并联混合动力汽车控制系统设计及控制策略研究

为混合动力汽车建立了分层控制系统,并用最优控制和模糊逻辑等方法进行了控制策略的研究.并联混合动力汽车控制系统包括能量管理策略和能量管理策略的实现两个层面,能量管理策略层根据驾驶员输入和车辆状态确定动力传动系统各部件目标工作状态;能量管理策略实现层以行驶平顺性和离合器磨损为目标对发动机、电机、离合器和变速系统进行协调控制.仿真及试验结果表明,分层控制系统能够实现整车控制要求的功能以及整车的燃油经济性指标、行驶平顺性和离合器磨损指标等设计目标.     

汽车驾驶员模型

汽车驾驶员模型是研究人－车－环境系统中重要的一部分,章在以前研究的基础上提出了一种符合人的特性的驾驶员PID模型,并进行了仿真计算,结果表明该模型与实际有较好的一致性。     

数字化折页机控制系统开发

针对当前我国折页机数字化程度低的问题,对数字化折页机的控制系统进行了研究,开发了折页机硬件控制系统和上位机控制系统,实现了折页机的数字化控制.上位机系统的开发,简化了折页机操作方式.折页模式的自动预置大大降低了系统的工作准备时间,减少了因系统预置造成的浪费,提高了工作效率.JDF网络接口可视系统与印刷流程控制系统通讯,有利于实现折页机的远程监控.     

基于驾驶员身体特征和操作姿态的汽车内饰按键操作便捷性建模

作为汽车驾驶过程中的次级任务,内饰部件操作是否便捷严重影响行车安全。针对汽车内饰按键,提出一种基于驾驶员身体特征和肢体操作姿态的操作时间建模方法。首先,利用汽车模拟驾驶器和人体运动捕捉系统,采集9名驾驶员在驾驶状态下的肢体操作姿态和操作时间;然后,统计分析影响操作时间的主要因素;接着,通过主成分回归方法建立操作时间预测模型;最后,利用测试按键和5名新驾驶员的操作数据验证模型。实验结果表明：上躯干侧倾和前倾、肩关节前后摆、肘关节屈伸以及手臂的内外旋转等肢体运动和驾驶员的身体特征均是影响操作时间的主要因素;测试按键的平均预测绝对误差为0.212 s,新驾驶员为0.226 s,验证了模型的有效性。本研究对于汽车内饰部件的便捷性评估提供一种新方法。     

声级计检定装置自动化控制系统的研究

正本文主要介绍了一种基于网络化的声级计检定装置自动控制系统的研究,该系统能够实现声级计前端与声源距离的自动调节以及声级计前端传声器与声源中心位置的自动对焦,并能够对被检声级计测量数据进行自动读取,实时导入电子原始记录,达到无缝对接。整个过程减少了人为主观操作和记录,实现了测量的准确、便捷和智能。一、自动化控制系统的原理及操作     

不同光照强度下的装载机仪表盘设计研究

目的 重点探索不同光照强度对装载机仪表盘界面信息读取的影响,确定驾驶员读取信息的最佳光照环境。对仪表盘界面布局中六大主要仪表区域进行兴趣区划分和编码,总结被试的视觉行为规律。方法 采用眼动实验与主观评价量表相结合的方法,以三款具有代表性的装载机仪表盘人机界面为研究对象。结果 7000~20000 Lux的光照环境下被试搜索与认读时间最短,反应正确率最高;1000~3000 Lux的光照环境下视觉舒适度最高。综合评价的结果表明1000~3000 Lux视觉工效最佳。结论 不同的光照度对装载机驾驶员视觉作业的结果存在显著的差异性。转速表和显示屏对于装载机仪表盘而言是最受关注的仪表区域。仪表盘B在三款仪表布局中仪表认读时间最短,反应正确率最高且最受用户欢迎,这为以后的装载机仪表盘设计研究提供了参考。     

