Flexible predictive power-split control for battery-supercapacitor systems of electric vehicles using IVHS

The utilization of traffic information received from intelligent vehicle highway systems(IVHS) to plan velocity and split output power for multi-source vehicles is currently a research hotspot. However, it is an open issue to plan vehicle velocity and distribute output power between different supply units simultaneously due to the strongly coupling characteristic of the velocity planning and the power distribution. To address this issue, a flexible predictive power-split control strategy based on IVHS is proposed for electric vehicles(EVs) equipped with battery-supercapacitor system(BSS). Unlike hierarchical strategies to plan vehicle velocity and distribute output power separately, a monolayer model predictive control(MPC) method is employed to optimize them online at the same time. Firstly, a flexible velocity planning strategy is designed based on the signal phase and time(SPAT) information received from IVHS and then the Pontryagin’s minimum principle(PMP) is adopted to formulate the optimal control problem of the BSS. Then, the flexible velocity planning strategy and the optimal control problem of BSS are embedded into an MPC framework, which is online solved using the shooting method in a fashion of receding horizon. Simulation results verify that the proposed strategy achieves a superior performance compared with the hierarchical strategy in terms of transportation efficiency, battery capacity loss, energy consumption and computation time.

基于T-S模糊故障树的驱动电机冷却系统可靠性分析

车用驱动电机液压冷却系统存在故障机理不确定等问题。本文应用模糊数描述其故障概率和故障程度,建立驱动电机冷却系统的T-S模糊故障树模型,计算系统模糊可能性,分析各部件的概率重要度和关键重要度,找出影响系统可靠性的关键部件。

Stability Analysis on Speed Control System of Autonomous Underwater Vehicle

The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle（AUV）.The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov＇s direct method is proposed in this paper.After decoupling the six degree-of-freedom（DOF）motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems.

Dynamics of vehicles with high gravity centre

The vehicles with high gravity centre are more prone to roll over. The paper deals with a method of dynamics analysis of fire engines which is an example of these types of vehicle. Algorithms for generating the equations of motion have been formulated by homogenous transformations and Lagrange＇s equation. The model presented in this article consists of a system of rigid bodies connected one with another forming an open kinematic chain. Road maneuvers such as a lane change and negotiating a circular track have been presented as the main simulations when a car loses its stability. The method has been verified by comparing numerical results with results obtained by experimental measurements performed during road tests.

Auto-Test on Motor Temperature Rising in Electric Vehicles with Mutual MRAS

A new method to calculate the motor temperature rising in electric vehicle （EV） is proposed based on the stator resistance identification. The measure theory of the motor temperature rising with the stator resistance is discussed at first. An enhanced magnetism motor dynamic math model is built which is the research object. Then the resistance identification system model is built on the mutual model reference adaptive,system （MRAS） theory. The simulation diagram of the mutual MRAS model is constructed and the resistance identification performance is studied in different motor states. Simulation results indicate that the stator resistance identification model with the mutual MRAS is effective. At the same time, the identification of motor temperature rising is possible with the identification of the stator resistance.

Purchase willingness of new energy vehicles: A case study in Jinan City of China

Speeding up the promotion of new energy vehicles is an important measure to optimize the energy structure,promote energy conservation and emission reduction,and develop the economy sustainability.The research uses a questionnaire survey to analyze the residents’willingness to purchase new energy vehicles in Jinan Gty of China,and utilizes the binomial logistic regression model and Global Moran's I to explain the impact of three factors(including responden ts'personal characteristics and subjective cognition,products,and social environment)on the purchase willingness of new energy vehicles.According to the survey,75.12%of the responden ts consider buying new energy vehicles in the future,but only 11.66%of the respondents know new energy vehicles well.It can be seen that the respondents in Jinan City generally have an insufficient understanding of new energy vehicles.It may lead to a decline in residents’trust in new energy vehicles,which will in turm affect their purchase willingness.Based on the survey,we find that women who live far from the city center enjoy high incomes and have a low-carbon awareness,generally exhibit a higher willingness to purchase new energy vehicles.Spatial distribution of the purchase willingness has certain aggregation characteristics,showing a positive spatial correlation pattern.Purchase willingness has a certain positive diffusion effect in space,and areas with a higher purchase willingness have a positive driving effect on their surrounding regions.Spatial distribution of the purchase willingness can be used as one of the breakthroughs in promoting new energy vehicles.In addition,safety,price,after-sales service,and infrastruicture of new energy vehicles are important determinants of people's purchase willingness.Among the types of subsidies,financial subsidy is most effective on the residents’purchase wilingness.Our research provides an impor tant information for the promotion of new energy vehicles in the region.

