Roller Screw and Threaded Chain Speed Reducer: An Experimental Evaluation

We are developing a speed reducer that can be considered a transformation of a worm gear reducer: the worm is replaced by an inverted roller screw, and the gear is replaced by a threaded chain drive. This configuration lessens wear, increases load capacity, and improves efficiency. The threaded chain consists of nut-shaped links. This paper presents the results of tests carried out on a prototype with a reduction ratio of 46.

Estimation of Vehicle Speed Based on Wheel Speeds from ASR System in Four-Wheel Drive Vehicles

Three major methods currently in the use of determining vehicle speed based on wheel speeds, the minimum wheel speed, minimum wheel speed corrected by slope method and the Kalman filter method, are analyzed, with merits and defects of each approach stated. Through simulations, the Kalman filter method based on minimum wheel speed shows improved accuracy, in addition to better adaptivity to vehicle reference speed. It also can be used to acceleration ship regulation （ASR） in part-time four-wheel drive vehicles.

Influence of work zone signage on driver speeding behavior

Speeding in a work zone needs to be tackled effectively to enhance work zone safety. This study evaluates the influence of three different work zone signs—speed photo enforced signs, dynamic speed display signs and reduced speed limit signs—on driver speeding behavior using a medium-fidelity driving simulator. The speed photo enforced and reduced speed limit signs were placed at intervals before the start of the work zone and in the work zone. A virtual work zone network was built to replicate the Baltimore–Washington Parkway(MD-295). A total of 66 participants from different socioeconomic backgrounds participated in 264 driving simulation sessions. The speeds were measured over four phases: initial speed area, sign visible area, sign readable area and post sign area. An analysis of variance and post hoc analysis showed that the speed photo enforced sign was the most effective of the three signs. The second speed photo enforced sign within the work zone was more effective at reducing speed than the sign before the start of the work zone, especially in the post sign area. It was observed that female participants tend to slow down more when encountering a speed photo enforcement sign.

Study on Steering Control Strategy for High-Speed Tracked Vehicle with Hydrostatic Drive

Steering control strategy for high-speed tracked vehicle with hydrostatic drive is designed based on analyzing the fundamental steering theories of the hydrostatic drive tracked vehicle. The strategy is completed by the cooperation between integrated steering control unit and pump ＆ motor displacement controller. The steering simulation is conducted by using Simulink of Matlab. It is indicated that this steering control strategy can reduce the average vehicle speed automatically to achieve the driver＇s expected steering radius exactly in the case of en- suring not exceeding the system pressure threshold and no sideslip.

A Digital Phase Locked Loop Speed Control of Three Phase Induction Motor Drive: Performances Analysis

This paper deals with performance analysis and implementation of a three phase inverter fed induction motor (IM) drive system. The closed loop control scheme of the drive utilizes the Digital Phase Locked Loop (DPLL). The DPLL is safely implemented all around the well known integrated circuit DPLL 4046. An ex-perimental verification is carried out on one kw scalar controlled IM system drives for a wide range of speeds and loads appliance. This presents a simple and high performance solution for industrial applications.

Single Phase Induction Motor Drive with Restrained Speed and Torque Ripples Using Neural Network Predictive Controller

In industrial drives, electric motors are extensively utilized to impart motion control and induction motors are the most familiar drive at present due to its extensive performance characteristic similar with that of DC drives. Precise control of drives is the main attribute in industries to optimize the performance and to increase its production rate. In motion control, the major considerations are the torque and speed ripples. Design of controllers has become increasingly complex to such systems for better management of energy and raw materials to attain optimal performance. Meager parameter appraisal results are unsuitable, leading to unstable operation. The rapid intensification of digital computer revolutionizes to practice precise control and allows implementation of advanced control strategy to extremely multifaceted systems. To solve complex control problems, model predictive control is an authoritative scheme, which exploits an explicit model of the process to be controlled. This paper presents a predictive control strategy by a neural network predictive controller based single phase induction motor drive to minimize the speed and torque ripples. The proposed method exhibits better performance than the conventional controller and validity of the proposed method is verified by the simulation results using MATLAB software.

Microcontroller-Based Variable Speed Drive for Three-Phase Induction Motor in Cooling Applications

This paper presents an electronic VSD （variable speed drive） for three-phase IM （induction motor） using a microcontroller. The VSD is designed for cooling applications where the 1M is coupled to a cooling fan. The drive receives temperature feedback from objects to be cooled and output a corresponding frequency to the IM. A prototype of the VSD is constructed to control a 175 W, four pole, squirrel cage three-phase IM. The heart of the control circuit is a low-cost microchip＇s PICI6F777 microcontroller which is programmed using C language to generate variable frequency SPWM （sinusoidal pulse width modulation） switching signals. These switching signals are fed to an 1GBT inverter. The VSD constructed can be switched between two modes of speed control＂ automatic temperature-controlled mode and manual user-controlled mode. Cost savings using the prototype are demonstrated.

