A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to impro...A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom(DOF) vehicle model. A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions. A pseudo-inverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector. If one or more actuators were saturated or in a failure state, the control inputs are re-allocated by the algorithm. The algorithm was evaluated in Matlab/Simulink by using an 8-DOF nonlinear vehicle model. Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control. The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectory-tracking performance than the vehicle controlled by the sliding mode control. The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation.展开更多
A new complex-precursor method was proposed to prepare nanometer-sized BaTiO3 powder. Firstly,Ti2O(O2)2(ta)24-complex ions were prepared by the reaction of H2O2,Ti4+ and ta3-(ta=C6H6O6N3-) with a desirable amount of s...A new complex-precursor method was proposed to prepare nanometer-sized BaTiO3 powder. Firstly,Ti2O(O2)2(ta)24-complex ions were prepared by the reaction of H2O2,Ti4+ and ta3-(ta=C6H6O6N3-) with a desirable amount of surface active agent,and then the Ba2Ti2O(O2)2(ta)2·2H2O precursor was obtained by reaction between Ti2O(O2)2(ta)24-and Ba2+. Finally,the precursor was annealed at 800 ℃ for 2 h to obtain BaTiO3 powder. The morphology,the particle size distribution,the purity and the molar ratio of Ba to Ti of BaTiO3 powder were investigated systematically by TEM,XRD,IR,Raman and chemical analysis,respectively. The results show that the BaTiO3 powders with the grain size of about 40 nm have a tetragonal crystalline structure at room temperature and a spherical morphology.展开更多
The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memor...The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.展开更多
基金Project(51175015)supported by the National Natural Science Foundation of ChinaProject(2012AA110904)supported by the National High Technology Research and Development Program of China
文摘A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom(DOF) vehicle model. A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions. A pseudo-inverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector. If one or more actuators were saturated or in a failure state, the control inputs are re-allocated by the algorithm. The algorithm was evaluated in Matlab/Simulink by using an 8-DOF nonlinear vehicle model. Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control. The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectory-tracking performance than the vehicle controlled by the sliding mode control. The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation.
基金Project(06JJ50150) supported by the Hunan Provincial Natural Science Foundation of China
文摘A new complex-precursor method was proposed to prepare nanometer-sized BaTiO3 powder. Firstly,Ti2O(O2)2(ta)24-complex ions were prepared by the reaction of H2O2,Ti4+ and ta3-(ta=C6H6O6N3-) with a desirable amount of surface active agent,and then the Ba2Ti2O(O2)2(ta)2·2H2O precursor was obtained by reaction between Ti2O(O2)2(ta)24-and Ba2+. Finally,the precursor was annealed at 800 ℃ for 2 h to obtain BaTiO3 powder. The morphology,the particle size distribution,the purity and the molar ratio of Ba to Ti of BaTiO3 powder were investigated systematically by TEM,XRD,IR,Raman and chemical analysis,respectively. The results show that the BaTiO3 powders with the grain size of about 40 nm have a tetragonal crystalline structure at room temperature and a spherical morphology.
基金Project(51105170) supported by the National Natural Science Foundation of ChinaProject supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,Ministry of Education,China
文摘The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.
