Determination of the dynamic characteristics of locomotive drive systems under re-adhesion conditions using wheel slip controller

To investigate the re-adhesion and dynamic characteristics of the locomotive drive system with wheel slip controller,a co-simulation model of the train system was established by SIMPACK and MATLAB/SIMULINK.The uniform running and starting conditions were considered,and the influence of structural stiffness of the drive system and the wheel slip controller on the re-adhesion and acceleration performance of the locomotive was investigated.The simulation results demonstrated that the stick-slip vibration is more likely to occur in locomotives with smaller structural stiffnesses during adhesion reduction and recovery processes.There are many frequency components in the vibration acceleration spectrum of the drive system,because the longitudinal and rotational vibrations of the wheelset are coupled by the wheel‒rail tangential force when stick-slip vibration occurs.In general,increasing the structural stiffness of the drive system and reducing the input energy in time are effective measures to suppress stick-slip vibration.It should also be noted that inappropriate matching of the wheel slip controller and drive system parameters may lead to electro-mechanical coupling vibration of the drive system,resulting in traction force fluctuation and poor acceleration performance.

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot （WMR）. The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

Neural Network-Based Adaptive Motion Control for a Mobile Robot with Unknown Longitudinal Slipping

When the mobile robot performs certain motion tasks in complex environment, wheel slipping inevitably occurs due to the wet or icy road and other reasons, thus directly influences the motion control accuracy. To address unknown wheel longitudinal slipping problem for mobile robot, a RBF neural network approach based on whole model approximation is presented. The real-time data acquisition of inertial measure unit(IMU), encoders and other sensors is employed to get the mobile robot’s position and orientation in the movement, which is applied to compensate the unknown bounds of the longitudinal slipping using the adaptive technique. Both the simulation and experimental results prove that the control scheme possesses good practical performance and realize the motion control with unknown longitudinal slipping.

Slip Suppression of Electric Vehicles Using Sliding Mode Control Method

This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance and the energy conservation by controlling the slip ratio of wheel. In this method, a robust sliding mode controller against the model uncertainties is designed to obtain the maximum driving force by suppressing the slip ratio. The numerical simulations for one wheel model under variations in mass of vehicle and road condition are performed and demonstrated to show the effectiveness of the proposed method.

An ARX-Based PID-Sliding Mode Control on Velocity Tracking Control of a Stick-Slip Pi-ezoelectric-Driven Actuator

Piezoelectric-driven stick slip actuators have been drawn more and more attention in the nano- positioning application due to the high accuracy and theoretical unlimited displacement. However, the hysteresis of piezoelectric actuator (PEA) and the nonlinear friction force between the end- effector and the stage make control of piezoelectric-driven stick slip actuator challenge. This paper presents the development of an autoregressive exogenous (ARX)-based proportional-integral-derive (PID)-sliding mode control (SMC) for the velocity tracking control of the piezoelectric-driven stick slip actuator. Stability is guaranteed by rigorously choosing the appropriate PID parameters and the zero steady state error is achieved. To verify the effectiveness of the proposed method, experiments were carried out on a commercially-available piezoelectric-driven stick slip actuator. The tracking errors were compared with the traditional PID controller, illustrating that in spite of existing of modeling error, the ARX-based PID-SMC is able to better improve the velocity tracking performance of piezoelectric-driven stick slip actuator, compared with the traditional PID controller.

足式机器人SLIP模型向上跳跃台阶的运动控制

由于存在地势起伏,台阶对足式机器人运动稳定性会带来较大挑战.弹簧负载倒立摆模型(SLIP)作为研究足式机器人的优良模板,能否完成向上跳跃台阶的动作与其腿部摆角,起跳位置和跳跃高度都有密切的关系.由于调整模型腿部摆角规律容易引发运动失效,故本文在算法中引入虚拟弹簧腿,根据虚拟弹簧腿的运行规律确定合理起跳位置,根据起跳位置来控制系统跳跃高度进而完成跳跃台阶的动作.最后利用仿真软件进行多组仿真,结果表明本文算法对起跳区间划分合理,对起跳高度控制精准,能够实现SLIP模型跳跃台阶前后的稳定运动.

