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期刊论文 11

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2023 1

2022 1

2021 1

2019 2

2016 1

2015 1

2011 1

2008 1

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关键词

内燃机，燃料喷雾，喷雾控制，喷雾形态，喷油器 1

姿态控制 1

容错控制；分散式控制；预设性能；无人机；神经网络；干扰观测器；有向拓扑 1

盾构 1

管片裂损 1

管片错台 1

红外地球敏感器；微小卫星；姿态确定系统 1

路径规划；工业机器人；分布式有向距离场；姿态约束；路径简化 1

软硬不均地层 1

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Advances in Active Suspension Systems for Road Vehicles

Min Yu,Simos Evangelou,Daniele Dini,

《工程（英文）》 doi: 10.1016/j.eng.2023.06.014

摘要： Active suspension systems (ASSs) have been proposed and developed for a few decades, and have now once again become a thriving topic in both academia and industry, due to the high demand for driving comfort and safety and the compatibility of ASSs with vehicle electrification and autonomy. Existing review papers on ASSs mainly cover dynamics modeling and robust control; however, the gap between academic research outcomes and industrial application requirements has not yet been bridged, hindering most ASS research knowledge from being transferred to vehicle companies. This paper comprehensively reviews advances in ASSs for road vehicles, with a focus on hardware structures and control strategies. In particular, state-of-the-art ASSs that have been recently adopted in production cars are discussed in detail, including the representative solutions of Mercedes active body control (ABC) and Audi predictive active suspension; novel concepts that could become alternative candidates are also introduced, including series active variable geometry suspension, and the active wheel-alignment system. ASSs with compact structure, small mass increment, low power consumption, high-frequency response, acceptable economic costs, and high reliability are more likely to be adopted by car manufacturers. In terms of control strategies, the development of future ASSs aims not only to stabilize the chassis attitude and attenuate the chassis vibration, but also to enable ASSs to cooperate with other modules (e.g., steering and braking) and sensors (e.g., cameras) within a car, and even with high-level decision-making (e.g., reference driving speed) in the overall transportation system—strategies that will be compatible with the rapidly developing electric and autonomous vehicles.

关键词： Active suspension Vehicle dynamics Robust control Ride comfort Chassis attitude

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Self-propelled automatic chassis of Lunokhod-1: History of creation in episodes

Mikhail MALENKOV

《机械工程前沿（英文）》 2016年第11卷第1期页码 60-86 doi: 10.1007/s11465-016-0370-5

摘要：

This report reviews the most important episodes in the history of designing the self-propelled automatic chassis of the first mobile extraterrestrial vehicle in the world, Lunokhod-1. The review considers the issues in designing moon rovers, their essential features, and the particular construction properties of their systems, mechanisms, units, and assemblies. It presents the results of exploiting the chassis of Lunokhod-1 and Lunokhod-2. Analysis of the approaches utilized and engineering solutions reveals their value as well as the consequences of certain defects.

关键词： moon rover self-propelled chassis propulsion wheel suspension soil properties cross-country ability

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Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

《机械工程前沿（英文）》 2008年第3卷第4期页码 392-399 doi: 10.1007/s11465-008-0056-8

摘要： This paper addresses the task-space position/attitude tracking control of a suspended parallel robot, which is being developed in the framework of a five-hundred meter aperture spherical radio telescope (FAST) project. Based on the quaternion algebra, a novel model-independent task-space PD controller that ensures end-effector position and attitude tracking is presented. The simulation and experimental results show that the new controller has better control effects than the traditional joint-space controller.

关键词： telescope five-hundred end-effector controller simulation

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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

《机械工程前沿（英文）》 2022年第17卷第1期 doi: 10.1007/s11465-021-0658-y

摘要： When free-floating space robots perform space tasks, the satellite base attitude is disturbed by the dynamic coupling. The disturbance of the base orientation may affect the communication between the space robot and the control center on earth. In this paper, the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation. A novel acceleration level state equation for the nonholonomic problem is proposed, and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base trajectories. In the method, the state equation is first proposed for dual-arm robots with and without end constraints, and the system stability is analyzed to obtain the system input. The input modification further increases the system stability and simplifies the calculation complexity. Simulations are carried out in the end, and the proposed method is validated in minimizing final base attitude change and trajectory smoothness. Moreover, the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks.

