基于PLC控制技术和气压传动控制技术的汽车前悬架与转向轮螺纹装配设备研发

在装配汽车前悬架与转向轮时需要拧紧螺纹,一旦操作不当就会出现前倾角过大的缺陷,加快车轮胎的磨损,降低小轴承及轮毂紧固螺母的使用寿命。对此,本文设计了一种基于PLC控制技术和气压传动控制技术的装配设备,能有效避免上述问题。     

汽车液压动力转向器性能试验系统的加载方式探究

本文先后减少了两种汽车液压动力转向器性能试验系统的加载方式,液压加载方式与机械加载方式。首先对液压加载原理进行了分析,确定了液压加载的结构,同时探讨了一系列液压加载方式的辅助设计,然后分析了机械加载方式的加载原理,并通过计算确定了加载板簧的尺寸。最后,笔者通过分析不同的两种加载方式的优势与劣势,在实践应用中通过应用不同的加载方式可以提高实验的自动化程度,提高试验系统的准确度。     

四川非常规气田开发主要钻井技术及其应用效果

随着油气勘探开发难度不断加大,尤其是近年来非常规气田的开发,定向钻井成为钻井主流技术,如何有效控制钻井成本和保护环境并防止井下事故的发生成为作业者必须面对的问题。为此,自2010年以来,在荷兰皇家壳牌集团(中国)四川非常规气项目50余井次的钻井工作中,运用了旋转导向技术、新型钻井液配方、钻井液回收技术和固控配套技术,取得了快速、安全、环保的应用效果,其中DXXX井应用旋转导向钻井,实现完钻井深5 729 m,水平段长1 418 m,钻井周期105 d,同比螺杆钻水平井节约时间65 d,钻井工程创下了该区新纪录。尤其是针对不同地层特点,兼顾环保要求,成功研制和应用了新型钻井液配方、固控和钻屑处理技术,取得了较好的环保效果。结论认为,上述配套技术的应用对提高钻遇产层成功率、提高钻井速度、缩短钻井周期、控制钻井成本、获得更好的经济效益和社会效益,具有重要的保障作用。     

Generating a multiplicity of policies for agent steering in crowd simulation

Pedestrian steering algorithms range from completely procedural to entirely data‐driven, but the former grossly generalize across possible human behaviors and suffer computationally, whereas the latter are limited by the burden of ever‐increasing data samples. Our approach seeks the balanced middle ground by deriving a collection of machine‐learned policies based on the behavior of a procedural steering algorithm through the decomposition of the space of possible steering scenarios into steering contexts. The resulting algorithm scales well in the number of contexts, the use of new data sets to create new policies, and in the number of controlled agents as the policies become a simple evaluation of the rules asserted by the machine‐learning process. We also explore the use of synthetic data from an “oracle algorithm” that serves as an as‐needed source of samples, which can be stochastically polled for effective coverage. We observe that our approach produces pedestrian steering similar to that of the oracle steering algorithm, but with a significant performance boost. Runtime was reduced from hours under the oracle algorithm with 10 agents to on the order of 10 frames per second (FPS) with 3000 agents. We also analyze the nature of collisions in such a framework with no explicit collision avoidance. Copyright © 2014 John Wiley & Sons, Ltd.     

岩石材料的非线性强度与破坏准则研究

将三维应力条件下岩石材料的非线性强度特性,分解为偏平面上的非线性与子午面上的非线性,在偏平面上研究中主应力效应,在子午面上研究静水压力效应,以及中主应力与静水压力的耦合效应。通过八面体面外法线方向与空间滑动面外法线方向二者之间的线性插值,提出统一强度理论的物理模型,每一种材料对应于一个特定的剪切破坏面,进而建立广义非线性强度理论,该理论具有明确的物理模型、清晰的物理概念,4个相互独立的材料参数均具有明确的物理意义,在主应力空间的强度面连续光滑。通过5种岩石材料的真三轴强度试验结果的验证表明,该理论可较好地描述不同类型岩石材料的非线性强度特性。基于广义非线性强度理论提出2种变换应力空间,将广义非线性强度理论分别变换为2个新空间中的Mohr-Coulomb准则和Drucker-Prager准则,通过5种岩石材料的真三轴强度试验结果的验证表明,该理论可以在变换应力空间中以Drucker-Prager准则、Mohr-Coulomb准则的形式应用。     

一种新型膨润土防水卷材的研制及其性能

以湖北某地的钙基膨润土为原料,经过人工改性处理,添加海藻酸钠作为粘结剂,并在多种化学药剂和工业用水的参与下充分搅拌均匀,在高温高压密闭的环境中充分反应,将反应后的物料通过真空挤出机制成致密薄片状产品,覆膜打卷最终制成新型膨润土防水卷材.对新型膨润土防水卷材的生产过程进行了叙述;并对其防水防渗性能进行测试,主要包括相同水利坡度下的渗透系数、耐静水压、模拟不同浸出液试验,新型膨润土防水卷材的应用领域可拓展到海水、油类和渗透液复杂情况下的防水防渗,而且其性能明显优于普通膨润土防水毯.     

Vehicle active steering control research based on two-DOF robust internal model control

Because of vehicle’s external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.     

Evaluation method on steering for the shape-shifting robot in different configurations

The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.     

主动配流式电磁直驱静液作动器流量特性分析

为减小电静液伺服系统的流量脉动,提出一种基于主动单向阀与电磁直线执行器的主动配流式电磁直驱静液作动器。建立电磁直线驱动单元和主动单向阀的动力学模型,研究该系统流量脉动和流量大小的特点,分析主动单向阀阀芯结构参数和运动参数对作动系统动态特性的影响。结果表明：减小阀座直径、降低阀芯行程会减小液压缸的最大输入流量;柱塞开始单向行程及到达死点位置的时刻与阀芯运动启闭同步时,系统内不会出现回流并显著减小了流量脉冲现象;与被动配流式电磁直驱静液作动系统相比,主动配流式作动系统能够明显提升系统净流量,抑制系统流量脉动。