无人驾驶汽车变速器换挡过程自适应控制方法研究

无人驾驶汽车在实际运行中面临许多无法预见的动态不确定因素,如道路状况、交通状况和天气状况。换挡自动控制过程难以应对这些动态不确定因素的影响,单环控、单控制阈值的模式会导致换挡过程的准确性、平稳性和快速性受到影响。提出了一种无人驾驶汽车变速器换挡过程自适应控制方法。设计一种变速器双同步换挡自适应控制方法,在该方法的逻辑结构中分为内外双环控制。内环称为速度环,外环称为转矩环,用于控制换挡过程变速器的传动比。在速度环中,将滤波后的电机转速作为输入与外环转矩环的控制输出进行比较。通过PI控制器计算实际转速与预期转速之间的偏差,并根据比例和积分系数来调整输出。在转矩环中,将滤波后的转矩数据作为输入与预期转矩进行比较。PI控制器根据差值进行控制,以调整变速器的传动比,实现双环同步控制。实验结果证明;采用所提出的方法可以显著提高控制效果。具体表现为决定系数的提高、换挡冲击度的减小以及换挡时间的缩短。     

除霜喷嘴的高压射流特性分析与结构优化

针对蒸发器除霜效率低的问题,设计了两种喷嘴:喷嘴1的射流收缩段为圆弧收缩,引流段和扩散段呈圆柱状;喷嘴2的射流收缩段为直线收缩,引流段和扩散段呈圆锥状。采用理论计算和数值仿真两种方法获得了入口气压在0.3 s内从0.6 MPa快速降至0.1 MPa时的喷嘴射流参数。理论计算与数值仿真结果相近,而数值仿真更为具体地揭示出:喷嘴2的能量损失高于喷嘴1;喷嘴2的气压波动幅度大于喷嘴1;喷嘴2的出口质量平均速度优于喷嘴1。据此设计了综合2种喷嘴特点的喷嘴3,并对喷嘴3的圆弧半径作优化设计。结果表明:当该半径为11 mm时,喷嘴3的射流除霜能力优于喷嘴1和喷嘴2。本文所得结果可为除霜喷嘴的工程设计提供理论支撑。     

多功能抑尘车用永磁同步电机控制器的开发

本系统选用32bit处理器TMS320F28035,设计开发了用于多功能抑尘车喷雾系统的电机控制器。电机控制器设计包含硬件和软件平台两个部分。其中硬件平台包括：故障检测模块、MOS驱动模块、电机相电流角度采样模块、主控模块。软件部分采用分层设计,其主要分为驱动层、应用层和算法层;其中应用层和算法层采用基于MBD开发模式,通过建立Simulink模型进行仿真,同时编写M语言脚本程序用于模型的C代码生成。该控制器和一台3.5kW内置式永磁同步电机进行匹配,并进行扭矩响应测试和全速域效率MAP测试,实验结果显示该控制器达到预期设计目标。     

基于扩张观测器的倾转旋翼无人机非线性滑模姿态控制

倾转旋翼无人机具有垂直起降和长续航的特点,其潜在的应用前景受到了广泛的关注。但倾转旋翼无人机存在强耦合、非线性和扰动不匹配等问题,这给其姿态控制器设计带来了很大的挑战。本文基于改进的自抗扰算法,将扩展状态观测器(ESO)与非线性滑模控制(NSMC)相结合,利用ESO-NSMC(ENC)设计了倾转旋翼无人机姿态控制器,建立了倾转旋翼无人机六自由度非线性数学模型,利用扩张状态观测器对系统的状态和扰动进行估计,设计了非线性滑模控制器以实现有限时间收敛。仿真结果表明,与RSM相比,ENC在悬停、前飞和过渡模式下的平均收敛时间提升率为58.6 %、19.6 %和3.28 %,抗干扰能力分别提升83.5 %、25.6 %和66.4 %,证明该方法具有较好的控制效果和鲁棒性。     

基于PLC的冷却系统自整定模糊控制研究

在机载产品地面试验过程中需要为其提供相应的冷却环境,可在受试产品发生改变时,制冷设备在传统控制算法下往往无法维持较为理想的控制结果,需要重新人工整定控制参数。为解决此问题,研究了基于PLC的冷却系统自整定模糊控制方法,该方法可在PLC内编写系统参数累加辨识程序,从而计算得到系统的模型参数以及初始控制参数,再通过模糊控制器对该参数进行实时整定。试验表明该控制方法可以对系统参数进行自动辨识,辨识结果能够反映模拟负载的功率变化趋势,控制结果无明显超调及稳态误差。将该方法应用于液冷机组,可以在被冷却对象发生较大变化时重新辨识控制器参数,免去人工进行参数调试的工序,加强了设备的通用性,获得良好的控制结果。     

