Based on the predigestion of the dynamic model of the intelligent firefighting vehicle,a linear 2-DOF lateral dynamic model and a preview error model are established.To solve the problems of a highly non-linear vehicl...Based on the predigestion of the dynamic model of the intelligent firefighting vehicle,a linear 2-DOF lateral dynamic model and a preview error model are established.To solve the problems of a highly non-linear vehicle model,time-varying parameters,output chattering,and poor robustness,the Radial Basis Function neural network sliding mode controller is designed.Then,different driving speeds are used to conduct simulation tests under standard double-shifting and smooth curve road conditions,and the simulation results are used to analyse the tracking effect of the lateral motion controller on the desired path.The simulation results reveal that the controller designed has high accuracy in tracking the desired path and has good robustness to the disturbance of intelligent firefighting vehicle speed changes.展开更多
Nanosized dispersive hexagonal magnesium hydroxide （Mg（OH）2） has been prepared using an ammonia- hydrothermal method. Citric acid and monoethanolamine （MEA） were added to the reaction system during the ammonia p...Nanosized dispersive hexagonal magnesium hydroxide （Mg（OH）2） has been prepared using an ammonia- hydrothermal method. Citric acid and monoethanolamine （MEA） were added to the reaction system during the ammonia precipitation and hydrothermal processes, respectively, to improve the crystallinity and dispersion of the （Mg（OH）2） particles. The resulting Mg（OH）2 samples obtained under the opti- mum preparation conditions were characterized by scanning electron microscopy, X-ray diffraction and thermal gravity analysis, which showed that this newly developed procedure afforded well-dispersed hexagonal nanoolates of Mg（OH）2 with a mean diameter of 246 nm.展开更多
基金BKZZJH202004 Seed project of Beijing University of Science and Technology,2020 and Laboratory Technology Innovation Incubation Programme,2020.
文摘Based on the predigestion of the dynamic model of the intelligent firefighting vehicle,a linear 2-DOF lateral dynamic model and a preview error model are established.To solve the problems of a highly non-linear vehicle model,time-varying parameters,output chattering,and poor robustness,the Radial Basis Function neural network sliding mode controller is designed.Then,different driving speeds are used to conduct simulation tests under standard double-shifting and smooth curve road conditions,and the simulation results are used to analyse the tracking effect of the lateral motion controller on the desired path.The simulation results reveal that the controller designed has high accuracy in tracking the desired path and has good robustness to the disturbance of intelligent firefighting vehicle speed changes.
文摘Nanosized dispersive hexagonal magnesium hydroxide （Mg（OH）2） has been prepared using an ammonia- hydrothermal method. Citric acid and monoethanolamine （MEA） were added to the reaction system during the ammonia precipitation and hydrothermal processes, respectively, to improve the crystallinity and dispersion of the （Mg（OH）2） particles. The resulting Mg（OH）2 samples obtained under the opti- mum preparation conditions were characterized by scanning electron microscopy, X-ray diffraction and thermal gravity analysis, which showed that this newly developed procedure afforded well-dispersed hexagonal nanoolates of Mg（OH）2 with a mean diameter of 246 nm.