High-Power-Factor Adjustable Speed Drive Using Diode Clamped Multilevel Inverter

This paper presents a new approach to alleviate the harmonics and to enhance the power factor of the ASD （adjustable speed drive）. A conventional ASD with 2-level PWM （pulse width modulation） inverters generate high dv/dt and high frequency common mode voltages which are harmful for the drive applications. It reduces the motor bearings life and conducted EMI （electro magnetic interference） deteriorates the insulation. In this paper, a diode clamped multilevel （3-level） inverter is used to perform dual task. It generates HF （high frequency） current to be injected at the input of the three-phase front-end rectifier thereby improving the harmonic spectra and the power factor. It also drives the induction motor. The salient feature of this paper is that it does not require separate converters for improving power factor and to drive induction motor. Furthermore, inverter switches operate with ZVS （zero voltage switching）, thus reducing the switching losses substantially, The voltage stress of the switches also has been reduced to half of the conventional 2-level converter. The inverter is operated with SPWM （sinusoidal pulse width modulation） technique. The simulation results for a prototype of 2.2 kW are presented.

煤巷掘进过程中煤岩破裂微震事件研究

目的为了监测和预警煤矿掘进巷道前方可能发生的危险,方法利用微震监测技术实时监测,利用监测系统捕获到的数据信息研究掘进影响下微震事件的空间分布规律、发生时间、频次和能量关键点,然后利用短时傅里叶变换和S变换方法分析典型煤岩破裂微震信号的时频特征。结果结果表明:(1)微震事件主要分布在沿掘进巷道前方50~100 m区域,大多为中低能量微震事件,仅在掘进工作面前方出现少量强度较大的煤岩破裂事件,且震级多为-2~0;(2)掘进速度和发生微震事件的数量及能量大小成正相关,同时掘进速度也影响着煤岩动力灾害的发生;(3)巷道掘进会造成煤岩体失稳,其中岩体破裂信号频率高,为0~2000 Hz,比重值大,主频约700 Hz;煤岩破裂微震事件信号频率为90~1000 Hz,主频约250 Hz;岩体破裂后,支撑力下降,压力转移给煤体,导致煤体破裂,煤体破裂微震事件信号频率为90~1000 Hz,主频约350 Hz。结论微震事件能够综合反映煤岩体受力破坏程度,判别掘进过程中煤岩破裂类型,为矿井生产中煤岩动力灾害的预警提供理论基础。

基于运动合成的旋转变速运动建模及其驱动机构演变

为满足织机开口运动停—升—停的工艺特性及其动力学性能,提出一种基于运动合成的旋转变速运动规律构造方法。从组合机构角度提出旋转变速运动驱动机构及其演变,建立不同驱动机构的相对运动传递函数模型。采用目标优化法对旋转变速机构尺寸参数进行设计,在相同的中心距半径和转子臂初始位置的情况下建立优化函数并进行求解。仿真结果表明:偏移系数是影响旋转变速运动的关键参数,且变速运动静止时间、相对位移和速度峰值随偏移系数增加而减小;传递函数是影响旋转变速机构运动特性的重要参数,当偏移系数为0.4147时,随传动比的减小,转子臂相对位移减小,同时影响旋转变速机构凸轮特性,传动比大于0.9后不能满足旋转变速机构约束条件;用导杆滑块机构和铰接四杆机构对齿轮机构进行代换,可近似实现变速规律相对运动的传递,其传动误差分别为0.010、0.003 rad;通过减小中心距对铰接四杆机构重新优化可以提高旋转变速机构传动性能,满足高速运动需求。

自动驾驶载货汽车速度轨迹模型预测跟踪控制方法

为避免车辆质量变化与道路坡度对自动驾驶载货汽车纵向车速控制的干扰,通过智能导航系统获取车辆速度轨迹及道路坡度信息,建立车辆纵向动力学模型和压缩天然气(CNG)发动机动力学模型,并基于模型预测控制(MPC)框架设计了一种实时的动态规划(DP)速度轨迹跟踪控制器。仿真结果表明,在新欧洲驾驶循环(NEDC)和全球统一轻型车辆测试循环(WLTC)工况下,该控制器在载货汽车质量变化和道路坡度干扰条件下能使车速保持稳定,并可在优化速度跟踪误差的同时降低发动机天然气消耗量。

