In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering th...In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.展开更多
The oxidizing roasting of carbon ferrochrome in the presence of potassium carbonate and air was investigated. The effects of reaction temperature, reaction time, ratio of alkali-to-ore were studied, together with a di...The oxidizing roasting of carbon ferrochrome in the presence of potassium carbonate and air was investigated. The effects of reaction temperature, reaction time, ratio of alkali-to-ore were studied, together with a discussion of the thermodynamics and macro kinetics. It is observed that the reaction temperature and reaction time have significant influence on the roasting reaction. The reaction mechanism changes greatly as the temperature varies. A two-stage roasting process is favorable for the roasting reaction, and a recovery ratio of 96.51% is obtained through this two-stage roasting method. The chromium residue yielded from this method is quite little, only one third of the product. Moreover, the component of Fe in the residue is as high as 54.28%. Therefore, it can be easily recovered to produce sponge iron, realizing zero-emission of chromium residue.展开更多
基金Project(20180608005600843855-19)supported by the International Graduate Exchange Program of Beijing Institute of Technology,China。
文摘In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.
基金Project(2009GK2003)supported by the Natural Science Foundation of Hunan Province,China
文摘The oxidizing roasting of carbon ferrochrome in the presence of potassium carbonate and air was investigated. The effects of reaction temperature, reaction time, ratio of alkali-to-ore were studied, together with a discussion of the thermodynamics and macro kinetics. It is observed that the reaction temperature and reaction time have significant influence on the roasting reaction. The reaction mechanism changes greatly as the temperature varies. A two-stage roasting process is favorable for the roasting reaction, and a recovery ratio of 96.51% is obtained through this two-stage roasting method. The chromium residue yielded from this method is quite little, only one third of the product. Moreover, the component of Fe in the residue is as high as 54.28%. Therefore, it can be easily recovered to produce sponge iron, realizing zero-emission of chromium residue.
