建立了四轮驱动汽车加速过程的数学模型,以滑转率为调节对象,提出一种基于模糊P ID控制的驱动防滑控制A SR算法。设计了以发动机油门为控制对象的模糊-P ID控制器并讨论了控制器切换参数的选取,并针对均一低附着路面以及分离路面在S im ...建立了四轮驱动汽车加速过程的数学模型,以滑转率为调节对象,提出一种基于模糊P ID控制的驱动防滑控制A SR算法。设计了以发动机油门为控制对象的模糊-P ID控制器并讨论了控制器切换参数的选取,并针对均一低附着路面以及分离路面在S im u link仿真环境下进行了动态仿真。对比仿真结果,表明模糊P ID控制性能优于单一的模糊控制。展开更多
The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the...The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height.展开更多
The service condition determines the Roiling Contact Fatigue（RCF） failure mechanism and lifetime under ascertain material structure integrity parameter of thermal spray coating. The available literature on the RCF t...The service condition determines the Roiling Contact Fatigue（RCF） failure mechanism and lifetime under ascertain material structure integrity parameter of thermal spray coating. The available literature on the RCF testing of thermal spray coatings under various condition services is considerable; it is generally difficult to synthesize all of the result to obtain a comprehensive understanding of the parameters which has a great effect on a thermal spray coating＇s resistance of RCF. The effects of service conditions（lubrication states, contact stresses, revolve speed, and slip ratio） on the changing of thermal spray coatings＇ contact fatigue lifetime is introduced systematically. The effects of different service condition on RCF failure mechanism of thermal spray coating from the change of material structure integrity are also summarized. Moreover, In order to enhance the RCF performance, the parameter optimal design formula of service condition and material structure integrity is proposed based on the effect of service condition on thermal spray coatings＇ contact fatigue lifetime and RCF failure mechanism. The shortage of available literature and the forecast focus in future researches are discussed based on available research. The explicit result of RCF lifetime law and parameter optimal design formula in term of lubrication states, contact stresses, revolve speed, and slip ratio, is significant to improve the RCF performance on the engineering application.展开更多
文摘建立了四轮驱动汽车加速过程的数学模型,以滑转率为调节对象,提出一种基于模糊P ID控制的驱动防滑控制A SR算法。设计了以发动机油门为控制对象的模糊-P ID控制器并讨论了控制器切换参数的选取,并针对均一低附着路面以及分离路面在S im u link仿真环境下进行了动态仿真。对比仿真结果,表明模糊P ID控制性能优于单一的模糊控制。
基金supported by National Outstanding Youth Science Foundation of China (Grant No. 51125020)National Hi-tech Research and Development Program of China (863 Program, Grant No. 2006AA04Z207)Program for New Century Excellent Talents in University, China
文摘The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height.
基金Supported by Distinguished Young Scholars of National Natural Science Foundation of China(Grant No.51125023)National Basic Research Program of China(973program,Grant No.2011CB013405)+1 种基金National Natural Science Foundation of China(Grant Nos.5127552651275105)Fundamental Research Funds for the Central Universities(Grant Nos.HEUCF20130910003,201403017)
文摘The service condition determines the Roiling Contact Fatigue（RCF） failure mechanism and lifetime under ascertain material structure integrity parameter of thermal spray coating. The available literature on the RCF testing of thermal spray coatings under various condition services is considerable; it is generally difficult to synthesize all of the result to obtain a comprehensive understanding of the parameters which has a great effect on a thermal spray coating＇s resistance of RCF. The effects of service conditions（lubrication states, contact stresses, revolve speed, and slip ratio） on the changing of thermal spray coatings＇ contact fatigue lifetime is introduced systematically. The effects of different service condition on RCF failure mechanism of thermal spray coating from the change of material structure integrity are also summarized. Moreover, In order to enhance the RCF performance, the parameter optimal design formula of service condition and material structure integrity is proposed based on the effect of service condition on thermal spray coatings＇ contact fatigue lifetime and RCF failure mechanism. The shortage of available literature and the forecast focus in future researches are discussed based on available research. The explicit result of RCF lifetime law and parameter optimal design formula in term of lubrication states, contact stresses, revolve speed, and slip ratio, is significant to improve the RCF performance on the engineering application.
