Preoperative controlling nutritional status as an optimal prognostic nutritional index to predict the outcome for colorectal cancer

BACKGROUND The controlling nutritional status(CONUT)score effectively reflects a patient’s nutritional status,which is closely related to cancer prognosis.This study invest-igated the relationship between the CONUT score and prognosis after radical surgery for colorectal cancer,and compared the predictive ability of the CONUT score with other indexes.AIM To analyze the predictive performance of the CONUT score for the survival rate of colorectal cancer patients who underwent potentially curative resection.METHODS This retrospective analysis included 217 patients with newly diagnosed colorectal.The CONUT score was calculated based on the serum albumin level,total lymphocyte count,and total cholesterol level.The cutoff value of the CONUT score for predicting prognosis was 4 according to the Youden Index by the receiver operating characteristic curve.The associations between the CONUT score and the prognosis were performed using Kaplan-Meier curves and Cox regression analysis.RESULTS Using the cutoff value of the CONUT score,patients were stratified into CONUT low(n=189)and CONUT high groups(n=28).The CONUT high group had worse overall survival(OS)(P=0.013)and relapse-free survival(RFS)(P=0.015).The predictive performance of CONUT was superior to the modified Glasgow prognostic score,the prognostic nutritional index,and the neutrophil-to-lymphocyte ratio.Meanwhile,the predictive performances of CONUT+tumor node metastasis(TNM)stage for 3-year OS[area under the receiver operating characteristics curve(AUC)=0.803]and 3-year RFS(AUC=0.752)were no less than skeletal muscle mass index(SMI)+TNM stage.The CONUT score was negatively correlated with SMI(P<0.01).CONCLUSION As a nutritional indicator,the CONUT score could predict long-term outcomes after radical surgery for colorectal cancer,and its predictive ability was superior to other indexes.The correlation between the CONUT score and skeletal muscle may be one of the factors that play a predictive role.

Controlling the dynamic behavior of decentralized cluster through centralized approaches

How to control the dynamic behavior of large-scale artificial active matter is a critical concern in experimental research on soft matter, particularly regarding the emergence of collective behaviors and the formation of group patterns. Centralized systems excel in precise control over individual behavior within a group, ensuring high accuracy and controllability in task execution. Nevertheless, their sensitivity to group size may limit their adaptability to diverse tasks. In contrast, decentralized systems empower individuals with autonomous decision-making, enhancing adaptability and system robustness. Yet, this flexibility comes at the cost of reduced accuracy and efficiency in task execution. In this work, we present a unique method for regulating the centralized dynamic behavior of self-organizing clusters based on environmental interactions. Within this environment-coupled robot system, each robot possesses similar dynamic characteristics, and their internal programs are entirely identical. However, their behaviors can be guided by the centralized control of the environment, facilitating the accomplishment of diverse cluster tasks. This approach aims to balance the accuracy and flexibility of centralized control with the robustness and task adaptability of decentralized control. The proactive regulation of dynamic behavioral characteristics in active matter groups, demonstrated in this work through environmental interactions, holds the potential to introduce a novel technological approach and provide experimental references for studying the dynamic behavior control of large-scale artificial active matter systems.

Gypsum-based Silica Gel Humidity-controlling Composite Materials:Preparation,Characterization,and Performance

Gypsum was used as substrate,and silica gel was mixed into substrate at a certain mass ratio to prepare humidity-controlling composites;moreover,the moisture absorption and desorption properties of gypsum-based composites were compared with adding different silica gel particle size and proportion.The morphological characteristics,the isothermal equilibrium moisture content curve,moisture absorption and desorption rate,moisture absorption and desorption stability,and humidity-conditioning performance were tested and analyzed.The experimental results show that,compared with pure-gypsum,the surface structure of the gypsum-based composites is relatively loose,the quantity,density and aperture of the pores in the structure increase.The absorption and desorption capacity increase along with the increase of silica gel particle size and silica gel proportion.When 3 mm silica gel particle size is added with a mass ratio of 40%,the maximum equilibrium moisture content of humidity-controlling composites is 0.161 g/g at 98% relative humidity(RH),3.22 times that of pure-gypsum.The moisture absorption and desorption rates are increased,the equilibrium moisture absorption and desorption rates are 2.68 times and 1.61 times that of pure-gypsum at 58.5% RH,respectively.The gypsum-based composites have a good stability,which has better timely response to dynamic humidity changes and can effectively regulate indoor humidity under natural conditions.

