基于车辆行驶状态的EPS助力特性研究

助力特性是电动助力转向系统控制的依据。本文从保证行车安全的观点出发,分析了车辆行驶状态参数与EPS助力矩的关系,提出了基于车辆行驶状态的EPS助力特性,并用Matlab/Simulink进行了仿真,仿真结果表明该助力特性是合理的。     

Improvement of the steering feel of an electric power steering system by torque map modification

This paper discusses a de motor equipped electric power steering (EPS) system and demonstrates its advantages over a typical hydraulic power steering (HPS) system The tire-road interaction torque at the steering tires is calculated using the 2 d o f bicycle model, in other words by using a single-track model, which was verified with the J-turn test of a real vehicle Because the detail parameters of a steering system are not easily acquired, a simple system is modeled here In previous EPS systems, the assisting torque for the measured driving torque is developed as a boost curve similar to that of the HPS system To improve steering stiffness and return-ability of the steering system, a third-order polynomial as a torque map is introduced and modified within the preferred driving torques researched by Bertollini Using the torque map modification sufficiently improves the EPS system     

Operation algorithm for a parallel hybrid electric vehicle with a relatively small electric motor

In this paper, operation algorithms for a parallel HEV equipped with a relatively small motor are investigated. For the HEV, the power assist and the equivalent fuel algorithms are proposed. In the power assist algorithm, an electric motor is used to assist the engine which provides the primary power source. In the equivalent fuel algorithm, the electric energy stored in the battery is considered to be an equivalent fuel, and an equivalent brake specific fuel consumption for the electric energy is proposed. From the equivalent fuel algorithm, distribution of the engine power and the motor power is determined to minimize the fuel consumption for a given battery state of charge (SOC) and a required vehicle power. It is found from the simulation results that the fuel economy and the final battery SOC depend on the motor discharge energy and it is the best way to charge the battery only by the regenerative braking, not by the engine to improve the overall fuel efficiency of the HEV with the relatively small motor.     

一种应用于履带式工程机械的辅助制动系统

目前吊管机采用液压助力刹车系统,一旦液压系统出现泄漏则无法保证制动带始终抱紧外轮毂,若车辆停留在斜坡上,则会由于自重出现溜坡现象,从而影响工程机械作业质量,甚至引发事故.为此,设计了一套机械式辅助制动系统:当发动机熄火时,该系统利用弹簧力实现车辆彻底制动;当发动机启动或电磁阀得电时,该系统不工作且不影响原有底盘转向制动系统,达到两种制动系统的兼容.该系统安装、使用、维修方便,解决了吊管机、推土机等履带式工程车辆的溜坡问题,对工程机械安全作业、高效精准施工具有重要意义.     

多次行星借力的小推力飞行控制策略研究

针对小推力深空探测器采用多次行星借力的飞行控制策略优化问题,文章提出了一种将推进段作为整体与滑行段进行打靶拼接的方法,最大限度地减少了优化设计时的待优化参数个数.首先,文章给出了小推力飞行轨道的间接优化设计模型和基于B平面理论的行星借力模型.随后,建立了给定开关机时序条件下的小推力借力飞行控制策略优化模型;最后,采用遗传算法和序列二次规划算法循环对该模型进行优化求解,并以地球–金星–地球–木星小推力飞行轨道控制策略优化设计为例进行仿真分析,仿真结果验证了优化模型的正确性和有效性,表明本文的研究方法可对小推力多次行星借力飞行的控制策略进行优化设计.     

基于差动轮系机构的汽车电动助力转向系统研究

分析了基于差动轮系机构的汽车电动助力转向系统工作原理及其对汽车中心操纵性能的影响，首先对差动轮系转向机构进行了静力学和运动学分析，然后建立了简化的动力学仿真模型。仿真的结果表明，基于差动轮系机构的电动助力转向系统能提高汽车中心操纵性能。     

Wheeled inverted pendulum type assistant robot: design concept and mobile control