Optimization of S-surface controller for autonomous underwater vehicle with immune-genetic algorithm

To deduce error and fussy work of manual adjustment of parameters for an S-surface controller in underwater vehicle motion control, the immune-genetic optimization of S-surface controller of an underwater vehicle was proposed. The ability of producing various antibodies for the immune algorithm, the self-adjustment of antibody density, and the antigen immune memory were used to realize the rapid convergence of S-surface controller parameters. It avoided loitering near the local peak value. Deduction of the S-surface controller was given. General process of the immune-genetic algorithm was described and immune-genetic optimization of S-surface controller parameters was discussed. Definitive results were obtained from many simulation experiments and lake experiments, which indicate that the algorithm can get good effect in optimizing the nonlinear motion controller parameters of an underwater vehicle.

固定翼UAV路径跟踪的全局稳定积分滑模S面控制

针对固定翼无人机的三维路径跟踪控制问题,设计了一种基于全局稳定积分滑模S面模型的内外环控制器。控制器外环采用全局稳定积分滑模控制,内环采用S面控制。设计控制器外环的全局稳定积分滑模控制律,并采用Lyapunov理论证明所设计控制律的稳定性。对内环的指令信号设计S面控制器,考虑到S面控制器中求导的复杂性,引入二阶微分器,解决内环中导数存在积分爆炸的问题。半物理仿真试验结果表明,提出的控制器能精确跟踪期望路径,具有良好的控制性能和抗干扰性能。

基于自适应S面算法的小型ROV艏向和深度运动控制研究

带缆遥控水下机器人(ROV)系统艏向与深度运动具有强非线性和运行环境不确定性等特点。针对ROV的运动特点,构建运动控制模型并进行化简,通过构建自适应S面控制法对艏向与深度进行控制,并利用Lyapunov的稳定性判据证明该控制法的稳定性,通过仿真验证了该控制法具有良好的稳定性和控制品质。同时,与S面控制法相比,自适应S面控制具有更好的动态性能与静态性能,调节速度快、稳定性强,能够准确控制ROV运动。

Design of Novel S-plane Controller of Autonomous Underwater Vehicle Established on Sliding Mode Control

Based on the deep analysis of the mathematical model of an autonomous underwater vehicle( AUV),comprehensive considerations are given to the coupling effect of AUV's longitudinal velocity on the other degrees of freedom. In the meantime,discussions are made on the influence of residual buoyancy and restoring moment.A novel S-plane controller established on sliding mode control( SMC) is hereby proposed in this study. The strengths of traditional S-plane controller including simple structure and easily adjustable parameters are maintained in the improved design while the weakness of unsatisfactory control effect at the time of high-speed operation is also overcome. Lyapunov function is introduced to make the stability analysis of the controller before it is successfully applied to the basic motion control of AUV-X. Then the comparative experiment test is carried out between the traditional S-plane controller and the novel S-plane controller. The effectiveness and feasibility of the novel S-plane controller established on sliding mode control in the AUV basic motion control is verified by the comparative analysis of experiment results.

Expert S-surface control for autonomous underwater vehicles

S-surface control has proven to be an effective means for motion control of underwater autonomous vehicles(AUV).However there are still problems maintaining steady precision of course due to the constant need to adjust parameters,especially where there are disturbing currents.Thus an intelligent integral was introduced to improve precision.An expert S-surface control was developed to tune the parameters on-line,based on the expert system,it provides S-surface control according to practical experience and control knowledge.To prevent control output over-compensation,a fuzzy neural network was included to adjust the production rules to the knowledge base.Experiments were conducted on an AUV simulation platform,and the results show that the expert S-surface controller performs better than an S-surface controller in environments with currents,producing good steady precision of course in a robust way.

Integrated Control System of Vehicle ABS/ASR/ACC Based onMC9S12DP256

The integrated control system of vehicle ABS/ASR/ACC has been developed using the MC9S12DP256 single chip, which is the new Motorola 16-bit product in HSC12 family. The system including the main control module, the data collection module and the drive and fault diagnosis module is demonstrated and its data collection function is presented in detail. The system designed by the modularization can supervise the data, drive the valves and pump. The program can be debugged on line, which is steady and reliable validated by the large numbers of vehicle road tests.