Development characteristics and controlling factors of fractures in lacustrine shale and their geological significance for evaluating shale oil sweet spots in the third member of the Shahejie Formation in the Qikou Sag, Bohai Bay Basin

Natural fractures are critical for shale oil and gas enrichment and development. Due to the extremely high heterogeneity of shale, the factors controlling the formation of internal fractures, especially horizontal fractures, remain controversial. In this study, we integrate thin section analysis and microcomputed tomography(CT) data from several lacustrine shale samples from the third member(Es3) of the Shahejie Formation, Qikou Sag, Bohai Bay Basin, to assess the fractures in detail. The goal is to reveal the development characteristics, controlling factors, and geological significance for evaluating sweet spots in a shale oil play. The fractures in the Es3contain high-angle structural and horizontal bed-parallel fractures that are mostly shear and extensional. Various factors influence fracture development,including lithofacies, mineral composition, organic matter content, and the number of laminae. Structural fractures occur predominantly in siltstone, whereas bed-parallel fractures are abundant in laminated shale and layered mudstone. A higher quartz content results in higher shale brittleness, causing fractures, whereas the transformation between clay minerals contributes to the development of bedparallel fractures. Excess pore pressure due to hydrocarbon generation and expulsion during thermal advance can cause the formation of bed-parallel fractures. The density of the bed-parallel and structural fractures increases with the lamina density, and the bed-parallel fractures are more sensitive to the number of laminae. The fractures are critical storage spaces and flow conduits and are indicative of sweet spots. The laminated shale in the Es3with a high organic matter content contains natural fractures and is an organic-rich, liquid-rich, self-sourced shale play. Conversely, the siltstone, massive mudstone, and argillaceous carbonate lithofacies contain lower amounts of organic matter and do not have bed-parallel fractures. However, good reservoirs can form in these areas when structural fractures are present and the source, and storage spaces are separated.

Controlling Reactivity of Palladium Amides for Selective Carbonylation towards Urea and Oxamide Derivatives

Carbonylation reactions,crucial for carbonyl group incorporation,struggle with the inherent complexity of achieving selective mono-or double-carbonylation on single substrates,often due to competing reaction pathways.Herein,our study introduces a strategy employing palladium amides,harnessing their unique reactivity control,to direct the selective carbonylation of amines for the targeted synthesis of urea and oxamide derivatives.The palladium amide structure was elucidated using single-crystal X-ray diffraction.Controlled experiments and cyclic voltammetry studies further elucidate that the oxidation of palladium amide or its insertion into a carbonyl group diverges into distinct pathways.By employing sodium percarbonate as an eco-friendly oxidant and base,we have successfully constructed a switchable carbonylation system co-catalyzed by palladium and iodide under room temperature.The utilizing strategy in this study not only facilitates effective control over reaction selectivity but also mitigates the risk of explosions,a critical safety concern in traditional carbonylation methods.

Main controlling factor and mechanism of gas-in-place content of the Lower Cambrian shale from different sedimentary facies in the western Hubei area, South China

