基于虚拟视景驱动的车辆信息测控系统的开发

针对虚拟视景驱动的规格要求,对别克君威原型车进行改装,运用模块化设计思想构建,开发出车辆信息测控系统.本系统基于工业PC、Win2000软件平台,在原型车传感器改装基础上结合数字编程电路接口技术实现对各路车辆信息的采集;对原型车转向系统进行改装,以力矩电机模糊控制实现车辆回正力的实验室模拟;以Delphi开发了测控系统过程处理软件,以VC开发了基于TVSPP(TMRI vision simulation peer to peer)通信协议的动态链接库,实现了各路测控信息向视景驱动模块的传输.该设备实际运行可靠、操作简便、界面友好、通信稳定,较好地满足了使用要求.     

多轴转向车辆转向杆系的受力分析

某采用机械式液压助力转向的多轴转向车辆,经常出现转向杆系损坏的现象.为了分析转向杆系损坏的原因,进一步提高系统的可靠性,通过大型工程分析软件ADAMS对转向杆系进行虚拟样机建模.利用模型对转向杆系进行了虚拟试验分析,给出了各杆件受力分析的仿真结果.仿真结果分析表明造成转向杆系损坏的原因是由于受力过大,并提出了相应的改进措施.通过改进后测试,对虚拟样机的仿真结果进行了对比,证明虚拟样机模型是正确的,改进措施是有效的.结果使整个杆系最大受力降低了30%.     

Controller design for electric power steering system using T-S fuzzy model approach

Pressure ripples in electric power steering （EPS） systems can be caused by the phase lag between the driver s steering torque and steer angle, the nonlinear frictions, and the disturbances from road and sensor noise especially during high-frequency maneuvers. This paper investigates the use of the robust fuzzy control method for actively reducing pressure ripples for EPS systems. Remarkable progress on steering maneuverability is achieved. The EPS dynamics is described with an eight-order nonlinear state-space model and approximated by a Takagi-Sugeno （T-S） fuzzy model with time-varying delays and external disturbances. A stabilization approach is then presented for nonlinear time-delay systems through fuzzy state feedback controller in parallel distributed compensation （PDC） structure. The closed-loop stability conditions of EPS system with the fuzzy controller are parameterized in terms of the linear matrix inequality （LMI） problem. Simulations and experiments using the proposed robust fuzzy controller and traditional PID controller have been carried out for EPS systems. Both the simulation and experiment results show that the proposed fuzzy controller can reduce the torque ripples and allow us to have a good steering feeling and stable driving.     

基于石墨烯超表面天线的太赫兹动态相位调控及波束扫描

太赫兹波频段介于毫米波和红外光之间,具有诸多优异特性,太赫兹天线更是太赫兹通信、雷达和成像等应用系统中的核心元器件。然而,目前报道的太赫兹天线均无法满足较大动态范围的相位扫描、高效率辐射和大偏转角度的需求。该文设计了 3 种石墨烯太赫兹天线,最小尺寸为 5 μm,并对其辐射效率和相位调控特性进行研究,进而提出具有双共振模式的石墨烯-金属太赫兹超表面天线,缓解了传统的基于单共振模式的相位动态调控范围和辐射效率之间的矛盾,实现了 0～360°的动态相位调控,且辐射效率高于 20%。该研究采用微加工工艺进行样品加工,通过改变栅极电压,在实验上获得了 1.03 THz 的太赫兹动态相位调控,反射率高于 23%,与仿真结果基本吻合。在此基础上,该文基于连续相位编码设计了石墨烯超表面相控阵天线,理论上实现了太赫兹波束在－25°～25°范围内的实时波束偏转。该文为解决超表面相控阵天线的相位动态调控范围小、辐射效率低等难题提供了新的研究思路。     

Effect of undulation on SH-wave propagation in corrugated magneto-elastic transversely isotropic layer

This article delves to study the effect of corrugated boundary surfaces on the propagation of horizontally-polarized shear waves (SH-waves) in a magnetoelastic transversely isotropic layer under a hydrostatic state of stress lying over an elastic half-space under gravity. A dispersion equation has been derived in closed-form and is found to be in good agreement to the classical Love-wave equation. The effect of magnetoelasticity, hydrostatic state of stress, gravity, corrugation, position parameter, and undulation on the phase velocity of the SH-wave has been identified. Numerical computation along with graphical demonstration has been carried out for cadmium, magnesium, and zinc materials of hexagonal symmetry to highlight some significant facts.     

六轮移动机器人运动学建模与仿真

针对石化行业的需求,设计了一款具有较强运动灵活性的适合在狭小空间、复杂环境中工作的六轮移动机器人。采用4个全向轮与两个普通橡胶车轮混搭的车轮配置方案,建立机器人的运动学模型,并分析了车轮的运动参数与机器人本体位姿之间的关系;运用ADAMS仿真软件构建了机器人的仿真模型,通过对直线行驶、原地转向性能进行运动学仿真,得到了机器人的运动学曲线,验证了运动学理论模型的正确性和机器人机构设计的合理性。原地转向误差实验表明,机器人具有较强的原地转向能力,原地转向最小误差可达到2.299mm,较好地满足了该机器人的高灵活性需求。     

基于液体静力称量法的纯水密度测量

分析了液体静力称量法测量密度的原理和体积测量中纯水密度的特性公式,推导了由己知密度的固体标准来测量液体密度的计算公式。利用固体密度基准量传装置,通过静力称量法为固体密度标准硅球赋值,其相对测量不确定度3×10^-6(k=2)。在20℃时利用高精度液体密度测量装置,通过静力称量法将固体标准(硅球)密度传递至纯水密度,与Tanaka模型比对,E_n值为0.059,比对结果等效。实验结果不仅验证了高精度液体密度测量装置,还验证了20℃纯水密度模型的理论值。     

车辆四轮转向系统的控制方法

系统地评述了车辆四轮转向系统的原理及其控制方法的发展,在此基础上指出四轮转向系统的研究必须以闭环综合评价为出发点,并与其它主动安全技术相结合才能真正达到实用阶段。     

An efficient steering control formulation for the articulated body mobile robot “KR-II”

This paper introduces an efficient steering control method for the articulated body mobile robot Koryu-II (KR-II). KR-II is a real robot, composed of six cylindrical segments linked in series and has a long snake-like appearance. The main issue on KR-II's steering control is, given from a remote human operator the velocity and orientation commands for the foremost segment, to automatically generate joint commands for all the following segments, such that they follow the foremost segment's trajectory. The derived method is based on a trajectory planning scheme in the inertial reference frame, and is feasible for real time computation. It also presents good energy efficiency and trajectory tracking performance characteristics, and can be extended for KR-II's W-Shaped Configuration steering control, which augments the lateral stability of the robot, essential for locomotion over uneven terrain. The validity of these methods are verified by experiments on the mechanical model KR-II.     

基于红外光电传感器的智能车两轮差速转向模糊控制

介绍了一种基于红外光电传感器的智能小车两轮差速转向模糊控制系统,该系统以单片机最小系统为核心,根据寻迹传感器的检测值判断小车运行状态,从而改变电机转速,实现控制小车的目的。实验结果表明,采用模糊控制方法对两轮差速转向进行控制,小车运行稳定,路径跟踪可靠,控制性能良好。