胶轮驱动式公铁两用牵引车研制需要应用创新技术来解决导向轮脱轨问题.对照类似产品,如RR222-6×4,动态仿真得到了具有可比性的分析结论,如最大牵引力接近140 k N.小曲线缓行通过动态仿真进一步发现:在最小曲线半径R=100 m时,若导...胶轮驱动式公铁两用牵引车研制需要应用创新技术来解决导向轮脱轨问题.对照类似产品,如RR222-6×4,动态仿真得到了具有可比性的分析结论,如最大牵引力接近140 k N.小曲线缓行通过动态仿真进一步发现:在最小曲线半径R=100 m时,若导向油缸保守压下量设置,如压下量≥40 mm,有可能发生1位胶轮瞬间打滑现象,轮胎磨损增大,技术服役寿命缩短;若导向油缸最小压下量设置,如压下量≤35 mm,则要出现导向轮脱轨,降低作业效率.应用创新技术,制订了基于伺服油缸的弹簧动挠度触发式反馈技术解决方案.与轴重转移技术相比,伺服油缸技术具有以下技术优势:即抑制导向轮爬轨及脱轨、4个胶轮保持较为合理的垂向载荷均衡性以及具有抵抗车钩横向分力扰动的能力.展开更多
An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output f...An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.展开更多
基金Project(60704005) supported by the National Natural Science Foundation of China Project(07ZR14119) supported by Natural Science Foundation of Shanghai Science and Technology Commission Project(2009AA04Z213) supported by the National High-Tech Research and Development Program of China
文摘An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.