The Lower Cambrian shale gas in the western Hubei area,South China has a great resource prospect,but the gas-in-place(GIP)content in different sedimentary facies varies widely,and the relevant mechanism has been not well understood.In the present study,two sets of the Lower Cambrian shale samples from the Wells YD4 and YD5 in the western Hubei area,representing the deep-water shelf facies and shallowwater platform facies,respectively,were investigated on the differences of pore types,pore structure and methane adsorption capacity between them,and the main controlling factor and mechanism of their methane adsorption capacities and GIP contents were discussed.The results show that the organic matter(OM)pores in the YD4 shale samples are dominant,while the inorganic mineral(IM)pores in the YD5 shale samples are primary,with underdeveloped OM pores.The pore specific surface area(SSA)and pore volume(PV)of the YD4 shale samples are mainly from micropores and mesopores,respectively,while those of the YD5 shale samples are mainly from micropores and macropores,respectively.The methane adsorption capacity of the YD4 shale samples is significantly higher than that of the YD5 shale samples,with a maximum absolute adsorption capacity of 3.13 cm^(3)/g and 1.31 cm^(3)/g in average,respectively.Compared with the shallow-water platform shale,the deep-water shelf shale has a higher TOC content,a better kerogen type and more developed OM pores,which is the main mechanism for its higher adsorption capacity.The GIP content models based on two samples with a similar TOC content selected respectively from the Wells YD4 and YD5 further indicate that the GIP content of the deep-water shelf shale is mainly 34 m^(3)/t within a depth range of 1000—4000 m,with shale gas exploration and development potential,while the shallow-water platform shale has normally a GIP content of<1 m^(3)/t,with little shale gas potential.Considering the geological and geochemical conditions of shale gas formation and preservation,the deep-water shelf facies is the most favorable target for the Lower Cambrian shale gas exploration and development in the western Hubei area,South China.

Spatial-temporal heterogeneity and controlling factors of evapotranspiration in Nujiang River Basin based on Variable Infiltration Capacity(VIC)model

Land surface evapotranspiration(ET)is a critical component in the hydrological cycle but has not well been understood in data-scarce areas especially in river basins,like Nujiang River(NRB)which is characterized by large elevation gradient and different vegetation zones with complex processes of water and energy exchange.The quality of ET from optical remote sensing is constrained by cloud cover which is common in the NRB in the monsoon seasons.To understand factors controlling the spatial-temporal heterogeneity of ET in NRB,we employed the Variable Infiltration Capacity(VIC)hydrological model by parameter optimization with support of quality controlled remote sensing ET product and observed river runoff series in the river.The modeled ET has increased during 1984-2018,which might be one of the reasons for the runoff decrease but precipitation increase in the same period.ET increase and runoff decrease tended to be quicker within altitudinal band of 2000-4000 m than in other areas in NRB.We observed that ET variation in different climatic zones were controlled by different factors.ET is generally positively correlated with precipitation,temperature,and shortwave radiation but negatively with relative humidity.In the Tundra Climate(Et)zone in the upper reach of NRB,ET is controlled by precipitation,while it is controlled by shortwave radiation in the snow climate with dry winter(Dw)zone.ET increase is influenced by the increase of temperature,wind speed,and shortwave radiation in the middle and downstream of NRB with warm temperate climate,fully humid(Cf)and warm temperate climate with dry winter(Cw).

Enrichment model and major controlling factors of below-source tight oil in Lower Cretaceous Fuyu reservoirs in northern Songliao Basin,NE China

