A pinion-type electric power steering (EPS) equipped on a sedan is reached in this paper. A three-freedom dynamic model of this system is created. The variables affecting assist character is analyzed. The formulas of ...A pinion-type electric power steering (EPS) equipped on a sedan is reached in this paper. A three-freedom dynamic model of this system is created. The variables affecting assist character is analyzed. The formulas of simpled steering resistance force and the relationship between assist gain and vehicle speed are presented for the first time. Assist character is found based on the parameters of a sedan at last. This assist character is fit for the control rule of the EPS system through analyzing this character. The assist character figure offers reference for system design and control. Furthermore, this research method has generality for assist character of different kinds of vehicles.展开更多
Next generation grid systems where the emphasis shifts to distributed global collaboration, a service-oriented approach and information layer issues exhibit a strong sense of automation. Requirements for these systems...Next generation grid systems where the emphasis shifts to distributed global collaboration, a service-oriented approach and information layer issues exhibit a strong sense of automation. Requirements for these systems resemble the self-organizing and the healing properties of natural ecosystems. Some key ecological concepts and mechanisms are introduced into the design for the third generation grid computing architectures by inspiration of this resemblance. Also, an Ecological Network-based Computing Environment (ENCE) platform is designed in this paper. Based on the ENCE platform, a grid-computing model of three-layered grid conceptual prototype that embeds the ENCE layers is presented from the viewpoint of implementation. The implementation model should be useful to the design of the third generation grid systems.展开更多
A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF plan...A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF planar platform was established based on slippery course and bearing, and dSPACE real-time control system was used to perform the platform's motion control experiment on robot. Based on the kinematic equation and mechanical balance equation of moving platform, the stiffness of the robot system was analyzed and the calibration scheme of the system considering wire tension was put forward. Position servo control experiments were carried out, position servo tracking precision was analyzed, and real-time wire tension was detected. The results show that the moving error of the moving platform tracking is small (the maximum difference is about 3%), and the rotation error is large (the maximum difference is about 12%). The wire tension has wave properties (the wire tension fluctuation is about 10 N).展开更多
文摘A pinion-type electric power steering (EPS) equipped on a sedan is reached in this paper. A three-freedom dynamic model of this system is created. The variables affecting assist character is analyzed. The formulas of simpled steering resistance force and the relationship between assist gain and vehicle speed are presented for the first time. Assist character is found based on the parameters of a sedan at last. This assist character is fit for the control rule of the EPS system through analyzing this character. The assist character figure offers reference for system design and control. Furthermore, this research method has generality for assist character of different kinds of vehicles.
基金Supported in part by the National Nature Science Foundation of China (No. 60474037 and 60004006) and Specialized Research Fund for the Doctoral Program of Higher Education from Educational Committee of China (No. 20030255009)
文摘Next generation grid systems where the emphasis shifts to distributed global collaboration, a service-oriented approach and information layer issues exhibit a strong sense of automation. Requirements for these systems resemble the self-organizing and the healing properties of natural ecosystems. Some key ecological concepts and mechanisms are introduced into the design for the third generation grid computing architectures by inspiration of this resemblance. Also, an Ecological Network-based Computing Environment (ENCE) platform is designed in this paper. Based on the ENCE platform, a grid-computing model of three-layered grid conceptual prototype that embeds the ENCE layers is presented from the viewpoint of implementation. The implementation model should be useful to the design of the third generation grid systems.
基金Project(20102304120007) supported by the Research Fund for the Doctoral Program of Higher Education of ChinaProject(QC2010009)supported by the Natural Science Foundation of Heilongjiang Province, China+1 种基金Projects(20110491030, LBH-Z10219) supported by China Postdoctoral Science FoundationProject(HEUCF120706) supported by the Fundamental Research Funds for the Central Universities of China
文摘A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF planar platform was established based on slippery course and bearing, and dSPACE real-time control system was used to perform the platform's motion control experiment on robot. Based on the kinematic equation and mechanical balance equation of moving platform, the stiffness of the robot system was analyzed and the calibration scheme of the system considering wire tension was put forward. Position servo control experiments were carried out, position servo tracking precision was analyzed, and real-time wire tension was detected. The results show that the moving error of the moving platform tracking is small (the maximum difference is about 3%), and the rotation error is large (the maximum difference is about 12%). The wire tension has wave properties (the wire tension fluctuation is about 10 N).
