Non-linear velocity observer for vehicles with tyre–road friction estimation

A non-linear observer is proposed for the estimation of the longitudinal and lateral velocities of automotive vehicles due to highly non-linear friction. To take the unknown time-varying road conditions into account, a real-time tyre–road friction estimation algorithm is provided for adaptation to changes of different road adhesion characteristics. Besides, the coupling effects of the longitudinal and lateral forces are fully exploited to design the non-linear observer based on the longitudinal and lateral acceleration measurements. The observer is computationally efficient and is based on a standard sensor configuration commonly available in modern cars. The uniform global asymptotical stability of the adaptive observer is guaranteed under a certain persistency-of-excitation condition. Moreover, a stronger local stability result can also be obtained, i.e. uniform local exponential stability. The performance of the observer is compared with that of existing approaches under different manoeuvres and road conditions.     

石墨热压还原Cu/Cu_(2)O金属陶瓷电导逾渗行为与微观结构分形表征EI北大核心CSCD

采用石墨热压还原法制备Cu/Cu_(2)O金属陶瓷复合材料,并测试不同导通相(Cu)体积含量Cu/Cu_(2)O金属陶瓷复合材料的直流电导率。为了实现对导通相形状、大小和分布状态的定量表征,通过对复合材料微观结构图像的二值化处理进行导通相分形维数计算,结合Cu/Cu_(2)O金属陶瓷复合材料的电逾渗行为,分析复合材料微观结构与电性能之间的对应关系。结果表明:随着导通相体积分数的增加,逾渗无限团簇和逾渗骨架的总量随之增大,但逾渗骨架密度在逾渗阈值附近波动。此外,Cu/Cu_(2)O金属陶瓷复合材料垂直热压方向与平行热压方向的分形维数相差约0.1。分形计算为定量表征导体/绝缘体双相复合材料中导通相的微观结构提供了一种计算方法,有助于对第二相随机分布的复合材料实现微观结构定量表征。     

Robust adaptive fixed‐time tracking control of 6‐DOF spacecraft fly‐around mission for noncooperative target

The fixed‐time relative position tracking and attitude synchronization control problem of a spacecraft fly‐around mission for a noncooperative target in the presence of parameter uncertainties and external disturbances is investigated. Firstly, a novel and coupled relative position and attitude motion model for a noncooperative fly‐around mission is established. Subsequently, a novel nonsingular fast terminal sliding mode (NFTSM) surface is developed, and the explicit estimation of the convergence time independent of initial states is provided. Fair and systematic comparisons among several typical terminal sliding modes show that the designed NFTSM has faster convergence performance than the fast terminal sliding mode. Then, a robust integrated adaptive fixed‐time NFTSM control law with no precise knowledge of the mass and inertia matrix and disturbances by combining the nonsingular terminal sliding mode technique with an adaptive methodology is proposed, which can eliminate the chattering phenomenon and guarantee that the relative position and attitude tracking errors can converge into the small regions containing the origin in fixed time. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control schemes.     

基于STM32的医疗康复室智能家居系统

本文提出一种基于红外通信互联的、可无线操控的医疗康复室智能家居系统设计.此系统一方面实现了家居设施的智能控制,同时可由护士及病患通过红外、语音两种方式对各类家居进行遥控,另一方面红外无线通信具有低功耗、低电磁干扰等优点,减轻了环境中辐射对病人的伤害.这分担了护士的工作,让护士专注于病人病情的诊查,还有利于病人的康复.     

鱼雷声自导系统片上处理技术

为了减小鱼雷声自导系统的体积和功耗,文中尝试实现自导系统的小型化。随着硬件和软件技术的发展,以及芯片上的资源不断增加,将复杂系统在单个芯片上实现成为可能。通过在FPGA芯片上搭建一个片上网络处理系统来实现鱼雷自导信号处理任务。将自导信号处理任务合理划分后映射在片上网络处理系统上,实现了单芯片自导处理系统。通过运行测试,验证了小型化系统的可行性。     

氢环境中有轴向裂纹管道的承载能力评估

针对天然气输送工程中存在着管道的氢损伤问题,根据内聚力损伤模型,结合权函数方法,通过计算数学裂纹长度,提出了有轴向裂纹管道在内压和温差作用下及氢环境中承载能力的评估方法。分析表明,随着裂纹尖端氢浓度的增大,数学裂纹长度增大,管道的承载能力大大降低;裂纹的原始长度越大,管道的承载能力越低。因此,用管道输送天然气应尽量降低氢杂质（如硫化氢）的含量;在管道的生产和安装过程中应尽量控制其裂纹的长度,以提高管道在氢环境下的承载能力;若管道存在原始裂纹,应确定管道是否有足够的承载能力。     

PYX—90圆锥破碎机闷车故障的分析及处理

简要分析了PYX－90圆锥破碎机漏油及闷车故障的现象及机理,并针对故障现象做了相应的改造,收到了理想的经济效果。     

Command filter-based finite-time adaptive tracking control for MIMO dynamic systems with external disturbances and prescribed performance constraints

This paper investigates command filter-based finite-time stability of multi-input multi-output (MIMO) dynamic systems with prescribed performance constraints and external disturbances. A novel finite-time differentiator is introduced into command filter-based control scheme, which improves transient performance of each subsystem. Meanwhile, disturbance observers are utilized to eliminate negative effects on control system caused by external disturbances. Furthermore, featured with a selected performance function, it can be guaranteed that tracking errors remain in prescribed performance region. Stability analysis of the proposed controller is presented by using a Lyapunov function including transformed filter errors, parameter errors of neural networks, and observed errors of lumped disturbances. Effectiveness of proposed control method is verified by a numerical example and a practical system of inverted pendulums, respectively.     

连续微波辐射法合成聚D,L-乳酸

采用微波辐射法,以D,L-丙交酯(DLLA)为单体开环聚合合成了聚D,L-乳酸(PDLLA)。考察了催化剂种类和用量、微波辐射功率和时间对PDLLA相对分子质量的影响;用多角度激光散射仪、傅里叶变换红外光谱和核磁共振等技术对PDLLA进行了表征;并测定了反应过程中体系温度的变化。实验结果表明,以连续发射微波的改装微波炉为反应器,在Sn(Oct)2催化剂用量0.56%(以DLLA单体质量计)、辐射功率90W、辐射时间10min的条件下,合成的PDLLA的黏均相对分子质量为159.2kg/mol,收率为81.8%。改装的微波炉可连续发射微波,体系升温迅速,温升过程平稳。     

双河油田污水生化处理技术研究与应用

随着油田开发进入高含水期,采出污水大量增加,除了满足地层注水外,部分污水需要外排,因此污水处理意义重大。河南油田对难以用常规处理方法的含聚合硫采油污水进行研究处理,最终采用生物膜水解酸化-生物膜接触氧化处理工艺,将双联多余的含油污水通过生化处理实现外排污水达到国家《污水综合排放标准》(GB8978-1996)中二级最高允许排放标准,对其它油田污水处理借鉴意义。