Re-adhesion control strategy based on the optimal slip velocity seeking method

In the railway industry, re-adhesion control plays an important role in attenuating the slip occurrence due to the low adhesion condition in the wheel-rail inter- action. Braking and traction forces depend on the normal force and adhesion coefficient at the wheel-rail contact area. Due to the restrictions on controlling normal force, the only way to increase the tractive or braking effect is to maximize the adhesion coefficient. Through efficient uti- lization of adhesion, it is also possible to avoid wheel-rail wear and minimize the energy consumption. The adhesion between wheel and rail is a highly nonlinear function of many parameters like environmental conditions, railway vehicle speed and slip velocity. To estimate these unknown parameters accurately is a very hard and competitive challenge. The robust adaptive control strategy presented in this paper is not only able to suppress the wheel slip in time, but also maximize the adhesion utilization perfor- mance after re-adhesion process even if the wheel-rail contact mechanism exhibits significant adhesion uncer- tainties and/or nonlinearities. Using an optimal slip velocity seeking algorithm, the proposed strategy provides a satisfactory slip velocity tracking ability, which was demonstrated able to realize the desired slip velocity without experiencing any instability problem. The control torque of the traction motor was regulated continuously to drive the railway vehicle in the neighborhood of the opti- mal adhesion point and guarantee the best traction capacity after re-adhesion process by making the railway vehicle operate away from the unstable region. The results obtained from the adaptive approach based on the second- order sliding mode observer have been confirmed through theoretical analysis and numerical simulation conducted in MATLAB and Simulink with a full traction model under various wheel-rail conditions.

Observer-based State Feedback Control to Suppress Stick-slip Vibrations in Oil Well Drill-string

In drilling field, stick-slip vibrations of the drill-string are the main reason for the failure of the drilling system. To suppress the undesired stick-slip vibrations, an observer-based state feedback control method is proposed. The drilling system is described by a lumped parameter model including a Karnopp friction torque model. A state observer is designed to estimate the bit velocity in bottom hole and a state feedback controller is proposed to control the top drive velocity. By simulation, the performance of the control algorithm is demonstrated. Based on the control algorithm, a stick-slip vibration control system is developed. Test results show that the control system can effectively eliminate stick-slip vibrations of the drill-string and can be applied to the drilling field.

基于神经网络的四足机器人SLIP模型运动控制

根据四足哺乳动物形态设计的四足机器人,能够适应错综复杂的地形,且具有较强的运动属性。而对于四足机器人而言,运动的控制十分重要,所以对四足机器人运动过程中的跳跃控制问题进行了研究。首先,采用弹簧负载倒立摆模型(SLIP)对四足机器人结构进行简化处理,建立了简化模型的动力学方程,并分析了模型的运动过程以及着陆相与腾空相的转换条件。其次,在仿真平台中建立了SLIP动力学模型,通过动力学仿真得到了一份仿真样本数据,并利用这份样本数据训练了一个神经网络,其中样本考虑了四足机器人在与地面接触过程中由于碰撞和阻尼所消耗的能量。最后,在仿真平台中进行验证,给定模型的初始高度和水平速度,通过神经网络计算出合适的着陆角,得到期望的水平末速度和弹跳高度。实验结果表明,基于神经网络的方法可以较精确地实现对SLIP模型运动的控制。

Calculation of Taper Rolling Time in Plan View Pattern Control Process

The forward slip model with adhesion was used to derive the formula of calculating taper rolling time. The relation between the rolling time and the taper length and the relation between the rolling time and the taper thickness can be obtained. The numerical solution for this formula was used on site. According to the simulation result, the roll gap value should be changed linearly with rolling time.

Slip Compensation in Efficiency-Optimized Three-Phase Induction Motor Drive Systems

Energy efficiency optimization techniques of electrical drive systems improve the overall efficiency and reduce the hardness of mechanical characteristics of the drive system. It is therefore important to reduce the slip of induction motor to maintain its stable operation at different frequencies and loads. In this paper a slip compensator, based on fuzzy logic incremental controller has been developed to improve the steady state performance of efficiency-optimized three-phase induction motor drive system. The slip control is accomplished through a fuzzy controller with 9 rules, taking speed error and speed error variation as inputs, to produce the frequency. The proposed controller reduces the slip occurring at low frequencies and light loads to certain value, and also reduces the energy efficiency of the system.

