The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting la...The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation.展开更多
A new distributed fusion method of radar/infrared （IR） tracking system based on separation and combination of the measurements is proposed by analyzing the influence of rate measurement. The rate information separat...A new distributed fusion method of radar/infrared （IR） tracking system based on separation and combination of the measurements is proposed by analyzing the influence of rate measurement. The rate information separated from the radar measurements together with measurements of IR form a pseudo vector of IR, and the corresponding filter is designed. The results indicate that the method not only makes a great improvement to the local tracker＇s performance, but also improves the global tracking precision efficiently.展开更多
The controlled and homogeneous flow of dry granular powders through hoppers is essential for applications,namely,packaging of food grains,fertilizers and additive manufacturing processes such as directed energy deposi...The controlled and homogeneous flow of dry granular powders through hoppers is essential for applications,namely,packaging of food grains,fertilizers and additive manufacturing processes such as directed energy deposition for better product quality.One of the major issues encountered in the granular flows through hoppers is flow stagnation due to the well-known arching phenomenon.Vibration-assisted granular flow through hoppers is one of the mechanisms used for better mass flow control.In this work,the influence of external mechanical vibration on the powder flow is investigated experimentally and using discrete element simulations.First,the mass flow rate through the hopper increases with an increase in vibration amplitude and then decreases,signifying the existence of an optimal amplitude of vibration.The DEM simulations explained the underlying mechanisms for the existence of an optimal amplitude of vibration corresponding to the maximum mass flow rate.A range of vibration amplitudes from 0 mm to 3.5 mm is used to study the flow behaviour;the maximum flow of around 33 g/s to 35 g/s is observed for 0.75 mm to 1.25 mm vibration amplitude for the hopper-particle combination studied in this work.The work also reports the influence of vibration frequency,hopper,and particle dimension on the flow characteristics.The research facilitates the effective use of mechanical vibration to enhance powder flow that can further be extended to non-spherical and multi-material particles.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. 10772152)the Natural Science Foundation of Shandong Province of China (Grant No. ZR2010FM008)
文摘The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation.
基金supported by the National Natural Science Foundation of China (60574022).
文摘A new distributed fusion method of radar/infrared （IR） tracking system based on separation and combination of the measurements is proposed by analyzing the influence of rate measurement. The rate information separated from the radar measurements together with measurements of IR form a pseudo vector of IR, and the corresponding filter is designed. The results indicate that the method not only makes a great improvement to the local tracker＇s performance, but also improves the global tracking precision efficiently.
文摘The controlled and homogeneous flow of dry granular powders through hoppers is essential for applications,namely,packaging of food grains,fertilizers and additive manufacturing processes such as directed energy deposition for better product quality.One of the major issues encountered in the granular flows through hoppers is flow stagnation due to the well-known arching phenomenon.Vibration-assisted granular flow through hoppers is one of the mechanisms used for better mass flow control.In this work,the influence of external mechanical vibration on the powder flow is investigated experimentally and using discrete element simulations.First,the mass flow rate through the hopper increases with an increase in vibration amplitude and then decreases,signifying the existence of an optimal amplitude of vibration.The DEM simulations explained the underlying mechanisms for the existence of an optimal amplitude of vibration corresponding to the maximum mass flow rate.A range of vibration amplitudes from 0 mm to 3.5 mm is used to study the flow behaviour;the maximum flow of around 33 g/s to 35 g/s is observed for 0.75 mm to 1.25 mm vibration amplitude for the hopper-particle combination studied in this work.The work also reports the influence of vibration frequency,hopper,and particle dimension on the flow characteristics.The research facilitates the effective use of mechanical vibration to enhance powder flow that can further be extended to non-spherical and multi-material particles.