基于阻抗控制的幕墙安装机器人柔顺操作研究

为了提高幕墙安装机器人操作的柔顺性,从而真正解决建筑幕墙自动安装中人机协调的问题,采用自适应阻抗控制方法作为柔顺操作策略.依据建筑机器人物理模型建立了较为准确的阻抗控制模型,在机器人末端未接触运动空间和环境接触空间进行了自适应阻抗控制的研究,提出了通过减小力峰值防止幕墙破坏的控制参数的调整方法,借助MATLAB对控制系统进行了仿真,并对基于该算法的幕墙安装机器人进行了柔顺性操作实验.经过仿真和实验得到了适用于幕墙安装机器人的力控制算法,验证了自适应阻抗控制算法能够满足幕墙安装机器人柔顺性操作的要求.     

筒子纱自动包装生产线控制系统设计

目的 为进一步提高筒子纱包装过程的自动化程度,采用分布控制和集中管理模式设计一种筒子纱包装生产线控制系统.方法 该控制系统主要包括上位机、自动包装模块、自动码垛模块.控制系统硬件可分为监控层、应用层、控制层和设备层.上位机基于TCP/IP协议制定系统应用层,通过工业以太网与各模块控制器通讯.各模块控制器会将传感器采集到的信息发送至上位机,上位机进行数据处理、分析、存储等操作,进而实现数据共享.针对筒子纱翻转系统,利用机器视觉采集筒子纱侧面图像,经图像处理后,与模板进行比较,进而判断筒子纱姿态并执行翻转操作,最后进行实验研究.结果 实验结果表明,所述控制系统的包装成功率可以达到99.7％以上.结论 筒子纱自动包装生产线具有成功率高、包装速度快、稳定性高等优点,可满足筒子纱包装需求.     

浅谈汽车自动变速器带式制动器的故障排除

汽车自动变速器的发展是汽车工业的一大进步。相对于手动变速器来说，简化了驾驶员的频繁操作动作，减轻了驾驶员的驾驶疲劳，对驾驶员的安全行驶和乘客乘车的舒适感都有很大的改善，但自动变速器比手动变速器的结构复杂了许多，这也就给我们维修检测人员提出了新的课题。本文论述本人通过排除自动变速器带式制动器的故障，体现自己如何面对日新月异的汽车工业发展，如何克服汽车新技术的冲击。     

第二级自动驾驶下的工效学问题

目前市场上最先进的自动驾驶车辆已经可以实现同时横向和纵向的车辆控制。在使用这些系统时,驾驶员要实时监视道路,在遇到险情时及时进行接管,这就带来了新的驾驶安全问题,并逐渐成为近年来工效学研究的热点之一。文章概述了驾驶员因使用自动驾驶系统导致的任务形式的转变,并深入探讨了驾驶员的注意力、心智模型、情景意识和工作负荷等方面的工效学问题,最后为自动驾驶中人机界面的设计优化提供了参考性建议。     

Comparison of a vehicle equipped with Electronic Stability Control (ESC) to a vehicle with Four Wheel Steering (4WS)

Electronic Stability Control (ESC) and Four Wheel Steering (4WS) have been used to control the yaw rate and sideslip angle of automobiles, in order to improve stability and prevent accidents. The scope of this paper is to compare the behaviour of a vehicle equipped with no control systems, to a vehicle equipped with ESC, a vehicle equipped with 4WS and a vehicle equipped with a combination of ESC and 4WS in a series of simulated tests, using an adequate vehicle and driver model. The operating parameters of the control systems and the driver model have been optimised by using an evolution strategy. According to the results, the vehicle equipped with 4WS performed better in open-loop tests, while the vehicle equipped with ESC performed better in closed-loop tests where the vehicle is controlled by the driver model. The vehicle equipped with a combination of ESC and 4WS has achieved consistently better results in all our tests and has shown that the use of 4WS systems can augment the operation of ESC system and achieve a better safety level for future vehicles.     

