Research on Vehicle Control Technology Using Four-Wheel Independent Steering System

The enhancement of vehicle handling stability and maneuverability through active and independent rear wheels control is presented. Firstly, the configuration of four-wheel independent steering prototype vehide is introduced briefly. Then the concrete overall design of the electronic controllers of four wheel independent steering system （4WIS） is formulated in details. Under the control strategy of zero sideslip angle at mass center, the mathematical model of 4WIS is established to deduce the equations of separated rear wheel steering angles. According to these equations, simulation analysis for 4WIS vehicle performances is finished to show that 4WIS vehicle can improve the maneuverability greatly at low speed and increase the handling stability at high speed. Finally, the road test of 4WIS vehide has performed to verify the correctness of simulation and show that compared with the conventional four wheel steering （4WS） vehicle, the 4WIS vehicle not only improves the kinematical harmony but also decreases steering resistance and lighten abrasion of tires.

Dynamic and inner-dressing control of four-wave mixing in periodically-driven atomic system

Four-wave-mixing(FWM) process is examined by using density matrix formalism in a periodically-driven atomic medium. Numerical result shows that FWM signals can be controlled by selecting different dynamic parameters of the probe field and strengths of the inner-dressing fields. It is also shown that the controllable FWM process is dominantly influenced by the evolution of atomic population difference and two-photon coherence. This dynamic and inner-dressing control of FWM is probably used for optimizing the optical nonlinear process and information processing.

Optimal control strategy for energy saving in trains under the four-aspect fixed autoblock system

This paper deals with both the leading train and the following train in a train tracking under a four-aspect fixed autoblock system in order to study the optimum operating strategy for energy saving. After analyzing the working principle of the four-aspect fixed autoblock system, an energy-saving control model is created based on the dynamics equation of the Wains. In addition to safety, energy consumption and time error are the main concerns of the model. Based on this model, dynamic speed constraints of the following train are proposed, defined by the leading gain dynamically. At the same time, the static speed constraints defined by the line conditions are also taken into account. The parallel genetic algorithm is used to search the optimum operating strategy. In order to simplify the solving process, the external punishment function is adopted to transform this problem with constraints to the one without constraints. By using the real number coding and the strategy of dividing ramps into three parts, the convergence of GA is accelerated and the length of chromosomes is shortened. The simulation result from a four-aspect fixed autoblock system simulation platform shows that the method can reduce the energy consumption effectively in the premise of ensuring safety and punctuality.

Sensorless Control of Four-Switch Inverter for Brushless DC Motor Drive and Its Simulation

The major function of this proposed research is to control the speed of the brushless DC motor with sensor less control for four-switch three phase inverter. This proposed system is simplified the topological structure of the conventional six-switch three phase inverter. In this proposed method, a new structure of four-switch three phase inverter [1] with reduced number of switches for system is introduced to reduce the mechanical commutation, switching losses that occur in the six-switch method. The proposed inverter fed brushless DC motor used in sensorless control schemes which is used for sensing positioning signals. To improve sensor less control performance, four-switch electronic commutation modes based proportional intergral controller scheme is implemented. In this four-switch three phase inverter reduction of switches, low cost control and saving of hall sensor were incorporated. The feasibility of the proposed sensor less control four-switch three phase inverter fed brushless DC motor drive is implemented, analysed using MATLAB/SIMULINK, effective simulation results have been validated out successfully.

Effective way of alleviating poverty against poverty control: Based on the model of "Three Drives, Four Joints" in Zhen'an County

Based on the survey research of poverty controlling model of "Three Drives, Four Joints" in Zhen'an County, its forming motives, implementing mechanism, and constraint factors have been explored to testify its enlightenment and applicability, establishing a promotable, applicable, and effective poverty alleviation model. "Three Drives, Four Joints" model is linked to the poor who lacks ability of self-development. Relying on the drives from key leading companies, the capable and the rich, a community with shared interests by the poor and the subjects of the "three drives" could be formed through "Joint Production, Joint Resources, Joint Community of Stock, and Joint Operation". The linked poverty alleviation development model of "the influential and the rich bring along the poor" and "A rich household would help the others" come into being. It is found out that the model of "Three Drives, Four Joints" is in essence a poverty alleviation method focusing on the increase of the income and diversified ways of increasing the earnings. Problems of poverty alleviation carrier and joint mechanism have been solved in the poverty alleviation process. The model is innovative in activating the resource elements, helping to move the poor out of poverty. A referential, copyable, and applicable model is offered to advance the poverty alleviation in mountainous areas in China.