印染废水中苯胺类化合物的测定

采用国标(GB 11889-1989)方法测定印染废水中的苯胺类化合物,发现测试结果不理想。改进实验方法以(1+1)的硫酸溶液代替硫酸氢钾来调节样品的酸度,用PHB-3型酸度计控制样品溶液酸度使其pH=1.2,此法可以准确控制酸度并且最大限度地减小盐度引起的实验偏差,用聚己内酰胺粉末对样品溶液进行脱色处理,然后样品溶液再按国标方法进行处理。与标准方法相比较,操作方便,精密度和准确度高,样品测试数据相对偏差为1.0%,加标回收率为98.5%。将该方法用于强碱性印染废水中苯胺类的测定,测试结果准确可靠。     

高浓度有机废气燃烧过程自动控制系统设计

本文对上海申达纺织股份有限公司高浓度有机废气燃烧过程的自动控制、系统运行安全联锁以及工艺参数巡回检测的设计进行研究，自动控制调节主要采用常规PID调节规律进行调节。经安装、调试及运行表明，整个系统稳定、安全，废气处理和余热回用效率高，达到了预期的目标，实现了废气燃烧过程的自动控制。     

标准化动车组车窗(门)气压疲劳试验的装置研究

标准化动车组相关标准规定对样车的车窗(门)需进行交变气压载荷疲劳试验,以验证车窗(门)结构的疲劳强度。根据现有通用的车窗(门)气压疲劳实验装置,设计了另外一种新型的试验装置。本装置原理简单,操作方便,通用性能很强,能适用于不同的压力、频率、波形的试验条件,并可以采集到车窗(门)在交变载荷下的应变、形变值,为验证动车组车窗(门)在交变气压载荷下的疲劳强度特性提供了重要的试验手段。     

危险废物焚烧工艺急冷系统的研究应用

危险废物焚烧处置过程中会生成包含二噁英在内的有毒有害物质，必须对烟气进行严格的净化处理。目前，危险废物焚烧采用温度骤降方式（雾化液滴与高温烟气混合实现对气体污染物组分的急冷降温），以减少二噁英异相合成的时间。急冷控制是焚烧尾气净化的重要技术，在以往项目中经常出现急冷雾化不良、水/气压力调节反应迟缓、急冷过喷、急冷欠喷等问题，对项目的顺利验收与运营造成影响。文章通过分析危废焚烧处理的工艺特点、结合项目经验，对急冷系统的设计与控制进行了研究与完善。该设计研究结果已在后续项目中予以应用。     

某机载雷达多自由度振动试验控制方法比较

根据机载雷达实测振动数据,在三轴振动台上,采用不同振动控制方法,对机载雷达单元进行了多自由度振动试验。比较了雷达单元在不同振动控制方法下的安装点响应与参考谱的偏差。试验结果表明:相比于方阵控制,长方阵控制中的坐标变换控制(Input/Output控制)方法在进行多自由度振动试验时,可实现真正意义上的平均控制,振动的传递更为均匀。     

Control Issues in the Design of a Gas Turbine Cycle for CO2 Capture

This article is concerned with control issues related to the design of a semi-closed O ₂/CO ₂ gas turbine cycle for CO ₂ capture. Some control strategies and their interaction with the process design are discussed. One control structure is implemented on a dynamic simulation model using a predictive controller, and simulations assess the performance and compare its merits with a conventional PI structure. The results indicate that it can be advantageous for operability to allow a varying (as opposed to fixed) compressor inlet pressure, at the cost of a more expensive design. Furthermore, the results show that a predictive controller has some advantages with respect to the simpler conventional PI control structure, in particular in terms of constraint handling.     

Improving the dynamic response of frequency and power in a wind integrated power system by optimal design of compensated superconducting magnetic energy storage

The frequency deviation and power fluctuation need to be controlled in a wind-integrated power system (WIPS) for keeping the balance between system power generation and demand, which support the quality and stability of overall power system. The present paper addresses this problem while concerning the integration of intermittent wind power and load disturbance into the WIPS. With this intent, it proposes the compensated superconducting magnetic energy storage (CSMES) system with proportional integral derivative (PID) controller for improving the frequency and power deviation profile. A novel swarm intelligence-based artificial bee colony (ABC) algorithm is used for optimal design of PID-CSMES system. Robustness of the proposed ABC-based PID-CSMES control strategy is tested in WIPS under various disturbance patterns of load and wind power. To demonstrate the improved dynamic response, their simulation results are compared with particle swarm optimization-based PID-CSMES, PID with SMES, and only PID controller technique. The performance indices and transient response characteristics of frequency and power deviation are used to evaluate and compare the accuracy and efficiency of each controller. Stability of various system configurations is analyzed using eigenvalue location. Comparing the results of different controller in WIPS indicates a substantial improvement in the dynamic response of system frequency and power deviations by utilizing the proposed control strategy.     