大咖揭秘系列科普——车祸为什么会发生

道路交通事故频发,使儿童和青少年面临着巨大威胁。现通过解答公众关心的交通事故相关问题,科普专业的交通知识,揭开车祸发生的神秘面纱。首先深入剖析了涵盖人、车、路、环境四方面的车祸频发原因,其中的人为因素占比高达93%。针对红绿灯问题,强调了按其指示出行的重要性,但红绿灯并非绝对保障,同时也需要多观察周围环境。此外,还探讨了车速与安全的相对性,提出适宜的车速应依据道路条件而定,并警示感冒及服药后驾驶的潜在风险。最后讨论了无人驾驶技术的影响,其虽有望减少人为失误,但仍尚存挑战。通过科普的形式,旨在提高公众对交通事故的科学认知,增强公众的交通安全意识,减少交通事故的发生。

多频率组合波形阵风场模拟与测量研究

基于数值模拟方法选取设定FL-51风洞阵风发生器的装置参数,如发生器叶片的数量、展长、弦长及间距等。发生器采用液压摆动缸独立驱动形式,可模拟正弦波、三角波及随机波等多种波形的多频率组合运动,同时能够减少安装传动件,并提升发生器性能。通过阵风场校测结果表明:叶片能够实现摆动频率为0 Hz~15 Hz,在校测范围内发生器产生的正弦流场较均匀;在来流风速40 m/s、叶片摆动频率为10 Hz、摆角为15°时,最大阵风幅值为8.5 m/s。地面测试与流场校测结果表明:该文所提出的阵风场模拟技术可以实现低速风洞多频率多波形组合运动,为风洞试验提供复杂的阵风流场。

基于多策略改进的SMC-GTO电机速度跟踪控制

针对传统控制算法在农业机器人驱动电机速度控制方面存在的响应时间长、跟踪效果差以及参数整定难度大,导致驱动电机转速难以在短时间内收敛至预期值的问题,提出一种基于多策略改进的SMC-GTO电机速度跟踪控制算法。首先,为了缩短驱动电机速度响应时间,提高速度跟踪效果,设计了一种新型趋近率的改进滑模控制器(I-SMC);其次,为了快速整定滑模控制器参数,引入了多策略改进的大猩猩部队优化算法(MIGTO)。仿真结果表明:I-SMC能够将电机运行过程中的动态误差累计与过冲控制在0 rad/s内,并且可以在0.4 s内响应至预定速度。MIGTO算法在开发和探索阶段均展现出卓越的性能,尤其在整定基于新型趋近率的改进滑模控制器参数工作中表现突出。该研究通过引入I-SMC和MIGTO算法,成功改进了驱动电机速度控制方式,有效缩短了响应时间,提升了速度跟踪效果。

基于DEM的无人驾驶拖拉机前馈稳速控制

针对农田坡度变化影响无人驾驶农机行驶速度稳定性,进而降低播种均匀性和肥药施用精度等问题,该研究设计了一种基于农田数字高程模型(digital elevation model,DEM)和前馈控制策略的拖拉机稳速控制方法。首先建立坡地干扰补偿模型,基于拖拉机实时位置从农田DEM中提取前方作业路径的坡度信息,计算拖拉机前方目标速度补偿量,实现拖拉机行驶的稳速控制。以DF1204无级变速拖拉机为试验平台,在中国农业大学烟台研究院开展3组不同目标速度的上坡、平地和下坡行驶对比试验。试验结果表明,拖拉机以目标速度4、6和8 km/h行驶时,上坡行驶的实测速度均值分别为4.03、5.94和7.85 km/h,平地行驶的实测速度均值分别为4.04、6.02和8.03 km/h,下坡行驶的实测速度均值分别为4.00、6.10和8.19 km/h,与对照组相比,在上坡、平地和下坡行驶时的速度均方根误差平均分别降低了46.63%、21.92%和37.15%,试验组上坡和下坡行驶的实测速度均值更接近目标速度。所提方法可有效提高无人驾驶拖拉机在起伏农田的稳速控制精度,有助于提高农机作业质量。