Fixed time integral sliding mode controller and its application to the suppression of chaotic oscillation in power system

Chattering phenomenon and singularity are still the main problems that hinder the practical application of sliding mode control. In this paper, a fixed time integral sliding mode controller is designed based on fixed time stability theory, which ensures precise convergence of the state variables of controlled system, and overcomes the drawback of convergence time growing unboundedly as the initial value increases in finite time controller. It makes the controlled system converge to the control objective within a fixed time bounded by a constant as the initial value grows, and convergence time can be changed by adjusting parameters of controllers properly. Compared with other fixed time controllers, the fixed time integral sliding mode controller proposed in this paper achieves chattering-free control, and integral expression is used to avoid singularity generated by derivation. Finally, the controller is used to stabilize four-order chaotic power system. The results demonstrate that the controller realizes the non-singular chattering-free control of chaotic oscillation in the power system and guarantees the fixed time convergence of state variables, which shows its higher superiority than other finite time controllers.

Commutant Lifting for Optimal Control of Time-varying Systems

This paper uses the commutant lifting theorem for representations of the nest algebra to deal with the optimal control of infinite dimensional linear time- varying systems. We solve the model matching problem and a certain optimal feedback control problem, each of which corresponds with one type of four-block problem. We also obtain a new formula for the optimal performance and prove the existence of an optimal controller.

Research on Multicloud Access Control Policy Integration Framework

Multicloud access control is important for resource sharing and security interoperability across different clouds,and heterogeneity of access control policy is an important challenge for cloud mashups.XACML is widely used in distributed environment as a declaratively fine-grained,attribute-based access control policy language,but the policy integration of XACML lacks formal description and theory foundation.Multicloud Access Control Policy Integration Framework(MACPIF)is proposed in the paper,which consists of Attribute-based Policy Evaluation Model(ABPEM),Four-value Logic with Completeness(FLC)and Four-value Logic based Policy Integration Operators(FLPIOs).ABPEM evaluates access control policy and extends XACML decision to four-value.According to policy decision set and policy integration characteristics,we construct FLC and define FLPIOs including Intersection,Union,Difference,Implication and Equivalence.We prove that MACPIF can achieve policy monotonicity,functional completeness,canonical suitability and canonical completeness.Analysis results show that this framework can meet the requirements of policy integration in Multicloud.

非理想相贯焊缝自动化焊接的运动控制研究

为了实现对加工装配存在误差的大构件相贯焊缝的多层多道自动化焊接,在介绍四轴联动焊接机器人结构及工作原理的基础上,建立了集斜交、偏置的通用相贯焊缝数学模型,提出一种连续控制焊枪位置参数及姿态调整值的计算方法,利用关键点示教+分段空间圆弧插补确定焊枪位置,主法面二分角法给出焊枪姿态,最后采用PC机+运动控制卡的方式构成伺服控制系统,驱动电机执行运动控制算法。该运动控制算法通用性较强,对管管焊缝工程化应用具有重要的参考价值。

System Four仪器A单元控制板常见故障的维修

System Four仪器A单元采集站在使用中控制板的故障较多,本文给出了A单元控制板不加电、不能唤醒下个站和高电压这三种常见故障分析、维修的方法。通过对这三种故障的分析、追踪,实际上对控制板的主要电路进行了分析。

Design and Dynamics Analysis of Anti-skid Braking System for Aircraft with Four-wheel Bogie Landing Gears

