Fixed-time sliding mode control based plant/controller co-design of dual-motor driving system

A fixed-time sliding mode controller based plant/controller co-design scheme is developed for dual-motor driving systems. The proposed controller is fixed-time stable subject to unknown disturbances which guarantees the robustness of the proposed control scheme and a less conservative solution can be ensured by comparing with the conventional fixed-time convergence technique. Due to the existence of couplings between the plant and the controller, traditional design procedures in which the plant and the controller are designed sequentially and separately cannot guarantee the overall optimum of control systems. A co-design scheme based on the nested optimisation strategy is developed in this paper. With the nested optimisation strategy, the co-design solution can be achieved efficiently and reliably. A combined cost function considering both the plant and the controller is developed so that the largest load can be achieved without degrading the control performance. The fixed-time convergent controller is employed and considered into the co-design scheme. The gravitational search algorithm is adopted to optimise controller parameters in the co-design scheme. With the presented co-design method, the largest load of the studied system can be achieved with the satisfactory control performance. Contrastive Simulation and experimental results demonstrate the efficacy of the proposed controller and co-design scheme.     

三端子有源矩阵液晶显示器

主要介绍了ＴＦＴ特别是ａ－ＳｉＴＦＴ矩阵寻址的液晶显示器的结构、制作工艺、工作原理、动态和驱动特性，并着重对其器件参数的选择进行了分析，为今后器件的设计提供了理论依据。同时也介绍了其它三端子方式ＡＭＬＣＤ的特点及所存在的问题。     

双足型直线超声电机的实验研究

研制了一种新型直线超声电机,首先对其驱动机理进行了探讨,设计了电机的具体结构。其次对振子进行了频率响应实验,模态实验,实验表明电机可有效激励出所需振型。分别测定了电机的频率-速度关系、电压-速度关系、相位-速度关系。电机运行中正反两向运动灵活,工作状态稳定,速度基本与输入电压成正比,可采用调压调速;其最大无负载速度可达76 mm/s,最大输出推力2 N,达到了预期设计的目的。     

点云空间与反射强度融合的非结构化道路可行驶区域检测

可行驶区域检测旨在检测和提取智能车辆在道路上可行进的区域, 目前主流的检测方法主要基于三维激光雷达的空间特征实现, 难以处理路面边缘无清晰空间特征的非结构化道路. 为此, 本文提出了一种基于点云空间和反射强度融合的非结构化道路可行驶区域检测方法. 首先, 通过融合反射强度因子改进了基于空间特征的柱坐标系检测模型; 然后, 使用强度和降维空间检测对检测精度较低的环形检测模型进行优化, 并将其与柱坐标系检测模型联合使用以提高方法检测准确率; 最后, 在自录实际道路数据集上进行对比实验. 实验结果表明本文方法显著提高了非结构化道路可行驶区域检测的成功率与精确率, 在结构化道路上也具有良好效果.     

新型混合型限流断路器分析及试验

研究了一种基于高速斥力开关的交直流两用混合型限流断路器方案,该限流断路器在限流过程中先经过一个强迫换流过程,使得触头分离时高速斥力开关上电流减小到较小值,触头分离后再经历一个自然零电压换流过程,将斥力开关电流换流到二极管支路上.重点对限流断路器换流过程进行了理论分析及仿真,分析了其可能出现的4种分断情况.研制了400V/500A限流断路器样机,并进行了不同短路电流上升率的限流试验,验证了理论分析的正确性.     

一种简单的IGBT驱动和过流保护电路

讨论了IGBT驱动电路对其静态和动态特性的影响以及对驱动电路与过流保护电路的要求。利用IGBT的通态饱和压降与集电极电流呈近似线性关系的特性,设计了一个具有完善的过流保护功能的IGBT驱动电路。经分析和实验表明,该电路具有简单、实用、可靠性高等优点。     

Efficient graph attentional network for 3D object detection from Frustum-based LiDAR point clouds

LiDAR-based 3D object detection is important for autonomous driving scene perception, but point clouds produced by LiDAR are irregular and unstructured in nature, and cannot be adopted by the conventional Convolutional Neural Networks (CNN). Recently, Graph Convolutional Networks (GCN) has been proved as an ideal way to handle non-Euclidean structure data, as well as for point cloud processing. However, GCN involves massive computation for searching adjacent nodes, and the heavy computational cost limits its applications in processing large-scale LiDAR point cloud in autonomous driving. In this work, we adopt a frustum-based point cloud-image fusion scheme to reduce the amount of LiDAR point clouds, thus making the GCN-based large-scale LiDAR point clouds feature learning feasible. On this basis, we propose an efficient graph attentional network to accomplish the goal of 3D object detection in autonomous driving, which can learn features from raw LiDAR point cloud directly without any conversions. We evaluate the model on the public KITTI benchmark dataset, the 3D detection mAP is 63.72% on KITTI Cars, Pedestrian and Cyclists, and the inference speed achieves 7.9 fps on a single GPU, which is faster than other methods of the same type.     

基于Android的科目三模拟考试系统

基于Android的科目三模拟考试系统把驾驶员考试从车载电脑迁移到便捷的Android手机智能平台,在保证模拟考试质量的前提下降低了驾校的硬件成本。实践证明使用科目三模拟系统能够提高考试合格率、减少学员训练时间、提升驾校招生率且能够提高训练车辆的使用效率。     

基于双脉冲的IGBT及驱动电路测试方法

文章设计了双脉冲测试电路,可以方便地测量IGBT在实际电路中的开关特性与损耗,调节电感的大小与脉冲宽度,可以测试驱动电路的过流保护、短路保护、电压钳位功能,反映了IGBT在实际应用中的动态性能,同时可以计算平面母线的杂散电感,取得了较好的效果。     

基于嵌入式系统的双屏兼容显示设计

提出了一种基于嵌入式系统的双屏兼容显示设计方案.以一款单色STN-LCD、一款TFT-LCD和LPC2478芯片为例进行了介绍,完成了两款液晶显示屏与LPC2478硬件接口电路的设计,并详细阐述了双屏兼容下GUI程序设计的总体框架以及编程的一些细节.最后对设计进行测试和分析,结果表明此方法可以完整显示相关信息,并具有一...