In order to research stability of four-wheel independent driving (4WID) electric vehicle, a torque allocation method based on the tire longitudinal forces optimization distribution is adopted. There are two layers in ...In order to research stability of four-wheel independent driving (4WID) electric vehicle, a torque allocation method based on the tire longitudinal forces optimization distribution is adopted. There are two layers in the controller, which includes the upper layer and the lower layer. In the upper layer, according to the demand of the longitudinal force, PID controller is set up to calculate the additional yaw moment created by yaw rate and side-slip angle. In the lower layer, the additional yaw moment is distributed properly to each wheel limited by several constraints. Carsim is used to build up the vehicle model and MATLAB/Simulink is used to build up the control model and both of them are used to simulate jointly. The result of simulation shows that a torque allocation method based on the tire longitudinal forces optimization distribution can ensure the stability of the vehicle.展开更多
IEEE 1012 [1] describes the SDLC phase activities for software independent verification and validation (IV & V) for nuclear power plant in truly general and conceptual manner, which requires the upward and/or down...IEEE 1012 [1] describes the SDLC phase activities for software independent verification and validation (IV & V) for nuclear power plant in truly general and conceptual manner, which requires the upward and/or downward tailoring on its interpretation for practical IV & V. It contains crucial and encompassing check points and guidelines to analyze the design integrity, without addressing the formalized and the specific criteria for IV & V activities confirming the technical integrity. It is necessary to list up the inspection viewpoint via interpretation of the standard that is practical review points checking design consistency. For fruitful IV & V of Control Element Driving Mechanism Control System (CEDMCS) software for Yonggwang Nuclear Power Plant unit 3 & 4, the specific viewpoints and approach are necessary based on the guidelines of IEEE 1012 to enhance the system quality by considering the level of implementation of the theoretical and the practical IV & V. Additionally IV & V guideline of IEEE 1012 does not specifically provide the concrete measure considering the system characteristics of CEDMCS. This paper provides the seven (7) characteristic criteria for CEDMCS IV & V, and by applying these viewpoints, the design analysis such as function, performance, interface and exception, backward and forward requirement traceability analysis has been conducted. The requirement, design, implementation, and test phase were only considered for IV & V in this project. This article also provides the translation of code to map theoretical verification and validation into practical verification and validation. This paper emphasizes the necessity of the intensive design inspection and walkthrough for requirement phase to resolve the design faults because the IV & V of early phase of SDLC obviously contributes to find out most of critical design inconsistency. Especially for test phase IV & V, it is strongly recommended to prepare the test plan document which is going to be the basis for the test coverage selection and test strategy. This test plan document should be based on the critical characteristics of function and performance of CEDMCS. Also to guarantee the independency of V & V organization participating in this project, and to acquire the full package of design details for IV & V, the systematic approach and efforts with an aspect of management is highlighted among the participants.展开更多
文摘In order to research stability of four-wheel independent driving (4WID) electric vehicle, a torque allocation method based on the tire longitudinal forces optimization distribution is adopted. There are two layers in the controller, which includes the upper layer and the lower layer. In the upper layer, according to the demand of the longitudinal force, PID controller is set up to calculate the additional yaw moment created by yaw rate and side-slip angle. In the lower layer, the additional yaw moment is distributed properly to each wheel limited by several constraints. Carsim is used to build up the vehicle model and MATLAB/Simulink is used to build up the control model and both of them are used to simulate jointly. The result of simulation shows that a torque allocation method based on the tire longitudinal forces optimization distribution can ensure the stability of the vehicle.
文摘IEEE 1012 [1] describes the SDLC phase activities for software independent verification and validation (IV & V) for nuclear power plant in truly general and conceptual manner, which requires the upward and/or downward tailoring on its interpretation for practical IV & V. It contains crucial and encompassing check points and guidelines to analyze the design integrity, without addressing the formalized and the specific criteria for IV & V activities confirming the technical integrity. It is necessary to list up the inspection viewpoint via interpretation of the standard that is practical review points checking design consistency. For fruitful IV & V of Control Element Driving Mechanism Control System (CEDMCS) software for Yonggwang Nuclear Power Plant unit 3 & 4, the specific viewpoints and approach are necessary based on the guidelines of IEEE 1012 to enhance the system quality by considering the level of implementation of the theoretical and the practical IV & V. Additionally IV & V guideline of IEEE 1012 does not specifically provide the concrete measure considering the system characteristics of CEDMCS. This paper provides the seven (7) characteristic criteria for CEDMCS IV & V, and by applying these viewpoints, the design analysis such as function, performance, interface and exception, backward and forward requirement traceability analysis has been conducted. The requirement, design, implementation, and test phase were only considered for IV & V in this project. This article also provides the translation of code to map theoretical verification and validation into practical verification and validation. This paper emphasizes the necessity of the intensive design inspection and walkthrough for requirement phase to resolve the design faults because the IV & V of early phase of SDLC obviously contributes to find out most of critical design inconsistency. Especially for test phase IV & V, it is strongly recommended to prepare the test plan document which is going to be the basis for the test coverage selection and test strategy. This test plan document should be based on the critical characteristics of function and performance of CEDMCS. Also to guarantee the independency of V & V organization participating in this project, and to acquire the full package of design details for IV & V, the systematic approach and efforts with an aspect of management is highlighted among the participants.
基金Supported by the National High Technology Research and Development Programme of China （No. （2008AA11 A146 ）, China Postdoctoral Science Foundation （20090450298）.