专家控制-改进S面算法在近水面航行器运动控制中的应用研究

[目的]旨在提高舵板响应速度和效率,以满足近水面航行器在静水及波浪干扰下的深度保持和姿态控制要求。[方法]在S面算法的基础上,提出一种具有更快收敛速度的改进S面控制算法,并与专家智能控制相结合,建立闭环专家控制-改进S面算法的混合控制模型,构建混合算法控制器。对比分析PID算法、S面算法、改进S面算法以及专家控制-改进S面算法在近水面航行器航行深度、姿态控制间的差异,并进行波浪干扰下的运动预报。[结果]预报结果表明:改进S面算法在静水航行控制中可提高收敛速度,波浪干扰下可降低纵摇幅度;专家控制-改进S面算法能够提高舵的控制效率,在静水中快速实现航行状态稳定转换,在波浪中有效降低近水面航行器垂荡和纵摇幅值30%以上。[结论]所提专家控制-改进S面算法对近水面航行器运动稳定性的提高适用性良好。

Advanced FNN control of mini underwater vehicles

Fuzzy neural networks(FNN)based on Gaussian membership functions can effectively control the motion of underwater vehicles.However,their operating processes and training algorithms are complicated,placing great demands on embedded hardware.This paper presents an advanced FNN with an S membership function matching the motion characteristics of mini underwater vehicles with wings.A learning algorithm was then developed.Simulation results showed that the modified FNN is a simpler algorithm with faster calculations and improves responsiveness,compared with a Gaussian membership function-based FNN.It is applicable for mini underwater vehicles that don’t need accurate positioning but must have good maneuverability.

My Suggestion to the future of China’s New Energy Vehicle

I first came to China for work in 2012 and now is the chief technology officer of Ningde Contemporary Amperex Technology Co.,Limited(hereinafter referred to as CATL).During my more than seven years of working in China,I have personally experienced the rapid development of China’s new energy vehicles,and witnessed the whole process of growing up as a wellknown supplier of power batteries of CATL.

Structural Analysis and Improved Design of the Gearbox Casing of a Certain Type of Tracked Vehicle

Loads on a gearbox casing of a certain type of tracked vehicle were calculated according to the engine＇s full load characteristic curve and the worst load condition where the gearbox operated while the tracked vehicle was running, and then stiffness and strength of the casing were analyzed by means of Patran/Nastran software. After a- nalysis, it was found that the casing satisfied the Mises ＇ yield condition; however, the stress distribution was hetero- geneous, and stresses near the bearing saddle bores of the casing were higher while those in other regions were much less than the allowable stress. For this reason, thicknesses of the casing wall on bearing assembling holes needed in- creasing, while those in other places can decrease. After much structural improving and re-analysis, the optimal casing design was found, and its weight decreased by 5% ; the casing still satisfied the Mises yield criterion and the stress distribution was more homogeneous.

LM-2F: A Great Launch Vehicle for China's Manned Spaceflight

The LM-2F launch vehicle is China's first launch carrier developed for China's Manned Space Program,which is one of the most important parts of the Program.It is developed from the LM-2E launch vehicle,with addition of two new systems,an escape system and a fault detection system.

一种基于LSTM的汽车路噪预测方法

汽车路噪的分析与治理是NVH(Noise,Vibration And Harshness)工作的重要组成部分。由于路噪的产生机理复杂,建立机理模型较困难,故引入数据驱动方法对路噪进行研究。首先,对路噪影响因素进行剖析,界定出具有显著性的影响因素。在此基础上,运用长短时记忆神经网络算法(LSTM)揭示路噪与其影响因素间的复杂非线性关系,建立路噪预测模型。进而在粗糙沥青路面分别以40 km/h、60 km/h的车速工况采集悬架相关部件振动数据和驾驶员右耳畔噪声数据,以获得样本用于路噪模型的训练和检验。并采用Mixup数据增强策略合成新的样本,从而使样本量不足状况得到改善。进一步,对LSTM路噪预测模型进行检验与分析,测试结果均方误差为0.076 2,表明预测效果良好,证明所提方法的有效性。同时,将BPNN、SVR与LSTM预测方法进行比较,发现LSTM路噪预测模型精度更高,泛化能力更好,从而证明该方法的优越性。

无限宽广的超低音TW AUDiO—BSX

TW AUDiO的产品BSX是一个拥有140cm（长）×60cm（高）×90cm（宽）的双21in（1in=2．54cm）低频音箱。因为140cm的长度相当于两个B30或两个S30的摆放位置，因此BSX可充当一个结实的基座。

Audio Valve ASSISTANT 20s电子管功放

德国的Audio Valve公司成立于1984年,其创立Helmut Becker进行音响行业的原因,是由他喜欢用耳机来听音乐,但却感觉直接用放器来推耳机声音并不理想。