为了进一步降低增程式电动汽车(extended range electric vehicle,EREV)在自适应巡航过程中的驱动成本,针对增程模式下自适应巡航控制(adaptive cruise control,ACC)系统在不同巡航工况下需求功率不同的特点,提出了一种考虑油耗和电池...为了进一步降低增程式电动汽车(extended range electric vehicle,EREV)在自适应巡航过程中的驱动成本,针对增程模式下自适应巡航控制(adaptive cruise control,ACC)系统在不同巡航工况下需求功率不同的特点,提出了一种考虑油耗和电池寿命的EREV双模式切换ACC策略。针对ACC系统设计了模式切换逻辑,制定了基于PID和模型预测控制(model predictive control,MPC)算法的上层控制策略;针对增程模式制定了基于最优工作点和最低燃油消耗曲线的增程器单点恒温控制和功率跟随控制策略;基于MATLAB/Simulink搭建了控制策略模型,通过ACC系统定速或跟车模式下单点恒温控制和功率跟随控制的仿真分析,结合油耗和充电功率制定了增程器双模式切换控制策略;最后,在考虑油耗和电池寿命的情况下,进行了3种增程器控制策略的驱动成本对比。结果表明,双模式切换控制相比单模式控制最高可实现驱动成本15.63%的降低。展开更多
In recent years, the sustainable development of automatic manual transmissions (AMTs) control in vehicles is conspicuous. The control applications have grown fast and steadily due to the tremendous progress in power e...In recent years, the sustainable development of automatic manual transmissions (AMTs) control in vehicles is conspicuous. The control applications have grown fast and steadily due to the tremendous progress in power electronics components and the control software that enhance the requirements for delivering higher vehicles performance. AMTs control strategies achieve a reduction in the driveline dynamic oscillations behavior during gear shifting and clutch starting up processes. AMTs future expectations are an increase of torque capacity, more speed ratios and the development of advanced and efficient electronic control systems. This paper concerns with the progressing view of AMTs in the past, today and future, gives an overview of the potential dynamic problems concerned with AMTs and some control strategies used to solve those problems.展开更多
Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence ot abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinemat...Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence ot abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer pereeptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally, avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.展开更多
A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level contro...A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.展开更多
文摘为了进一步降低增程式电动汽车(extended range electric vehicle,EREV)在自适应巡航过程中的驱动成本,针对增程模式下自适应巡航控制(adaptive cruise control,ACC)系统在不同巡航工况下需求功率不同的特点,提出了一种考虑油耗和电池寿命的EREV双模式切换ACC策略。针对ACC系统设计了模式切换逻辑,制定了基于PID和模型预测控制(model predictive control,MPC)算法的上层控制策略;针对增程模式制定了基于最优工作点和最低燃油消耗曲线的增程器单点恒温控制和功率跟随控制策略;基于MATLAB/Simulink搭建了控制策略模型,通过ACC系统定速或跟车模式下单点恒温控制和功率跟随控制的仿真分析,结合油耗和充电功率制定了增程器双模式切换控制策略;最后,在考虑油耗和电池寿命的情况下,进行了3种增程器控制策略的驱动成本对比。结果表明,双模式切换控制相比单模式控制最高可实现驱动成本15.63%的降低。
文摘In recent years, the sustainable development of automatic manual transmissions (AMTs) control in vehicles is conspicuous. The control applications have grown fast and steadily due to the tremendous progress in power electronics components and the control software that enhance the requirements for delivering higher vehicles performance. AMTs control strategies achieve a reduction in the driveline dynamic oscillations behavior during gear shifting and clutch starting up processes. AMTs future expectations are an increase of torque capacity, more speed ratios and the development of advanced and efficient electronic control systems. This paper concerns with the progressing view of AMTs in the past, today and future, gives an overview of the potential dynamic problems concerned with AMTs and some control strategies used to solve those problems.
基金Project (60234030) supported by the National Natural Science Foundation of China
文摘Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence ot abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer pereeptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally, avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.
文摘A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.