考虑经验驾驶行为的入弯实时类人速度规划方法

为提高自动驾驶汽车的安全性、舒适性与通行效率,提出了一种考虑到滑行及安全速度的类人入弯速度规划策略。该策略基于混沌优化理论与实车弯道行驶速度数据,通过将车辆的入弯速度规划问题构建为多目标优化问题,建立了舒适模式与效率模式。通过定义奇点速度,简化了非线性高阶约束条件。结果表明:在该策略规划中,在不同弯道场景下,横向加速度和纵向加速度均在摩擦圆约束内,可保证车辆的行驶安全。相比于未考虑滑行的方法,在舒适模式下,该策略产生的纵向加速度减小9.76%,通行效率提高61.73%;在效率模式中,纵向加速度为加速度阈值,满足加速度约束,通行效率提高88%。因而,无论舒适模式还是效率模式,该方法均可兼顾舒适性和通行效率。

高速公路小净距互通立交车辆纵向运行特性

为明确车辆在高速公路小净距互通立交的纵向运行特性,在G50沪渝高速公路重庆段的白杨沟立交和跑马坪立交,开展了38位被试的实车驾驶试验。利用车载仪器采集了自然驾驶状态下的车辆运行速度以及纵向加速度等参数,计算了速度极差、带宽以及聚集系数,分析了驾驶行为的约束性以及速度变化特征。提取了纵向加速度连续变化曲线的峰值,研究了纵向加速度的累积频率、概率分布特性以及特征百分位值。结果表明:在小净距区段,合流区与分流区相互重叠,车辆交织行为增多,车辆间干涉严重,速度极差较大,离散性较高;断面速度总体呈现偏态分布,小净距区段断面速度区间大于其它断面。纵向加速概率分布曲线总体呈现偏态分布,加速度负值分布区间大于正值分布区间;小净距区段交通环境相对更复杂,驾驶人操作更加谨慎,与常规净距立交相比,小净距立交纵向加速度平均值低0.28 m/s^(2)。汇入过程中,驾驶人对加速度的选择存在一定差异,偏向于较大的加速度正值(0.542 m/s^(2))与较低的加速度负值(-0.081 m/s^(2))。然而,驶出过程中,驾驶人对加速度的选择具有一定趋同性,加速度正值(0.300 m/s^(2))与负值(-0.350 m/s^(2))差异性小;男性驾驶人纵向操作频率高于女性,幅度低于女性,不同驾驶风格驾驶人纵向加速度变化趋势具有一定的趋同性。

电动轮椅颠簸路面行驶状态研究

为提升电动轮椅在颠簸路面行驶的安全性,建立了电动轮椅在此行驶状态下的数学模型,利用轮子与地面接触时产生的振动作为外界激励,分析了电动轮椅行驶中常规线性模型与振动非线性模型行驶速度与重力加速度及纵向位移之间的关系。为进一步描述电动轮椅在颠簸路面行驶过程中的动态特性,分别以行驶速度3.3 m·s^(-1)和3.7 m·s^(-1)为例进行数值模拟,得出在颠簸路面行驶时电动轮椅的振动频率和幅值随着行驶速度的增加而增大,而这将导致电动轮椅发生倾倒的概率加大,威胁乘员的安全,所以合理设置电动轮椅行驶速度,优化底盘减振设计,能够降低冲击载荷,保障安全行驶。

多工况下的液驱多维力加载装置主轴速度控制

不同工况引起加载力之间的耦合效应降低了速度控制效果,为了更加精准控制不同工况下的主轴速度,提出一种多工况下的液驱多维力加载装置主轴速度控制方法。计算多工况下的液驱多维力加载装置主轴速度,以此作为控制器设计输入。在多种工况下,将液驱多维力加载装置主轴输入和输出速度之间的差值作为输入信号,通过模糊推理算法改进经典PID控制器,通过模糊检测调整改进后的控制器组建模糊自适应PID控制器,实现速度自适应控制。通过实验测试证明,所提方法可以精准地完成液驱多维力加载装置主轴速度控制,受工况影响较小。

电驱式玉米高速作业播种机控制系统设计与试验

我国市面上流行的玉米播种机多数采用指夹式排种器和气吸式排种器,依靠地轮传递带动排种器排种,在一定程度上提高播种粒距均匀性,但排种仍然会受到地轮打滑的影响。针对以上问题,设计电驱式玉米高速作业智能播种机控制系统,以STM32F103芯片作为主控器核心,该系统由地轮安装速度传感器测量机具速度,根据智能车载终端设置的作业参数,通过算法计算目标排种电机转速,实现播种株距与机具前进速度实时匹配,采用红外光电式传感器进行实时播种监测。室内试验和田间试验结果表明:该系统转速控制精度高,播种计数和漏播监测精度较高;设置株距为25 cm时,作业速度分别为8 km/h、10 km/h、12 km/h进行3组重复试验,在3种作业速度下,平均合格指数分别为95.18%、94.36%、91.24%;变异系数分别为15.36%、16.83%、18.24%。