首先针对两重化、双两重化、三重化以及双三重化这四种系统架构下的安全仪表系统的要求时平均危险失效率(Average Probability of Dangerous Failure on Demand,PFDavg)、误跳车率(Spurious Trip Rate,STR)以及生命周期成本(Life Circle...首先针对两重化、双两重化、三重化以及双三重化这四种系统架构下的安全仪表系统的要求时平均危险失效率(Average Probability of Dangerous Failure on Demand,PFDavg)、误跳车率(Spurious Trip Rate,STR)以及生命周期成本(Life Circle Cost,LCC)进行多目标模型分析。并结合工控行业实际情况,分析单重架构Moo N及双重架构2×Moo N的各指标的差异,结果表明两重化架构下的误跳车率是其他三种架构下的近100倍。基于此再进一步分析现场需要的备件数量,以及在双两重化和三重化架构下生命周期成本。展开更多
Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots...Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.展开更多
文摘首先针对两重化、双两重化、三重化以及双三重化这四种系统架构下的安全仪表系统的要求时平均危险失效率(Average Probability of Dangerous Failure on Demand,PFDavg)、误跳车率(Spurious Trip Rate,STR)以及生命周期成本(Life Circle Cost,LCC)进行多目标模型分析。并结合工控行业实际情况,分析单重架构Moo N及双重架构2×Moo N的各指标的差异,结果表明两重化架构下的误跳车率是其他三种架构下的近100倍。基于此再进一步分析现场需要的备件数量,以及在双两重化和三重化架构下生命周期成本。
基金Project(60775060) supported by the National Natural Science Foundation of ChinaProject(F200801) supported by the Natural Science Foundation of Heilongjiang Province,China+1 种基金Project(200802171053,20102304110006) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2012RFXXG059) supported by Harbin Science and Technology Innovation Talents Special Fund,China
文摘Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.