Aircraft Electric Anti-skid Braking System Based on Fuzzy-PID Controller with Parameter Self-adjustment Feature

The principle of electric braking system is analyzed and an anti-skid braking system based on the slip rate control is proposed.The fuzzy-PID controller with parameter self-adjustment feature is designed for the anti-skid braking system.The dynamic model of aircraft ground braking is established in the simulation environment of MATLAB/SIMULINK,and simulation results of dry runway and wet runway are presented.The results show that the fuzzy-PID controller with parameter self-adjustment feature for the electric anti-skid braking system keeps working in the state of stability and the brake efficiencies are increased to 93%on dry runway and 82%on wet runway respectively.

Study on Criterion About Overcoming Low-Speed Stick-Slip of Simulator

This paper sums up the research situation. At the influence of friction, a simulator exists the phenomenon of low-speed stick-slip. The character of low-speed of simulator is affected seriously. According to the phase plane method, algebra analyzing method and Lyapunov theory, the paper gives a criterion about overcoming low-speed stick-slip. Making use of the criterion, we can conclude the relationship between system parameters and low-speed stick-slip, and determine the condition where the parameters of PID controller should satisfy, for the purpose of overcoming low-speed stick-slip and has not the phenomenon of low-speed stick-slip. This method is simple and easy to carry out and the experiments show that the condition is correct.

塔里木盆地超深层走滑断控油气藏研究进展与趋势

在塔里木盆地开辟了超深层走滑断控油气藏勘探开发领域,但断控油气藏极为复杂,难以效益开发,亟需加强油气藏基础地质研究。走滑断控油气藏具有非均质性强、储集层与流体分布复杂、油气产量变化大及采收率低的共性,不同地区走滑断控油气藏的断裂、储集层、成藏与流体存在较大的差异,面临一系列勘探开发难题。建立了差异成因的走滑断裂破碎带及其控储模型,揭示了沿走滑断裂带“相-断-溶”三元复合控储、连片差异规模发育的成储机制;构建了“源-断-储-盖”四元耦合成藏、“小藏大田”的走滑断控油藏模型,揭示了超深层走滑断控油藏的形成与保存机理。突破了克拉通盆地弱走滑断裂难以形成走滑断控大规模储集层与大油气田的理论认识局限,明确了克拉通盆地走滑断裂系统大规模发育的成因机制、走滑断裂破碎带差异成储成藏机理与油气富集规律。

新疆克拉玛依乌尔禾张扭性走滑断裂特征及其控藏作用研究

乌尔禾沥青矿断裂带位于准噶尔盆地西北缘乌夏断裂带乌尔禾鼻隆之上,是一个小型左旋走滑断裂带。断裂带形成后未发生强烈改造,断裂带内发育沥青矿脉,露头地质条件好,且有三维地震覆盖,是研究走滑断裂特征和控藏作用的天然实验室。本文采用无人机三维立体建模技术,结合野外剖面实测,对乌尔禾沥青矿走滑断裂带野外剖面露头进行定量分析和解剖。结果表明,沥青矿断裂带共发育17条断层,主断层西北侧断层呈雁列状分布,东南侧断层呈马尾状,断裂带纵向呈负花状。研究表明,断层形成于燕山期左旋剪切应力场,受拉张应力影响,整体处于张扭环境,形成张扭性走滑断裂带。断层发育空腔和诱导裂缝,尤其主动盘裂缝更为发育,空腔的开度与油气侵染宽度呈正相关。结合塔里木盆地张扭性走滑断裂与油气藏关系分析,本文认为张扭性走滑断裂是良好的垂向油气运移通道,主动盘具有侧向输导作用,被动盘具有封堵作用,走滑断裂主动盘一侧圈闭是良好的油气聚集区域。

汽车电子机械制动系统的ABS自抗扰控制

为解决传统车辆液压制动系统响应滞后、ABS存在滑移率非线性等问题,设计了一种“行星齿轮减速机构+滚珠丝杠+活塞”的电子机械制动执行器方案,提出一种基于滑移率的ABS自抗扰控制策略,使电子机械制动系统能够快速、准确地调节各个车轮的制动力,有效满足ABS的要求。运用Matlab/Simulink验证执行器的响应性能,分别在2种路面工况下进行ABS制动过程的仿真。研究结果表明:自抗扰控制对于系统内外部扰动具有较强的鲁棒性,能保证车辆的前、后轮滑移率更快稳定在目标滑移率处,有效减少了车辆的制动时间与制动距离。