器具开关寿命检测中电流波形失真的分析与研究

本文针对器具开关寿命检测试验中的负载设计方式,特别是使用铁芯电感代替理想空心电感构成试验电路时引起电流失真的情况进行研究,首先对各类常见家用电器的实际波形失真特征量进行测试,得到试验可接受的统计范围,在此基础上,与不同铁芯电感模拟家用电器作负载的电流失真情况进行对比和分析,首次对检测电路的负载制作规范提出合理化建议,完善器具开关质量检测相关的标准化体系。     

Industrial experience of process identification and set-point decision algorithm in a full-scale treatment plant

This paper presents industrial experience of process identification, monitoring, and control in a full-scale wastewater treatment plant. The objectives of this study were (1) to apply and compare different process-identification methods of proportional-integral-derivative (PID) autotuning for stable dissolved oxygen (DO) control, (2) to implement a process monitoring method that estimates the respiration rate simultaneously during the process-identification step, and (3) to propose a simple set-point decision algorithm for determining the appropriate set point of the DO controller for optimal operation of the aeration basin. The proposed method was evaluated in the industrial wastewater treatment facility of an iron- and steel-making plant. Among the process-identification methods, the control signal of the controller's set-point change was best for identifying low-frequency information and enhancing the robustness to low-frequency disturbances. Combined automatic control and set-point decision method reduced the total electricity consumption by 5% and the electricity cost by 15% compared to the fixed gain PID controller, when considering only the surface aerators. Moreover, as a result of improved control performance, the fluctuation of effluent quality decreased and overall effluent water quality was better.     

Optimal heat rejection pressure for transcritical CO2 refrigeration cycle with an expander

Heat rejection pressure plays an important role in designing a transcritical CO₂ refrigeration system, and it has an optimal value to maximize the system’s coefficient of performance (COP). With a thermodynamic simulation model, the optimal heat rejection pressure is studied in the paper for an expander cycle, as well as conventional throttle valve cycle. The effects of compressor efficiency, expander efficiency, gas cooler outlet temperature, and evaporation temperature on the optimal heat rejection pressure are analyzed. It is the first time for a transcritical CO₂ expander cycle that the optimal heat rejection pressure is correlated with the gas cooler outlet temperature and the evaporation temperature at given compressor efficiency and expander efficiency. The average deviation from the correlation to simulation results is less than 1.0%. The correlation provides a guideline to system development and performance optimization of a transcritical CO₂ expander cycle.     

Application of adaptive heuristic criticism control (AHCC) to dye wastewater

This paper presents an experimental application of AHCC to study the coagulation process of wastewater treatment in a dye plant. Also this study includes a series of tests in which an AHCC control was used for pH control. The performance results of the AHCC controller are compared with the results obtained by using a conventional proportional-integral-derivative (PID) algorithm. It is useful to compare PID with AHCC to illustrate the extreme range of the nonlinearity of the dye wastewater treatment process. Although the removal of pollutants from wastewater is similar with AHCC and PID, our results show excellent AHCC performance in the region where conventional PID control fails.     

基于STM32F103RBT6的振动信号采集系统

对一种监测振动信号采集系统进行了设计,系统以STM32F106RBT6型单片机为设计核心,并对传感器供电电路,信号调理电路,AD转换模块,通讯模块进行了分析。通过MATLAB对傅里叶变换进行了设计,对一些模拟信号进行了实测分析,实现了高精度模拟数据采集,可用于振动信号的采集,该振动信号采集系统具有功能强大,成本低,高精度,体积小等优点。     

RESERVOIR RELEASES TO USES WITH DIFFERENT RELIABILITY REQUIREMENTS1

ABSTRACT: Releases from a reservoir may be allocated to a number of uses, each of which may require a given volume of water at a different reliability. The paper provides a method that can be used to estimate the volume of water associated with a given reliability for each use of water when the proportion of releases allocated to each use is known. These results can be used to evaluate the meeting of specified objectives under a published release policy derived by stationary stochastic dynamic programming. The results can also be used to solve water allocation problems when the probability distribution of available water is known (or can be estimated) and water has multiple uses, each of which has different volume and reliability requirements.     

Mixed land‐use patterns and the development of spatial structure of Nigerian cities

Differences exist in the spatial structure of cities in both the developed and developing world owing to the contradistinctive nature of their urban growth processes. The structure of Nigerian cities is characterised by the preponderance of mixed land uses resulting primarily due to the organic nature of city growth and more fundamentally, owing to the dynamics of informal urban economic activities. This paper examines mixed land‐use patterns in selected Nigerian cities and appraises their relevance in the general city growth process. By suggesting principles and speculative spatial patterns expressing desirable use combinations, an attempt is made to rationalise the utility of the concept such that its environmental impact is understood and given planning resolution.