beam is given under the 9 degrees three dimensional strong earthquake, it can be concluded that the prestressed anchor frame beam can provide good reinforcement effect to the deep cutting slope. (4) This research can be used for reference to the earthquake resistance of the slope engineering. © 2018, Editorial Department of Journal of Railway Engineering Society. All right reserved.     

新型铁路客站导乘环境规范化建设的思考

随着高速铁路大规模建设的展开,一大批新型客运车站相继投入运营。旅客导乘环境的规范化建设是提升客站服务品质的重要内容之一,无论是设计理念,还是客站运营特点,都需要对客站的导乘环境进行规范化建设。同时,设计导向标识系统应与客站设计的"功能性、系统性、先进性、文化性、经济性"五个基本理念相呼应,明确对标识系统"看得到、看得清、看得懂、找得到"四点基本要求。     

岩溶地层地铁区间隧道围岩临界承载力研究

岩溶地质构造在我国广泛分布,岩溶地质构造给地下工程造成的影响不容忽视。通过对岩溶地质构造特征进行分析,基于损伤理论与尖点突变理论,建立岩溶体顶部弯剪破坏与边墙屈曲破坏两种力学模型。针对层状围岩推导出基于顶部弯剪破坏模式的临界承载能力计算公式,并通过对某岩溶区段地铁区间隧道运行期间的稳定性分析验证了研究成果的合理性。     

富水砂层盾构始发井防涌水检测与加固

基于广州地铁6号线大坦沙站盾构始发井的实践,研究富水砂层中破除盾构井端头门时防涌水的施工监测和工程检测方法,根据检测和监测结果,基于朗金土压力理论进行计算分析,提出相应的加固措施和方法。介绍了具体的防水加固措施和效果。     

上海轨道交通出行方式链模型研究

随着上海轨道交通网络的形成,以轨道交通为主、多种交通方式组合的交通出行已经成为上海重要的交通模式。从轨道交通客流出行的多方式组合特征入手,建立上海轨道交通出行方式链模型,研究乘坐轨道交通的出行者选择哪一个轨道站点进入轨道交通系统,以及选择何种辅助交通方式到达该站点。该模型能揭示轨道站点周边的用地、配套交通设施与轨道客流之间的内在关系,从而提高轨道客流预测分析技术的可靠性。     

汽车离合器从动盘扭转耐久试验中弹簧疲劳断裂的自动识别

对汽车离合器从动盘扭转耐久试验中弹簧断裂的自动识别技术进行研究，提出一种以弹簧刚度特性变化为识别特征的识别原理，进行了相关的分析计算；介绍了基于此原理的自动识别方案及测试过程，并给出实际运行结果。此技术提高了测试智能化水平。