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支承销式双向自动增力制动器制动效能因数的计算 被引量:6
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作者 张立军 《汽车技术》 北大核心 1992年第12期21-23,5,共4页
在分析支承销式双向自动增力制动器制动力矩产生机理的基础上,推导了该种制动器制动效能因数的解析算式,从而解决了长期以来双向自动增力制动器制动效能因数依靠作图法计算的问题,为完善该种制动器设计以及轴间制动力分配等问题,提供了... 在分析支承销式双向自动增力制动器制动力矩产生机理的基础上,推导了该种制动器制动效能因数的解析算式,从而解决了长期以来双向自动增力制动器制动效能因数依靠作图法计算的问题,为完善该种制动器设计以及轴间制动力分配等问题,提供了可靠的依据。 展开更多
关键词 汽车 制动加力器 制动效率 制动
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Hybrid force control of astronaut rehabilitative training robot under active loading mode 被引量:3
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作者 邹宇鹏 张立勋 +1 位作者 马慧子 秦涛 《Journal of Central South University》 SCIE EI CAS 2014年第11期4121-4132,共12页
In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts ... In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements. 展开更多
关键词 space adaptation syndrome astronaut rehabilitative training robot model identification hybrid force control
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