Based on the geochemical,seismic,logging and drilling data,the Fuyu reservoirs of the Lower Cretaceous Quantou Formation in northern Songliao Basin are systematically studied in terms of the geological characteristics,the tight oil enrichment model and its major controlling factors.First,the Quantou Formation is overlaid by high-quality source rocks of the Upper Cretaceous Qingshankou Formation,with the development of nose structure around sag and the broad and continuous distribution of sand bodies.The reservoirs are tight on the whole.Second,the configuration of multiple elements,such as high-quality source rocks,reservoir rocks,fault,overpressure and structure,controls the tight oil enrichment in the Fuyu reservoirs.The source-reservoir combination controls the tight oil distribution pattern.The pressure difference between source and reservoir drives the charging of tight oil.The fault-sandbody transport system determines the migration and accumulation of oil and gas.The positive structure is the favorable place for tight oil enrichment,and the fault-horst zone is the key part of syncline area for tight oil exploration.Third,based on the source-reservoir relationship,transport mode,accumulation dynamics and other elements,three tight oil enrichment models are recognized in the Fuyu reservoirs:(1)vertical or lateral migration of hydrocarbon from source rocks to adjacent reservoir rocks,that is,driven by overpressure,hydrocarbon generated is migrated vertically or laterally to and accumulates in the adjacent reservoir rocks;(2)transport of hydrocarbon through faults between separated source and reservoirs,that is,driven by overpressure,hydrocarbon migrates downward through faults to the sandbodies that are separated from the source rocks;and(3)migration of hydrocarbon through faults and sandbodies between separated source and reservoirs,that is,driven by overpressure,hydrocarbon migrates downwards through faults to the reservoir rocks that are separated from the source rocks,and then migrates laterally through sandbodies.Fourth,the differences in oil source conditions,charging drive,fault distribution,sandbody and reservoir physical properties cause the differential enrichment of tight oil in the Fuyu reservoirs.Comprehensive analysis suggests that the Fuyu reservoir in the Qijia-Gulong Sag has good conditions for tight oil enrichment and has been less explored,and it is an important new zone for tight oil exploration in the future.

Treatment of Coronary Heart Disease from the Perspective of Liver Controlling Dispersion

The liver is in charge of distributing and regulating the movement of qi throughout the whole body,coordinating the transportation and transformation of the internal organs in the middle part of the body,promoting the biochemical circulation of qi,blood,and body fluids,and regulating emotions.Liver dysfunction can disrupt the transportation and transformation of qi,blood,and body fluids,causing phlegm turbidity,blood stasis,and other unwanted symptoms.Poor regulation of emotion further aggravates the accumulation of pathological substances,resulting in the obstruction of heart vessels,and ultimately coronary heart disease(CHD).Through regulating lipid metabolism,inflammatory reaction,vasoactive substances,platelet function,neuroendocrine,and other factors,liver controlling dispersing qi plays a comprehensive role in the prognosis of atherosclerosis,the primary cause of CHD.Therefore,it is recommended to treat CHD from the perspective of liver-controlling dispersion.

Aluminum-air battery with cotton substrate:Controlling the discharge capacity by electrolyte pre-deposition

Conventional Al-air battery has many disadvantages for miniwatt applications,such as the complex water management,bulky electrolyte storage and potential leakage hazard.Moreover,the self-corrosion of Al anode continues even when the electrolyte flow is stopped,leading to great Al waste.To tackle these issues,an innovative cotton-based aluminum-air battery is developed in this study.Instead of flowing alkaline solution,cotton substrate pre-deposited with solid alkaline is used,together with a small water reservoir to continuously wet the cotton and dissolve the alkaline in-situ.In this manner,the battery can be mechanically recharged by replacing the cotton substrate and refilling the water reservoir,while the thick aluminum anode can be reused for tens of times until complete consumption.The cotton substrate shows excellent ability for the storage and transportation of alkaline electrolyte,leading to a high peak power density of 73 mW cm^(-2) and a high specific energy of 930 mW h g^(-1).Moreover,the battery discharge capacity is found to be linear to the loading of pre-deposited alkaline,so that it can be precisely controlled according to the mission profile to avoid Al waste.Finally,a two-cell battery pack with common water reservoir is developed,which can provide a voltage of 2.7 V and a power output of 223.8 mW.With further scaling-up and stacking,this cotton-based Al-air battery system with low cost and high energy density is very promising for recharging miniwatt electronics in the outdoor environment.