关键词： free-floating space robot dual arm coordinated operation base attitude restoration bidirectional approach

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燃油喷雾形态主动控制的可能性 Review

Masataka Arai

《工程（英文）》 2019年第5卷第3期页码 519-534 doi: 10.1016/j.eng.2019.04.010

摘要：

内燃机（ICE）对于汽车是有吸引力的动力源，具有良好的可储存性、可运输性，同时需要供应高能量密度的液体燃料。具有高性能和低环境危害的紧凑型内燃机是内燃机发展趋势。未来必须把燃油喷雾智能主动控制的燃烧作为解决传统内燃机相关重大问题（如排放）的突破性技术。已发展出在喷雾期间形成预期的燃料喷射速率和喷射模式的技术，并且传统内燃机可以在一定程度上控制燃烧。但是在燃烧范围内，燃料在空间上的扩散并未取得预期进展。因此，对于燃烧的智能控制，新且有效的燃油喷雾主动控制技术是非常必要的。空化、闪蒸、喷雾- 喷雾相互作用、喷雾-壁面相互作用和空气流动是有可能实现燃油喷雾形态主动控制的基础。本文使用文献中的论据来讨论未来喷雾燃烧的智能紧凑内燃机中喷雾形态主动控制技术的可能性。

关键词：内燃机，燃料喷雾，喷雾控制，喷雾形态，喷油器

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Attitude toward preventive counseling and healthy practices among medical students at a Colombian university

null

《医学前沿（英文）》 2015年第9卷第2期页码 251-259 doi: 10.1007/s11684-015-0393-z

摘要：

Unhealthy behaviors of medical students influence their attitudes toward preventive counseling. The burden of chronic diseases is continually growing in developing countries, emphasizing the need for the increased role of general practitioners in preventive counseling. The objective of this study was to describe the effect of medical training on the risk profiles and attitudes of medical students toward preventive counseling in a Colombian university. Students in their first and fifth years of training were surveyed using the “Healthy Doctor= Healthy Patient” questionnaire to assess counseling attitudes; personal practices, such as risky drinking, smoking, inadequate nutrition, and non-compliance with physical activity recommendations; and the university environment. The association among these components was estimated, as well as the effect of the university environment. Risky drinking and smoking decreased from first to fifth year (59.3% vs. 37.1%, P = 0.021 and 31.5% vs. 25.9%, P = 0.51, respectively), whereas inadequate nutrition and non-compliance with physical activity recommendations increased. Physical activity (PA) was associated with positive counseling attitude (ORs: nutrition 7.6; alcohol 5.2; PA 10.6). Areas governed by institutional policies that are emphasized in the curriculum positively affected student practices. PA promoted preventive counseling and healthy lifestyles most effectively. Universities should therefore strengthen their preventive medicine curricula and modify social determinants.

关键词： lifestyle medical students preventive medicine counseling universities schools medical

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Drive system design and error analysis of the 6 degrees of freedom segment erector of shield tunneling machine

Hu SHI, Guofang GONG, Huayong YANG

《机械工程前沿（英文）》 2011年第6卷第3期页码 369-376 doi: 10.1007/s11465-011-0223-1

摘要：

Focusing on a segment erector of a shield-tunneling machine developed with 6 degrees of freedom (DOF) and controlled by electro-hydraulic proportional systems, the kinematics of the segment erection process is presented. The perturbation method in the error analysis is introduced to establish the position and attitude error model, considering a number of factors such as the hydraulic drive, control accuracy, and tolerance in manufacturing and assembly. Dynamic simulations are carried out to obtain the controlling precision of electrohydraulic drive systems. Formulas for calculating the position and attitude error of the grip hand of the segment erector are derived. The calculation results verify the practicality and effectiveness of the error analysis, providing a foundation for practical designing, manufacturing, and assembling of the segment of the erecting mechanism.

关键词： shield tunneling machine segment erector kinematics position and attitude precision

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软硬不均地层盾构姿态控制及管片防裂损技术

谭忠盛,洪开荣,万姜林,王梦恕

《中国工程科学》 2006年第8卷第12期页码 92-96

摘要：

广州地铁二号线越—三盾构区间的地层软硬不均，加之曲线多、坡度变化大，盾构掘进技术难度大，掘进方向与盾构姿态的控制困难，防止管片开裂和局部破损以及错台具有一定的难度。为了有效地控制掘进方向和盾构姿态，研究了盾构掘进方向发生偏差的原因，并对越—三区间盾构掘进的偏差实测数据进行具体分析，得出了偏差的原因和规律；研究了盾构掘进姿态的控制方法。为了防止盾构管片的裂损，采用数值模拟方法研究管片裂损的规律及其主要因素，提出了有效控制管片裂损的主要方法。