In asymmetric conditions,the movement and loads of left/right wheels or front/back wheels of the aircraft with multi-wheel or four-wheel bogie landing gears are inconsistent.There are few open literatures related to anti-skid braking system for multi-wheels due to technology blockade.In China,the research on multi-channel control and non-equilibrium regulation has just started,and the design of multi-channel control system for anti-skid braking,the simulation of asymmetry taxiing under braking are not studied.In this paper,a dynamics model of ground movement for aircraft with four-wheel bogie landing gears is established for braking simulation, considering the six-degree-of-freedom aircraft body and the movement of bogies and wheels.A multi-channel anti-skid braking system is designed for the wheels of the main landing gears with four-wheel bogies.The eight wheels on left and right landing gears are divided into four groups,and each group is controlled via one channel.The cross protection and self-locked protection modules are added between different channels.A multi-channel anti-skid braking system with slip-ratio control or with slip-velocity control is established separately.Based on the aircraft dynamics model,aircraft braking to stop with anti-skid control on dry runway and on wet runway are simulated.The simulation results demonstrate that in asymmetric conditions,added with cross protection and self-locked protection modules,the slip-ratio-controlled braking system can automatically regulate brake torque to avoid deep slipping and correct aircraft course.The proposed research has reference value for improving brake control effect on wet runway.

“四水四定”最严格水资源管理管控指标研究

“四水四定”最严格水资源管理管控指标是水资源刚性约束制度的重要组成部分,是贯彻落实《节约用水条例》的重要抓手,“四水四定”的研究有助于推动用水方式由粗放向集约节约转变。通过分析“四水四定”的水是什么水、四定是什么的内涵,提出水资源的管控指标、经济社会发展保障及涉水均衡协调指标等;按照“城、地、人、产”用户维度和发展—水流—生态维度,构建了“四水四定”管控指标体系。文章以江苏沛县为例,从管控指标库的构建,以及考虑代表性、独立性、可比性和实用性四个方面的特征,建立了沛县的“四水四定”水资源刚性约束指标及目标,为各地正在开展的建立刚性约束制度和“四水四定”建设方案提供参考。

An Adaptive Model and Algorithm for an Electro-hydraulic Position Servo System in Auto Gauge Control for Aluminum Hot Tandem Mill

The electro-hydraulic servo position control system(HPC) is the core of an auto gap control for a modern four-high continuous hot strip mill.The actuators are loaded with considerable external disturbances,rolling forces,and the system stiffness and position accuracy will become hypersensitive to the leakage and the compressibility of the oil.Many efforts have being made to increase the position accuracies.The conventional resources are proportion-integral-differential(PID) controller.But the PID controller is faint for a considerable external disturbance.In this paper,by introducing the adaptive control strategy of model reference the reciprocities of the system structure with the loads were analyzed.With the Lyapunov energy function,an adaptive control algorithm applied to improve the system accuracy was formulated.The system simulations and the selection of parameters of the model were also discussed.The simulations show the static state errors at 0.02%.Finally,the industrial experimental result was given.

配电网中性点柔性接地装置四象限运行机理与控制方法

针对现有配电网柔性接地装置在进行接地故障处置时,易因网侧能量倒灌而导致直流侧电压失稳,甚至直流电容击穿的问题,分析注入电流与中性点电压间相角差随系统参数的变化规律,揭示系统参数变化对柔性接地装置输出有功功率、能量流向的影响机理,阐明造成系统能量倒灌的内在原因。在此基础上,提出一种具备四象限运行功能的柔性接地装置拓扑结构,在整流侧采用电压型三相半桥可控整流拓扑,并经配电变压器接入电网,能够维持能量在装置内双向流通,提升直流侧电压稳定性,同时实现直流侧供电自给。进一步提出基于四象限运行柔性接地装置的多目标复合控制方法,通过dq旋转坐标系下整流双环控制实现装置整流网侧单位功率因数运行及直流侧电压稳定,并由逆变侧控制对中性点电压进行快速精准调控。在PSIM(power simulation)仿真环境与10 kV真型配电网实验场中模拟各种运行和故障工况,对所提装置运行机理和控制方法进行验证,仿真与实验结果表明四象限运行柔性接地装置能有效解决现有柔性接地装置在网侧能量倒灌条件下直流侧电压失稳的问题,提升装置的运行和调控性能,实现接地故障快速安全可靠处置。