This paper describes the design concept of the human assistant robot I-PENTAR (Inverted PENdulum Type Assistant Robot) aiming at the coexistence of safety and work capability and its mobile control strategy. I-PENTAR is a humanoid type robot which consists of a body with a waist joint, arms designed for safety, and a wheeled inverted pendulum mobile platform. Although the arms are designed low-power and lightweight for safety, it is able to perform tasks that require high power by utilizing its self-weight, which is the feature of a wheeled inverted pendulum mobile platform. I-PENTAR is modeled as a three dimensional robot; with controls of inclination angle, horizontal position, and steering angle to achieve high mobile capability. The motion equation is derived considering the non-holonomic constraint of the two-wheeled mobile robot, and a state feedback control method is applied for basic mobile controls wherein the control gain is calculated by the LQR method. Through several experiments of balancing, linear running, and steering, it was confirmed that the robot could realize stable mobile motion in a real environment by the proposed controller.     

CTA及其淀粉衍生物的开发与应用Ⅲ CTA阳离子淀粉在造纸上的应用

利用自己合成的3-氯-2-羟丙基三甲基氯化铵(简称CTA)阳离子淀粉,对其在造纸上的应用过程进行了较为详细的研究,取得了成功.合成的CTA阳离子淀粉做为造纸助剂应用到造纸上,成纸断裂长提高了0.171km,耐折度提高了6次,成纸灰份提高0.29%,单程留着率提高3.09%,其质量优于目前企业生产中使用的同类型阳离子淀粉,具有较大的推广使用价值.     

Biomechanical analysis of materials handling manipulators in short distance transfers of moderate mass objects: joint strength,spine forces and muscular antagonism

Although often suggested as a control measure to alleviate musculoskeletal stresses, the use of mechanical assistance devices (i.e. manipulators) in load transfers has not been extensively studied. Without data describing the biomechanical effects of such devices, justification for decisions regarding implementation of such tools is difficult. An experimental study of two types of mechanical manipulators (articulated arm and overhead hoist) was conducted to determine whether biomechanical stresses, and hence injury risk, would be alleviated. Short distance transfers of loads with moderate mass were performed both manually and with manipulator assistance under a variety of task conditions. Using analysis and output from new dynamic torso models, strength demands at the shoulders and low back, lumbar spine forces, and lumbar muscle antagonism were determined. Strength requirements decreased significantly at both the shoulders and low back when using either manipulator in comparison with similar transfers performed manually. Peak spine compression and anteriorposterior (a-p) shear forces were reduced by about 40% on average, and these reductions were shown to be primarily caused by decreases in hand forces and resultant spinal moments. Two metrics of muscular antagonism were defined, and analysis showed that torso muscle antagonism was largest overall when using the hoist. The results overall suggest that hoist-assisted transfers, although better in reducing spine compression forces, may impose relatively higher demands on coordination and/or stability at extreme heights or with torso twisting motions. The relatively higher strength requirements and spine compression associated with the articulated arm may be a result of the high inertia of the system. Potential benefits of practice and training are discussed, and conclusions regarding implementation of mechanical manipulators are given.     

Experimental investigation on CO2 laser-assisted micro-slot milling characteristics of borosilicate glass

Demands for micro-machining on glass have been increasing in various industries due to the unique properties of glass, such as transparency or biocompatibility. However, micro-channel fabrication on glass with high precision has been challenging due to its brittle characteristics. This research presents the CO₂ laser-assisted micro-milling process and investigates the machining characteristics experimentally. Micro-channels without cracks were fabricated using micro-end mill and CO₂ laser irradiation as an assisting heat source. Compared to the process without laser heating in the same matching conditions, the average surface roughness was reduced by 96%, and cutting force was reduced by 28% and 66% for the feed and thrust direction, respectively. Continuous and sheared chips were observed with laser heating, indicating the process is in ductile-regime machining. Through the investigation of machining parameters, it was found that micro-channels with low average surface roughness can be achieved at the proper laser power when the workpiece is heated up to the strain point at tool position, at low feed rate, and at high axial depth of cut, as long as the tool withstands the cutting forces. Consequently, it can be concluded that it is possible to increase the material removal rate in micro-milling of borosilicate glass with high quality by using the CO₂ laser, which was found to be an effective and suitable heating method.