关键词：软硬不均地层盾构姿态控制管片裂损管片错台

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一种满足末端姿态约束的工业机械臂分布式变密度路径搜索与简化方法 Research Article

王进1,2,厉圣杰1,2,张海运3,陆国栋1,2,冯奕畅1,2,王鹏1,2,李基拓1,2

《信息与电子工程前沿（英文）》 2023年第24卷第4期页码 536-552 doi: 10.1631/FITEE.2200353

摘要：在许多机器人操作场景中，末端执行器的运动姿态约束是机器人完成焊接、喷涂、搬运、码垛等常见任务必不可少的。同时，姿态约束下的路径规划过程中涉及到逆运动学、碰撞检测和空间搜索等关键问题，在实际应用中难以兼顾令人满意的效率和约束效果。针对这些问题，提出一种带末端约束的工业机器人分布式变密度路径规划方法（DVDP-AC）。首先，针对运动学逆解提出位置–姿态约束重构（PACR）方法。然后，设计了具有单步安全球（SSS）的分布式有向距离场（DSDF）模型，以提高碰撞检测的效率。在此基础上，在笛卡尔空间中采用变密度路径搜索方法，并进一步提出一种考虑路径可达性的前向路径简化方法（FSPS），以自适应地快速消除冗余的路径点。最后，实验结果验证了所提出的DVDP-AC方法在末端执行器姿态约束下的性能和有效性，并与目前主流路径规划方法进行比较，说明了该方法的特点和优势。

关键词：路径规划；工业机器人；分布式有向距离场；姿态约束；路径简化

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适用于低轨微小卫星的大视场红外地球敏感器

王昊1,王志远1,王本冬1,金仲和1,John L. CRASSIDIS2

《信息与电子工程前沿（英文）》 2021年第22卷第2期页码 141-286 doi: 10.1631/FITEE.1900358

摘要：红外地球敏感器广泛应用于卫星姿态确定和控制系统中。静态红外地球敏感器的主要缺点是视场较小，其典型视场约为20°至30°，可能不适用于近地轨道的微型卫星。设计了一种新型的小型红外地球敏感器，其视场接近180°。该地球敏感器包括全景环形透镜（PAL）和红外CMOS传感器。PAL镜头用于增强视场，从而从近地轨道获得完整的地球红外图像，据此提出一种补偿PAL引起的畸变和计算地球矢量的算法。新型红外地球敏感器结构紧凑，功耗低，精度高。利用ZDPS-2微小卫星获得在轨红外图像和模拟图像，评估新型红外地球敏感器的性能，实验表明其精度约为0.032°。

关键词：红外地球敏感器；微小卫星；姿态确定系统

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有向通信拓扑下具有姿态同步跟踪预设性能的多无人机分散式容错协同控制 Regular Papers

Zi-quan YU, Zhi-xiang LIU, You-min ZHANG, Yao-hong QU, Chun-yi SU

《信息与电子工程前沿（英文）》 2019年第20卷第5期页码 685-700 doi: 10.1631/FITEE.1800569

摘要：针对多无人机在有向通信拓扑中遭遇执行器故障问题，提出一种分散式容错协同控制方案。首先，利用神经网络对无人机模型中的固有非线性项和执行器效率下降故障所引起的未知非线性项进行估计。其次，引入干扰观测器对神经网络估计偏差和执行器偏差故障进行估计。再次，设计可反映神经网络和干扰观测器复合估计能力的预测偏差，并将该预测偏差集成至所设计的容错协同控制方案中，以提升复合估计能力。最后，利用预设性能函数对姿态同步跟踪偏差进行变换，实现同步跟踪偏差预设性能控制。该控制方案的一个关键特征是多无人机本身的非线性项和与执行器故障有关的非线性项可被神经网络、干扰观测器、预测偏差组成的复合估计器较好地估计。另一个关键特征是姿态同步跟踪偏差被严格约束在预设性能界限内。仿真结果表明所设计控制方案有效。

关键词：容错控制；分散式控制；预设性能；无人机；神经网络；干扰观测器；有向拓扑

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标题作者时间类型操作

Advances in Active Suspension Systems for Road Vehicles

Min Yu,Simos Evangelou,Daniele Dini,

期刊论文

Self-propelled automatic chassis of Lunokhod-1: History of creation in episodes

Mikhail MALENKOV

期刊论文

Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

期刊论文