基于FUZZY控制策略的汽车EPS助力特性分析

首先介绍了助力转向系统的助力特性和助力特性曲线的概念及转向助力特曲线形状的类型,分析了直线型和折线型这两种助力特性曲线的优缺点,然后简单介绍大型软件MATLAB中的FUZZY LOGIC模块的功能和应用,最后以三菱Minica为例,利用这一模块对汽车的电动助力转向系统的助力特性进行仿真分析,得到了对比图形,并对其进行分析.     

Rendering stiffer walls: a hybrid haptic system using continuous and discrete time feedback

Instability in conventional haptic rendering destroys the perception of rigid objects in virtual environments. Inherent limitations in the conventional haptic loop restrict the maximum stiffness that can be rendered. In this paper we present a method to render virtual walls that are much stiffer than those achieved by conventional techniques. By removing the conventional digital haptic loop and replacing it with a part-continuous and part-discrete time hybrid haptic loop, we were able to render stiffer walls. The control loop is implemented as a combinational logic circuit on an field-programmable gate array. We compared the performance of the conventional haptic loop and our hybrid haptic loop on the same haptic device, and present mathematical analysis to show the limit of stability of our device. Our hybrid method removes the computer-intensive haptic loop from the CPU—this can free a significant amount of resources that can be used for other purposes such as graphical rendering and physics modeling. It is our hope that, in the future, similar designs will lead to a haptics processing unit (HPU).