自行式重型平板车多转向模式的控制研究

基于CAN总线的PLC控制方式在自行式重型平板车多转向模式上的应用,能有效节约安装空间和系统成本,是一种先进的多转向模式控制方法。研究了多转向模式控制的设计思路和方法,并采用基于CAN(控制器局域网)总线的PLC控制方式对平板车的多转向模式进行控制,使平板车的各转向模式协同工作,顺利完成运输任务。

多转向驱动拖挂式移动机器人镇定控制

研究一类特殊的移动机器人系统-多转向驱动拖挂式移动机器人(Multi-steering tractor-trailer mobile robot,MSTTMR)的镇定控制问题.首先,通过状态坐标变换和控制输入变换将具有任意节车体的多转向驱动系统的运动学模型转化为多输入幂式形式;然后,基于幂式形式设计一种ρ指数级收敛的镇定控制器,并证明其稳定性.针对两车体系统的镇定控制仿真表明该方法的有效性.

10kV多转向站地式长型接地线的研制应用

为降低配网生产现场挂接高压地线的安全风险及操作时间,文章较为详细地分析了使用传统接地线存在的安全隐患,同时比较使用市面上的其它类型高压接地线的不足,给出了新型多转向站地式长型接地线的设计方案。根据文章所设方案,定制出新型接地线实物。运行维护人员进行全面性能测试后,确认此新型接地线在避免高空作业、触电等风险有明显作用,同时节省一半以上的操作时间,得到相关部门确认可在电力生产现场试用,并获得《珠海供电局2016年职工科技创新项目一等奖》。

一种可伸缩多转向线路接地线的研制与应用

目前上海地区使用的10 kV线路接地线存在不足之处,介绍了一种新型10 kV线路接地线的研制过程和实际试用结果。指出该接地线通过伸缩方式改变绝缘杆的长度,可满足较大距离下挂接接地线的需求;同时还能通过调整接地头的角度,将接地线挂接在引线桩头等部位上,避免了电力作业人员挂接接地线时距离带电部位过近的情况,从而保证作业安全。

Microstructure control and mechanical properties of directionally solidified TiAl-Nb alloys

The double directional solidification（DS） technique was developed to control the lamellar microstructures in primary β TiAl-Nb alloys.Polysynthetically twinned（PST） crystals with lamellar boundaries parallel to or inclined 45o to the growth direction were achieved due to the complete peritectic transformation during directional solidification of the alloys with the dendritic solid/liquid interface.The PST crystals with aligned lamellar boundaries only parallel to the growth direction were produced when lamellar grains with lamellar boundaries in the same orientation were seeded by themselves under appropriate growth conditions.Low boron addition is harmful to align the lamellar orientation because of the growth of non-peritectic α phase.Due to the larger yttria particles and boride ribbons in the directionally solidified TiAl-Nb alloys,the tensile plastic elongations of the alloys are only close to 2%.

Multi-objective optimization of active steering system with force and displacement coupled control

A novel active steering system with force and displacement coupled control(the novel AFS system) was introduced,which has functions of both the active steering and electric power steering.Based on the model of the novel AFS system and the vehicle three-degree of freedom system,the concept and quantitative formulas of the novel AFS system steering performance were proposed.The steering road feel and steering portability were set as the optimizing targets with the steering stability and steering portability as the constraint conditions.According to the features of constrained optimization of multi-variable function,a multi-variable genetic algorithm for the system parameter optimization was designed.The simulation results show that based on parametric optimization of the multi-objective genetic algorithm,the novel AFS system can improve the steering road feel,steering portability and steering stability,thus the optimization method can provide a theoretical basis for the design and optimization of the novel AFS system.

Performance optimization of electric power steering based on multi-objective genetic algorithm

The vehicle model of the recirculating ball-type electric power steering (EPS) system for the pure electric bus was built. According to the features of constrained optimization for multi-variable function, a multi-objective genetic algorithm (GA) was designed. Based on the model of system, the quantitative formula of the road feel, sensitivity, and operation stability of the steering were induced. Considering the road feel and sensitivity of steering as optimization objectives, and the operation stability of steering as constraint, the multi-objective GA was proposed and the system parameters were optimized. The simulation results show that the system optimized by multi-objective genetic algorithm has better road feel, steering sensibility and steering stability. The energy of steering road feel after optimization is 1.44 times larger than the one before optimization, and the energy of portability after optimization is 0.4 times larger than the one before optimization. The ground test was conducted in order to verify the feasibility of simulation results, and it is shown that the pure electric bus equipped with the recirculating ball-type EPS system can provide better road feel and better steering portability for the drivers, thus the optimization methods can provide a theoretical basis for the design and optimization of the recirculating ball-type EPS system.

Multidiscipline collaborative optimization of differential steering system of electric vehicle with motorized wheels

Based on the multidiscipline design optimization theory, a multidiscipline collaborative optimization model of the differential steering system of electric vehicle with motorized wheels is built, with the steering economy as the main system and the steering road feel, the steering flexibility and the mechanic character of the steering sensors as the subsystems. Considering the coupled relationship of each discipline, the main system is optimized by the multi-island algorithm and the subsystems are optimized by the sequential quadratic programming algorithm. The simulation results show that the steering economy can be optimized by the collaborative optimization, and that the system can get good steering road feel, good steering flexibility and good mechanic character of the steering sensors.