A proposed psychological model of driving automation

This paper considers psychological variables pertinent to driver automation. It is anticipated that driving with automated systems is likely to have a major impact on the drivers and a multiplicity of factors needs to be taken into account. A systems analysis of the driver, vehicle and automation served as the basis for eliciting psychological factors. The main variables to be considered were: feed-back, locus of control, mental workload, driver stress, situational awareness and mental representations. It is expected that anticipating the effects on the driver brought about by vehicle automation could lead to improved design strategies. Based on research evidence in the literature, the psychological factors were assembled into a model for further investigation.     

Analysis of driver casualty risk for different work zone types

Using driver casualty data from the Fatality Analysis Report System, this study examines driver casualty risk and investigates the risk contributing factors in the construction, maintenance and utility work zones. The multiple t-tests results show that the driver casualty risk is statistically different depending on the work zone type. Moreover, construction work zones have the largest driver casualty risk, followed by maintenance and utility work zones. Three separate logistic regression models are developed to predict driver casualty risk for the three work zone types because of their unique features. Finally, the effects of risk factors on driver casualty risk for each work zone type are examined and compared. For all three work zone types, five significant risk factors including road alignment, truck involvement, most harmful event, vehicle age and notification time are associated with increased driver casualty risk while traffic control devices and restraint use are associated with reduced driver casualty risk. However, one finding is that three risk factors (light condition, gender and day of week) exhibit opposing effects on the driver casualty risk in different types of work zones. This may largely be due to different work zone features and driver behavior in different types of work zones.     

汽车磁流变半主动悬架系统的联合模态控制

提出了带有4个磁流变可控阻尼器的汽车半主动悬架的7＋k自由度动力学模型及其闭环控制方程,基于此模型,用2个可控阻尼器对系统的两个最大的模态实施独立模态控制,而另外两个可控阻尼器则对其余的模态实施耦合模态控制,并实时地根据传感器所获得的相关信息提取系统的模态坐标,实时跟踪最大模态,切换主控模态,并对其实施独立模态控制.这种独立/耦合模态联合控制方法,可以较好地发挥独立与耦合模态控制的优点而避免其缺点.仿真实例证实了独立/耦合模态联合控制具有比单独采用独立模态控制及耦合模态控制时更好的控制效果.     

A numerical study on the optimal geometric design of speed control humps

The aim of the present paper is to find an optimum speed control hump geometric design by using the sequential quadratic programming method. Theoretical investigation of the dynamic behavior of the driver body components and the vehicle due to crossing speed control humps is presented. The vehicle–driver system represented as a mathematical model consists of 12 degrees of freedom (DOF). Seven DOFs are used for the human body model in the heave mode and the rest are for the vehicle body, suspension system and tires. An optimum design method for the hump geometry is proposed to reduce the excessive shocks experienced by drivers when crossing the hump below the speed limit, while being unpleasant when going over the speed limit. The pleasant or unpleasant ride, or what is called comfort criteria (CC), is modeled by calculating the driver's head acceleration. In this regard, the geometry of the hump will be controlled to match an optimum practical shape that can be implemented economically. Three types of humps are discussed and evaluated in the optimization technique. These humps are Watts, flat-topped and polynomial humps. For Watts and flat-topped humps, different rise and return profiles which are used as design variables, are sinusoidal, harmonic, cycloidal, circular and modified harmonic. The global design was selected from 42 optimal designs which are found by combining different rise/return profiles for the three types of humps. The effect of special cases such as symmetrical roads, design limitations, CC, critical speed (CS) and system parametric variations on the optimal design of speed control humps are presented at the end of this paper.     

Robust two-degrees of freedom linear quadratic gaussian position control for the front axle actuator of a steer-by-wire system

The Steer-by-Wire (SbW) system is a key technology for highly automated driving. For automated lateral vehicle guidance, the precise position control of the SbW Front Axle Actuator is an essential prerequisite. This contribution presents the modeling, control design, nominal performance, and stability analysis as well as the robustness analysis of the position control for the SbW Front Axle Actuator. Based on a nonlinear model of the plant a simplified linear system model is derived. This model yields the basis for the design of a Two-Degrees of Freedom Linear Quadratic Gaussian Control (2DOF LQG control), which allows an independent design of the command and the disturbance response. Besides an evaluation of the nominal control behavior, μ-analysis is applied to assess the robustness of performance and stability. Finally, real vehicle tests for different driving maneuvers are presented to verify simulation results.

