Driving force coordinated control of an 8 ×8 in-wheel motor drive vehicle with tire-road friction coefficient identification

Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electric drive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method.According to road identification,the optimal slip ratio under the current driving condition is obtained,and a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-road forces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.     

基于Matlab四杆式液压起落机构运动学与动力学分析

提出了一种可用于加油卷盘升降的四杆式液压起落机构的设计方案。分析了四杆式液压起落机构的工作原理,采用复数向量法建立了运动学和动力学数学模型。利用Matlab软件编制了相应的程序进行实例分析和计算,得到了机构关键点的仿真轨迹和有关构件的角位移、角速度及角加速度曲线。运用理论分析计算和软件仿真,验证了机构设计的合理性和方案的可行性。     

Delamination process in cross-ply UHMWPE laminates under ballistic penetration

Cross-ply unidirectional laminates made of ultra-high molecular weight polyethylene fibers are widely used as components of bullet-proof vests. To simulate the delamination process of the material under penetration, we constructed a numerical mechanical model, which was validated by tests using 7.62 × 39 mm rifle bullets penetrating laminates of different thicknesses. The results show that the delamination region is essentially diamond-shaped. The simulated delamination region is in good agreement with the experimental data. It is found that the delamination region increases with the compression modulus along the fiber direction. The delamination region increases when the shear strength between the fabric layers decreases;However, it is little influenced by the normal strength. The delamination region of the front face of the laminate is little influenced by the failure strain of the material and the initial velocity of the bullet. The delamination region of the back face increases with the failure strain and decreases with the initial velocity.     

提高植物学实验教学质量的探讨

对高校植物学实验教学存在问题的进行了探讨,提出改进传统实验教学的教学思路和教学模式,适应创新人才培养需要,提高实验教学质量。     

故障树近似计算中最优权因子的选取

在故障树近似计算时,探讨通过加权提高计算准确度的简便方法。根据底事件发生概率的不同,利用VisualC 语言进行蒙特卡罗仿真计算,得到了在近似计算故障树顶事件发生概率时,在不同底事件发生概率对应区间内的最优权因子。利用该方法得到的最优权因子可以提高故障树近似计算的准确度,尤其是在当底事件发生概率较大时,其效果更为明显,可较好地满足采用故障树对某些特殊设备进行顶事件发生概率计算时提高计算精度的需求。     

试论屈原的人生观

屈原的人生观是以立志成名、追求理想、进德修业、乐观向上为主要特征的 ,表现出了胸襟宽阔、锐意进取、昂扬奋发的气概。它能够使人从中获得极大的精神鼓舞和深刻的人生启迪     

数字化装甲营作战仿真实验室的支撑软件设计

介绍了数字化装甲营作战仿真实验室的支撑软件组成、结构和功能.军事指挥人员(建模人员)利用支撑软件按照自己的意图,快速制定作战想定,兵力、兵器部署的系统模型,通过系统模型的运行,实现战斗进程的逼真模拟,实施人在环、部分实装在环的装甲兵分队作战指挥对抗演习和实验,完成装甲兵分队的战术和技术训练任务,为装甲兵部队作战理论研究,人员训练,装备作战效能评估,技术保障研究和院校各专业技术人才培养提供高技术的软件平台,并且快速确定系统模型的可信度指标,为上级机关决策的合理化提供有力的支持.     

九自由度可控翼伞系统滑翔及稳定性分析

在建立可控翼伞系统九自由度飞行动力模型的基础上,以翼伞面积为４０ｍ~２的可控翼伞系统为例,对其滑翔及稳定性进行仿真计算和分析,并与六自由度模型结果作了比较,着重分析了伞－回收物相对俯仰运动的稳定性,其结果可在系统设计和实验中参考。     

电弧喷涂Fe—Cr—Ni管状丝材涂层性能研究

金属管状丝材是热喷涂领域中的一种新型材料.本文对电弧喷涂含稀土元素的Fe—Cr—Ni营状丝材的涂层结合强度、相对耐磨性、显微硬度等机械性能进行了研究,并利用扫描电镜(SEM)、X射线衍射仪及能谱等分析方法研究了涂层的形貌、成分和相组成.     

三相整流系统的故障分析

利用相量图分析了三相整流系统所有故障情况下交直流侧电压波形,进一步得到了整流系统各种故障对直流侧电压纹波因数和交流侧线电压畸变率的影响。最后得出了一些重要的结论。