Dual-steering mode based on direct yaw moment control for multi-wheel hub motor driven vehicles:Theoretical design and experimental assessment

One of the main challenges for multi-wheel hub motor driven vehicles is the coordination of individual drivetrains to improve mobility and stability in the steering process.This paper proposes a dual-steering mode based on direct yaw moment control for enhancing vehicle steering ability in complex environ-ments.The control system is designed as a hierarchical structure,with a yaw moment decision layer and a driving force distribution layer.In the higher-level layer,the objective optimization function is con-structed to obtain the slip steering ratio,which represents the degree of vehicle slip steering in the dual-steering mode.A yaw moment controller using active disturbance rejection control theory is designed for continuous yaw rate control.When the actual yaw rate of the vehicle deviates from the reference yaw rate obtained by the vehicle reference model and the slip steering ratio,the yaw moment controller is actuated to determine the yaw moment demand for vehicle steering.In the lower-level layer,there is a torque distribution controller based on distribution rules,which meets the requirement of yaw moment demand without affecting the total longitudinal driving force of the vehicle.For verifying the validity and feasibility of the dual-steering mode,simulations were conducted on the hardware-in-loop real-time simulation platform.Additionally,corresponding real vehicle tests were carried out on an eight-wheel prototype vehicle.Test results were generally consistent with the simulation results,thereby demon-strating that the proposed dual-steering mode reduces steering radius and enhances the steering per-formance of the vehicle.     

Adaptive sliding mode control of modular self-reconfigurable spacecraft with time-delay estimation

The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.     

雷达调频编码脉冲信号的设计与处理

现代雷达为获得较高的距离分辨力通常采用编码频率脉冲串信号和步进频率脉冲串信号,但都存在数据率低和较为严重的距离-多普勒耦合问题。在研究这两种信号特点的基础上,提出了调频编码脉冲信号形式并给出了相应的信号处理方法。经仿真对比可见,该信号形式及其处理方法能同时解决步进调频信号高距离-多普勒耦合、低数据率两大问题,具有较好的联合分辨力。     

脉冲压缩雷达系统分析与仿真研究

基于信号处理工作系统(SPW)仿真平台,对脉压雷达信号处理系统进行了建模与仿真技术研究。建立了脉压雷达信号处理系统的仿真模型,同时,利用仿真技术的优势,对脉压雷达信号处理系统的抗干扰(杂波、干扰和噪声)性能进行了仿真,仿真结果表明该雷达信号处理系统具有一定的抗干扰性能。上述工作为脉压雷达信号处理系统的工作过程描述、方案论证、性能评估和挖潜改造提供了仿真依据及技术支持。     

火灾情况下地铁通风系统运行模式分析

分析了地铁在火灾情况下区间隧道和站台各种通风系统运行模式,以及通风系统有效运行所需达到的物理参数。对通风模式进行了分析,确定了火灾情况下最佳的通风方式。分析现行规范规定的数据,用临界风速公式进行计算得出区间隧道风速不满足通风要求。     

调频脉冲信号辐射源多普勒信息提取方法研究

提出了一种基于单脉冲频率及频率变化率联合估计和多脉冲联合估计脉冲重复周期变化率的调频脉冲信号辐射源目标多普勒参数提取方法。该方法解决了无源定位系统数据采样频率与辐射源脉冲重复周期不匹配造成的频率偏差问题,在脉冲到达时间的提取上避免了对脉冲边沿的判断,使得利用中频采样信号计算脉冲重复周期成为可能。介绍对了该方法所采用的频率及频率变化率联合估计关键技术,并在此基础上讨论了该方法所能达到的理论估计精度及误差分析,最后通过仿真试验验证了该方法的可行性和有效性。     

韩礼德的语域理论与大学英语教学

韩礼德的语域理论是系统功能语法的重要理论之一,它强调语言的交际功能和社会意义。文章探讨了如何将语域知识运用于大学英语教学实践,这种尝试不仅能使学生的阅读理解能力得到提高,而且有利于听、说、写、译等综合能力的提高,从而找到一种较好的教学方法,加速学生从语言知识向语言应用能力转化的过程。     

坦克炮控系统的反演滑模鲁棒摩擦补偿控制

坦克炮控系统存在低速摩擦,摩擦环节不但造成系统的稳态误差,而且导致极限环振荡、低速爬行等现象。为此提出基于反演理论的滑模鲁棒控制方法,通过Lyapunov稳定理论获得控制量。仿真结果表明该设计方法优于经典设计,为炮控系统实际设计提供了一种可行的方法。     

基于级间设计的人机联合探月方案

基于登月飞行器的级间组合设计方法对载人登月飞行器的构造进行设计,在级间方案的论证中分析了不同组装模式对运载火箭能力的需求,建立了航天员和机器人联合探测的载人登月方案。级间组合方法可为应转移飞行器和登月飞行器设计提供另一种思路,本文根据飞行器级间的不同组合方式对登月飞行器的质量规模进行了初步估算,并对比了不同飞行方案对运载火箭能力的需求,研究可为我国首次载人登月任务方案提供参考。     

微波脉冲对硅基双极型晶体管的损伤特性

利用微波脉冲注入实验平台,对硅基双极型晶体管低噪声放大器进行了损伤效应实验。在微波脉冲对硅基双极型晶体管低噪声放大器损伤的失效分析中,当低噪声放大器增益下降大于10d B时,发现硅基双极型晶体管出现了永久损伤。通过对比测量硅基双极型晶体管损伤前后的电特性以及利用扫描电子显微镜观测损伤后晶体管的微观特性发现:硅基双极型晶体管被微波脉冲损伤后,基区的硅材料烧蚀导致发射结和集电结短路,不再具有PN结特性,导致器件失效。