     

Simulation and experiment of a windshield warning system for intelligent vehicles

Most driver assistance systems require the driver to move his eyes away from the road to see real-time auxiliary warning information. The present study proposes a windshield warning system for vehicles that alerts the driver to potential hazardous objects in front via marks on the windshield. The target after being identified by a camera and software in an independent system is used to construct the line-of-sight equation based on the coordinate system of the moving vehicle. The explicit equation of the intersection point of the line of sight and the windshield surface is derived using the algebraic method. A warning mark is then projected at the intersection point on the windshield by a two-degree-of-freedom laser projector, allowing the driver to easily identify the obstacle. A computer simulation program of the system is developed to validate the mathematical model of the system. A virtual reality experimental platform is constructed to demonstrate the feasibility of the proposed system. Results show that the system can perform the required function in real time.     

Bivariate ordered-response probit model of driver's and passenger's injury severities in collisions with fixed objects

A bivariate ordered-response probit model of driver's and most severely injured passenger's severity (IS) in collisions with fixed objects is developed in this study. Exact passenger's IS is not necessarily observed, especially when only most severe injury of the accident and driver's injury are recorded in the police reports. To accommodate passenger IS as well, we explicitly develop a partial observability model of passenger IS in multi-occupant vehicle (HOV). The model has consistent coefficients for the driver IS between single-occupant vehicle (SOV) and multiple-occupant vehicle accidents, and provides more efficient coefficient estimates by taking into account the common unobserved factors between driver and passenger IS. The results of the empirical analysis using 4-year statewide accident data in Washington State reveal the effects of driver's characteristics, vehicle attributes, types of objects, and environmental conditions on both driver and passenger IS, and that their IS have different elasticities to some of the risk factors.     

Influence of visibility out of the vehicle cabin on lane-change crashes

The influence of lateral visibility from the vehicle cabin on safety was evaluated by examining the differences in lane-change crashes of four-door and two-door body styles of the same vehicle models. These two vehicle styles were used because B-pillars (the pillars between the front and rear seats) on four-door models are farther forward, and thus nearer the fore-aft position of the driver. (Furthermore, the B-pillars on two-door models can be narrower, and some two-door models have no B-pillars at all.) To control for driver differences between these two body styles, going-straight-ahead crashes were used for comparison. The analysis used 2000-2003 North Carolina crash data, and considered the crash experience of four-door and two-door body styles for the same 10 vehicles for model years 1995 and newer. The main finding is that four-door body styles are more likely to be involved in lane-change crashes than are two-door body styles of the same vehicle models. This finding suggests that lateral visibility out of the vehicle cabin affects safety.     

The effect of road and environmental characteristics on pedestrian hit-and-run accidents in Ghana

The number of pedestrians who have died as a result of being hit by vehicles has increased in recent years, in addition to vehicle passenger deaths. Many pedestrians who were involved in road traffic accident died as a result of the driver leaving the pedestrian who was struck unattended at the scene of the accident. This paper seeks to determine the effect of road and environmental characteristics on pedestrian hit-and-run accidents in Ghana. Using pedestrian accident data extracted from the National Road Traffic Accident Database at the Building and Road Research Institute (BRRI) of the Council for Scientific and Industrial Research (CSIR), Ghana, a binary logit model was employed in the analysis. The results from the estimated model indicate that fatal accidents, unclear weather, nighttime conditions, and straight and flat road sections without medians and junctions significantly increase the likelihood that the vehicle driver will leave the scene after hitting a pedestrian. Thus, integrating median separation and speed humps into road design and construction and installing street lights will help to curb the problem of pedestrian hit-and-run accidents in Ghana.