High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks

When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.     

基于小波分析的车型识别

本文论述了用小波分析提取车辆图像边缘信号的方法，得到了连续、光滑的边缘图像，并将其应用于公路车辆车型的检测与识别系统中，实验表明识别过程准确、速度快，具有较好的应用前景。     

DSP技术在液压混合动力汽车能源控制方面的应用

文章分析了液压混合动力汽车的发展趋势,简述数字信号处理器(DSP)作为控制器的优势和DSP作为控制器对并联式混合动力液压车的能源控制的工作原理,给出了能源控制系统DSP信号流程图和主程序流程图。测试结果表明,DSP能源控制系统能够比较精确的对液压混合动力车的能量消耗与分配进行控制,具有很好的应用前景。     

新型动态汽车衡称重系统的设计与实现

针对目前现有动态汽车衡称重误差大等问题，提出了一种新型动态汽车衡称重系统的实现方法，该称重系统在基于Intel x86硬件平台和linux操作系统的基础上设计实现的。同时分析了产生称重误差的根本原因。采用了数字信号处理手段来提高动态汽车衡的称重精度。现场测试数据分析表明，该新型动态汽车衡称重系统技术指标优于国家动态衡标准。     

Design of nonlinear controllers for active vehicle suspension with state constraints

Design of active vehicle suspension has tradeoffs between three main performance metrics (passenger comfort, suspension deflection and road holding ability). It has been known that each performance can be achieved by H _∞ controller and they can be gathered by LPV (Linear Parameter Varying) method. However, because the suspension deflection limit was not explicitly considered, this limit may be exceeded. In this paper, the authors propose a “reference shaping“ based method in order to improve the control performance. In this approach, a “virtual reference” signal is imposed to the system such that the suspension deflection is kept small. The effectiveness of the approach is examined by numerical simulations. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

仿西班牙横移车断齿事故分析及改进

某炼钢厂仿西班牙产品制造的板坯横移车运行机构采用分别驱动、变频调速、无人操纵自动控制技术。其减速器齿轮多次发生点蚀、塑性变形、断齿等事故或故障 ,严重时曾出现轮齿全部被剃光的现象。经分析 ,其根本原因是承载能力不足。通过重新选型设计 ,加大减速器中心距 ,彻底根除了断齿等事故隐患     

有关H－Ⅱ运载火箭的动力学课题研究

重点介绍有关Ｈ—Ⅱ运载火箭（以下简称Ｈ—Ⅱ）的一些动力学课题的研究状况。其中，重要的动力学课题有全箭振动、ＰＯＧＯ、防液体晃动、分离动力学试验、动力学环境试验等。针对这些动力学课题，日本有关部门已研究多年，既作了充分的地面试验，又进行了有效的工程应用研究，最终保证了Ｈ—Ⅱ的首次飞行成功。     

大型空间结构动力学与控制研究的若干问题

考察和研究了国外大型空间结构动力学与控制研究的若干问题，分析了该领域的最新进展与动向。资料表明，随着空间站研制计划的深入与发展，空间结构建模，识别、分析以及结构／控制系统相互作用研究取得了重大进展，某些关切技术取得重大突破，但也还存在一些新的问题。国外解决这些问题的技术民方法可供研究、借鉴。     

基于受控时间Petri网的车辆检测过程模型

针对汽车检测线运行效率评估及确保给定数量车辆检测时间最短的问题,通过分析检测过程中的驱动事件和状态演变,给出了车辆调度的约束条件,在此基础上把模型中的时间约束与受控Petri网相结合,提出了受控时间Petri网（Controlled Time Petri Nets）模型,采用该模型对检测线调度过程中的节拍控制与车辆调度进行可视化的建模与分析。实践表明对于多批次车辆检测任务采用该过程模型可明显缩短检测时间。     

模糊自适应的高超飞行器控制与干扰

针对具有超大飞行马赫数、超宽飞行包络、飞行环境复杂等特点的高超声速飞行器,提出了基于模糊自适应的高超飞行器高度控制方法,分别设计了高度和速度控制器.针对所设计的控制器,分析了气动干扰力矩、测量噪声、舵机干扰、气动参数不确定性和飞行器模型参数不确定性对飞行器高度控制和速度控制效果的影响,然后又分析了综合考虑以上干扰和不确定性对飞行器高度控制和速度控制效果的影响.仿真结果表明,对各种干扰和不确定性,所设计的控制器速度和高度控制有较好的跟踪性和鲁棒性,达到了满意的效果.