线控主动四轮转向汽车控制策略研究

目的针对线控四轮转向汽车横向稳定性不足及控制鲁棒性差等问题,提出一种主动转向反馈控制策略。方法使用Simulink搭建线控转向系统转向执行机构动力学模型,将MATLAB/Simulink与Carsim联合仿真,建立线控四轮转向整车模型;基于二自由度模型分析横摆角速度和质心侧偏角对汽车稳定性的影响,推导理想的横摆角速度和质心侧偏角;以横摆角速度增益恒定为依据设计理想传动比,得到期望前轮转角,以横摆角速度误差为控制量设计模糊控制器得到附加前轮转角对期望转角实时修正,实现前轮主动转向;针对横摆角速度和质心侧偏角与理想值之间的误差,加权得到稳定性控制目标;设计自适应积分滑模反馈控制策略输出后轮转角,对理想值进行跟踪,实现后轮主动转向。结果仿真实验结果表明:所搭建的线控转向系统能够准确反映汽车动力学特性。相比无控制的机械前轮转向汽车与横摆反馈控制的四轮转向汽车,线控主动四轮转向汽车在双移线工况下将质心侧偏角控制在0值附近波动,横摆角速度跟踪误差控制在1.149 deg/s以内;在角阶跃工况下将质心侧偏角稳态值控制在0.065 deg,横摆角速度稳态值误差为0.074 deg/s。结论线控主动四轮转向控制策略在双移线和角阶跃工况下控制效果显著,鲁棒性能好,能有效提高汽车的操纵稳定性和主动安全性。

Practical Implementation of Embedded Controlled Reduced Switch Z-Source Inverter-Fed Induction Motor Drive

A cost-effective component minimized embedded controlled Z-source inverter for induction motor drive is presented. The proposed topology combines the advantages of a traditional four-switch three-phase inverter with the advantages of the z impedance network (two inductors in series and two X connected capacitors). This new topology, besides the self-boost property, has low switch count and it can operate as a buck-boost inverter. As a result, the new embedded controlled reduced switch Z-source inverter system provides ride through capability during voltage sags, reduces line harmonics, improves power factor, reliability and extends output voltage range. Analysis, simulation and experiment result will be presented to demonstrate these new features.

Torque Distribution of Electric Vehicle with Four In-Wheel Motors Based on Road Adhesion Margin

With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process.

Design and Development of a Competitive Low-Cost Robot Arm with Four Degrees of Freedom

The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees of freedom and talented to accomplish accurately simple tasks, such as light material handling, which will be integrated into a mobile platform that serves as an assistant for industrial workforce. The robot arm is equipped with several servo motors which do links between arms and perform arm movements. The servo motors include encoder so that no controller was implemented. To control the robot we used Labview, which performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the servo motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.

考虑道路识别的四驱电动汽车再生制动策略

为了充分利用路面附着条件分配再生制动力,提高制动能量回收率,根据双电动机四驱结构电动汽车复合制动系统的特点,对其制动能量回收控制策略进行了研究.分析了驱动轮与地面附着特性,设计了道路识别器来计算每个轮胎与当前路面之间的峰值附着系数,并使用模糊控制策略确定每个车轮与8种道路的滑移率和附着利用率的相似输入.根据双电动机外部特性的制动力分配关系,提出了使更多制动能量回馈给电池的策略.结果表明:制动强度为0.3时,能量回收率为65.55%,具有较高的回收效率.

提高System Four采集站抗干扰能力、降低其功耗的改造方法

System Four采集站的抗干扰能力较差,功耗较高。本文通过对System Four采集站控制板电路进行分析,利用系统测试程序,借助示波器和数字万用表,对有关电路进行了改造:在采集站的命令对、数据对的输入端口和采集站电源的输入端口都增加保护电路,并更换部分性能较差的器件,从而提高了采集站的抗干扰能力,降低了采集站的功耗。