非圆面齿轮差速器的构型原理与动态防滑机制

针对变传动比差速器核心元件制造难度大、动态限滑机制不明确的问题,提出一种基于非圆面齿轮的新型变传动比差速器,并针对该差速器的构型原理与动态防滑机制展开研究。在阐明圆柱齿轮与非圆面齿轮的传动原理的基础上,给出非圆面齿轮差速器的构型原理;针对单侧驱动车轮打滑,整车陷入困境的工况,根据机构旋转法得到非圆面齿轮差速器的运动学表达式,利用高等动力学理论,构建非圆面齿轮差速器各构件的力学平衡方程,推导出整车牵引力公式,进而建立非圆面齿轮差速器驱动下整车水平移动的动力学模型;通过试验和仿真相结合的方法,对差速器在两驱动轮上的扭矩分配,动态牵引力变化以及整车的脱困行为进行研究,结果表明:非圆面齿轮差速器使单侧打滑车轮产生周期惯性扭矩,有利于提升车辆的最大牵引力,它是变传动比差速器动态防滑的根本原因;增加差速器输入转速,能够有效提升车辆脱困的平均速度,同时对车辆产生的柔性冲击幅值也会增大,研究结果为变传动比差速器的设计提供一定的理论依据。

村级集体经济“消薄”防滑长效机制研究——以浙江省为例

集体经济是农村经济的重要组成部分,振兴农村集体经济是实施“乡村振兴战略”的基本路径和必然选择。当前,农村基层党组织存在凝聚力、号召力不足,公共服务滞后,村级组织缺乏“造血”功能等问题,影响农业农村现代化进程,应通过资源公平配置和激励相结合、短期脱困和长期发展相结合、集智与聚力相结合、财政投入和多元支持相结合等措施,构建村级集体经济“消薄”防滑长效机制,促进村级集体经济的健康发展。

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot （WMR）. The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.