轮毂式电动汽车电子差速复合控制方法

为实现轮毂式电动汽车在弯道的稳定转向,解决传统控制方法对汽车行驶速度的局限性,提出一种高-低速复合电子差速控制方法。当汽车处于低速行驶状态时,根据Ackermann转向模型获取驱动轮期望转速,提出一种模糊PID控制方法,实现轮速的稳定跟踪;当汽车处于高速行驶状态时,以驱动轮的相对滑移率作为反馈控制量,提出一种基于模糊逼近的滑移率优化控制方法,无需建立精确的系统状态空间模型,同时根据LQR理论保证了汽车驱动轮相对滑移率最小。Matlab/Carsim联合仿真证明,所提出的高-低速复合控制方法能够使汽车在不同行驶速度下实现稳定转向。

塔里木盆地顺北1号断裂带奥陶系碳酸盐岩储层结构表征及三维地质建模

综合利用地震、测井、岩心以及动态生产资料,对塔里木盆地顺北1号断裂带断控型碳酸盐岩储集体的内部结构进行了层级划分;基于层级划分,通过地震资料属性提取与转换、深度学习、基于目标示性点过程模拟以及离散裂缝网络模拟(DFN)等方法建立了三维地质模型,并以模型进行油气储量和油藏数值模拟,将拟合结果与实际生产数据进行对比。研究结果表明:(1)顺北1号断裂带奥陶系断控型储层按层级由大到小分为走滑断裂影响带、断控体、类洞穴、类洞穴内簇充填和裂缝带共5个层级。(2)走滑断裂影响带受应力差异影响具有分段性,可细分为挤压段、拉分段和平移段;断控体在拉分段发育断裂交会型、单支走滑型,在平移段发育双断裂交错型和两断裂交会型,在挤压段发育双断裂扭曲型和双断裂交会型,共有6种平面组合样式;类洞穴在地震剖面上呈串珠状反射特征;类洞穴内部分为栅体与栅间(基岩),其中栅体又可进一步分为簇(角砾带)、簇间(裂缝带),整体表现为栅状结构,簇的物性更好;裂缝带为类洞穴的主要储集空间,在簇内部比簇间更发育,在一间房组比鹰山组更发育,一间房组和鹰山组均以发育高角度裂缝为主,在两者连接处则以发育水平缝为主。(3)地质模型预测的油气储量与地质分析储量误差为1.75%,模型模拟的生产井地层压力及累产液结果与生产动态吻合度较高,拟合误差小于10%。

复杂构造变形区断控裂缝发育分布模式

天然裂缝是油气重要的储集空间和渗流通道。在复杂构造变形区,裂缝明显受断层影响控制,但其规律和模式尚不清晰。为此,本次研究以库车坳陷为例,通过现场地质观测、成像测井裂缝解译和理论分析,计算断控裂缝系数,揭示走滑断层、逆冲断层控制复杂构造变形区天然裂缝的规律,提出断控裂缝发育分布模式。结果表明:(1)逆冲断层对天然裂缝产状和发育程度均具有明显的控制作用,裂缝密度与距断层距离呈现负指数关系,距断层由近及远可以划分为断层强控制裂缝带、断层弱控制裂缝带和区域裂缝带。(2)走滑断层包括调节走滑断层和逆冲走滑断层。调节走滑断层与地层走向近垂直或大角度斜交,发育断层控制裂缝带,其受断层规模影响显著;逆冲走滑断层与地层走向近平行或者小角度斜交,天然裂缝主要局限于断层带内,沿断层走向断裂带宽度发生变化。(3)定义断控裂缝系数(K),即断层强控制裂缝带宽度与断层断距(滑距)的比值,通过分析,库车坳陷逆冲断层K值为1.50~1.80,走滑断层K值为0.125~0.150。研究成果对复杂构造变形区油气勘探开发具有理论和实践指导意义。

深部矿井软底回采巷道底鼓机理及防治研究

针对山阳煤矿软底回采巷道严重底鼓的难题,采用理论分析、数值模拟和现场应用的方法,基于塑性理论建立了巷道底板岩体滑移线底鼓力学模型。研究表明,巷道底板破坏岩体主要分为3个区,分别为主动极限区、过渡区和被动极限区,推导了巷道底板岩体的最大破坏深度,提出了锚索+卸压槽联合控制底鼓的方法。采用数值模拟的方法验证了联合控制方案的可行性,现场应用效果表明该方法能够有效控制软底巷道底鼓,为相似地质条件底鼓问题的研究提供了一定的帮助。