Crude oil cracking in deep reservoirs:A review of the controlling factors and estimation methods

The natural cracking of crude oils in deep reservoirs has gained great interest due to continuously increasing depth of petroleum exploration and exploitation.Complex oil compositions and surroundings as well as complicated geological evolutions make oil cracking in nature much more complex than industrial pyrolysis.So far,numerous studies,focused on this topic,have made considerable progress although there still exist some drawbacks.However,a comprehensive review on crude oil cracking is yet to be conducted.This article systematically reviews the controlling factors of oil cracking from six aspects,namely,oil compositions,temperature and time,pressure,water,minerals and solid organic matter.We compare previous experimental and modelling results and present new field cases.In the following,we evaluate the prevailing estimation methods for the extent of oil cracking,and elucidate other factors that may interfere with the application of these estimation methods.This review will be helpful for further investigations of crude oil cracking and provides a guide for estimation of the cracking extent of crude oils.

A comparative study of the main factors controlling geohazards induced by 10 strong earthquakes in Western China since the Wenchuan earthquake in 2008

Determining the main controlling factors of earthquake-triggered geohazards is a prerequisite for studying earthquake geohazards and post-disaster emergency response.By studying these factors,the geomorphic and geological factors controlling the nature,condition,and distribution of earthquake-induced geohazards can be analyzed.Such insights facilitate earthquake disaster prediction and emergency response planning.The authors combined field investigations and spatial data analysis to examine geohazards induced by seismic events,examining ten earthquakes including the Wenchuan,Yushu,Lushan events,to elucidate the main control factors of seismic geohazard.The authors observed that seismic geohazard occurrence is usually affected by many factors,among which active nature of the seismogenic fault,seismic peak ground acceleration(PGA),topographic slope and geomorphic height differences,and distance from the fault zone and river system are the most important.Compared with strike-slip earthquakes,thrust earthquakes induce more high-altitude and high-speed remote landslides,which can cause great harm.Slopes of 0°–40°are prone to secondary seismic geohazards,which are mainly concentrated 0–6 km from the river system.Secondary geohazards are not only related to seismogenic fault but also influenced by the associated faults in the earthquake area.The maximum seismic PGA and secondary seismic geohazard number are positively correlated,and the horizontal and vertical ground motions play leading and promoting roles in secondary geohazard formation,respectively.Through the research,the spatial distribution of seismic geohazards is predicted,providing a basis for the formulation of emergency response plans following disasters.

Research trends in methods for controlling macro-micro motion platforms

With ongoing economic,scientific,and technological developments,the electronic devices used in daily lives are developing toward precision and miniaturization,and so the demand for high-precision manufacturing machinery is expanding.The most important piece of equipment in modern high-precision manufacturing is the macro-micro motion platform(M3P),which offers high speed,precision,and efficiency and has macro-micro motion coupling characteristics due to its mechanical design and composition of its driving components.Therefore,the design of the control system is crucial for the overall precision of the platform;conventional proportional–integral–derivative control cannot meet the system requirements,and so M3Ps are the subject of a growing range of modern control strategies.This paper begins by describing the development history of M3Ps,followed by their platform structure and motion control system components,and then in-depth assessments of the macro,micro,and macro-micro control systems.In addition to examining the advantages and disadvantages of current macro-micro motion control,recent technological breakthroughs are noted.Finally,based on existing problems,future directions for M3P control systems are given,and the present conclusions offer guidelines for future work on M3Ps.

Controlling factors and models of shale oil enrichment in Lower Permian Fengcheng Formation,Mahu Sag,Junggar Basin,NW China

Based on the combination of core observation,experimental analysis and testingand geological analysis,the main controlling factors of shale oil enrichment in the Lower Permian Fengcheng Formation in the Mahu Sag of the Junggar Basin are clarified,and a shale oil enrichment model is established.The results show that the enrichment of shale oil in the Fengcheng Formation in the Mahu Sag is controlled by the organic abundance,organic type,reservoir capacity and the amount of migration hydrocarbon in shale.The abundance of organic matter provides the material basis for shale oil enrichment,and the shales containing typesⅠandⅡorganic matters have good oil content.The reservoir capacity controls shale oil enrichment.Macropores are the main space for shale oil enrichment in the Fengcheng Formation,and pore size and fracture scale directly control the degree of shale oil enrichment.The migration of hydrocarbons in shale affects shale oil enrichment.The shale that has expelled hydrocarbons has poor oil content,while the shale that has received hydrocarbons migrated from other strata has good oil content.Lithofacies reflect the hydrocarbon generation and storage capacity comprehensively.The laminated felsic shale,laminated lime-dolomitic shale and thick-layered felsic shale have good oil content,and they are favorable lithofacies for shale oil enrichment.Under the control of these factors,relative migration of hydrocarbons occurred within the Fengcheng shale,which leads to the the difference in the enrichment process of shale oil.Accordingly,the enrichment mode of shale oil in Fengcheng Formation is established as"in-situ enrichment"and"migration enrichment".By superimposing favorable lithofacies and main controlling factors of enrichment,the sweet spot of shale oil in the Fengcheng Formation can be selected which has great significance for the exploration and development of shale oil.

Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced Control Applications

Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.

Behavior and controlling factors of methane adsorption in Jurassic continental shale,northeastern Sichuan Basin

The behavior and controlling factors of natural gas adsorption in the Jurassic continental shale in the northeastern Sichuan Basin are studied based on the organic geochemical features,mineral compositions and pore structure parameters through a series of experiments on samples from the shale.Results show that the total gas content of the shale measured on-site is 0.1-5.3 cm^(3)/g,with an average of 0.7 cm^(3)/g.The methane isothermal adsorption curves show a trend of increasing first and then decreasing,indicating an obvious excessive adsorption.The shale has a maximum adsorption capacity(V^(L))of 0.44-3.59 cm^(3)/g,with an average of 1.64 cm^(3)/g,lower than that of marine shale in the same basin.The organic matter content and pore structure characteristics are identified as the two main factors controlling the adsorption capacity of the shale.Micropores in the shale are the main storage space for gas to be adsorbed.Due to well developed shell laminae and interlayers in the shale,calcite plays a more important role than clay minerals in affecting the adsorption of gas to the rock.The formation temperature and water content also significantly inhibit the gas adsorption to the shale.Compared with marine shale in the basin,the Jurassic continental shale is more heterogeneous and lower in TOC values.Furthermore,with a more widely developed clayey shale lithofacies and shell limy shale lithofacies as well as relatively less developed organic pores and micropores,the continental shale is inferior to marine shale in terms of gas adsorption capacity.

Finite-time Prescribed Performance Time-Varying Formation Control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer

This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.

Vibration Control of A Flexible Marine Riser System Subject to Input Dead Zone and Extraneous Disturbances

An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.

Control of highly pathogenic avian influenza through vaccination

The stamping-out strategy has been used to control highly pathogenic avian influenza viruses in many countries,driven by the belief that vaccination would not be successful against such viruses and fears that avian influenza virus in vaccinated birds would evolve more rapidly and pose a greater risk to humans.In this review,we summarize the successes in controlling highly pathogenic avian influenza in China and make suggestions regarding the requirements for vaccine selection and effectiveness.In addition,we present evidence that vaccination of poultry not only eliminates human infection with avian influenza virus,but also significantly reduces and abolishes some harmful characteristics of avian influenza virus.

An Integrated Control Framework for Torque Vectoring and Active Suspension System

Four-wheel independently driven electric vehicles(FWID-EV)endow a flexible and scalable control framework to improve vehicle performance.This paper integrates the torque vectoring and active suspension system(ASS)to enhance the vehicle’s longitudinal and vertical motion control performance.While the nonlinear characteristic of the tire model leads to a relatively heavier computational burden.To facilitate the controller design and ease the load,a half-vehicle dynamics system is built and simplified to the linear-time-varying(LTV)model.Then a model predictive controller is developed by formulating the objective function by comprehensively considering the safety,energy-saving and comfort requirements.The in-wheel motor efficiency and the power loss of tire slip are treated as optimization indices in this work to reduce energy consumption.Finally,the effectiveness of the proposed controller is verified through the rapid-control-prototype(RCP)test.The results demonstrate the enhancement of the energy-saving as well as comfort on the basis of vehicle stability.