在整体式车辆稳定性轨迹跟踪控制架构的基础之上,设计了一种引入预瞄曲率信息的自适应预测时域非线性模型预测控制(NMPC).基于预瞄的参考路径曲率点列指导控制维度变化,提升控制器对于路径曲率的动态响应能力;进一步地,引入状态协调优...在整体式车辆稳定性轨迹跟踪控制架构的基础之上,设计了一种引入预瞄曲率信息的自适应预测时域非线性模型预测控制(NMPC).基于预瞄的参考路径曲率点列指导控制维度变化,提升控制器对于路径曲率的动态响应能力;进一步地,引入状态协调优化机制,使控制器显示耦合至上一控制周期的车辆状态空间,有效避免预测时域变化造成的多步优化问题解耦效应,抑制因控制输入突变对轨迹跟踪控制任务的影响.结合两种优化方法,有效改善固定预测时域策略在高曲率轨迹跟踪中因累计误差造成的跟踪精度下降问题.最后,基于MATLAB/Simulink-CarSim联合仿真平台对算法进行了验证.经计算,高速单移线工况下,该方法在侧向偏差均值/峰值、纵向偏差均值/峰值、航向偏差均值/峰值指标中,相较于固定预测时域NMPC同比降低36.17%/15.25%、11.55%/38.58%、6.13%/25.27%;高速双移线工况下,同比降低30.28%/29.77%、25.07%/3.85%、11.02%/2.68%.此外,在高速低附着工况中,该方法仍能保证良好的控制精度及侧向稳定性,其峰值侧向偏差为0.2017 m、峰值纵向偏差为0.9744 km h^(-1)、峰值航向偏差为1.1936°、峰值质心侧偏角为1.9074°.展开更多
Laser powder bed fusion(LPBF)is highly suitable for forming 18Ni300 mold steel,thanks to its excellent capability in manufacturing complex shapes and outstanding capacity for regulating microstructures.It is widely us...Laser powder bed fusion(LPBF)is highly suitable for forming 18Ni300 mold steel,thanks to its excellent capability in manufacturing complex shapes and outstanding capacity for regulating microstructures.It is widely used in fields such as injection molding,die casting,and stamping dies.Adding reinforcing particles into steel is an effective means to improve its performance.Nb/18Ni300 composites were fabricated by LPBF using two kinds of Nb powders with different particle sizes,and their microstructures and properties were studied.The results show that the unmelted Nb particles are uniformly distributed in the 18Ni300 matrix and the grains are refined,which is particularly pronounced with fine Nb particles.In addition,element diffusion occurs between the particles and the matrix.The main phases of the base alloy are α-Fe and a small amount of γ-Fe.With the addition of Nb,part of the α-Fe is transformed into γ-Fe,and unmelted Nb phases appear.The addition of Nb also enhances the hardness and wear resistance of the composites but slightly reduces their tensile properties.After aging treatment,the molten pools and grain boundaries become blurred,grains are further refined,and the interfaces around the particles are thinned.The aging treatment also promotes the formation of reverted austenite.The hardness,ultimate tensile strength,and volumetric wear rate of the base alloy reach 51.9 HRC,1704 MPa,and 17.8×10^(-6) mm^(3)/(N·m),respectively.In contrast,the sample added with fine Nb particles has the highest hardness(56.1 HRC),ultimate tensile strength(1892 MPa)and yield strength(1842 MPa),and the volume wear rate of the sample added with coarse Nb particles is reduced by 90%to 1.7×10^(-6) mm^(3)/(N·m).展开更多
文摘在整体式车辆稳定性轨迹跟踪控制架构的基础之上,设计了一种引入预瞄曲率信息的自适应预测时域非线性模型预测控制(NMPC).基于预瞄的参考路径曲率点列指导控制维度变化,提升控制器对于路径曲率的动态响应能力;进一步地,引入状态协调优化机制,使控制器显示耦合至上一控制周期的车辆状态空间,有效避免预测时域变化造成的多步优化问题解耦效应,抑制因控制输入突变对轨迹跟踪控制任务的影响.结合两种优化方法,有效改善固定预测时域策略在高曲率轨迹跟踪中因累计误差造成的跟踪精度下降问题.最后,基于MATLAB/Simulink-CarSim联合仿真平台对算法进行了验证.经计算,高速单移线工况下,该方法在侧向偏差均值/峰值、纵向偏差均值/峰值、航向偏差均值/峰值指标中,相较于固定预测时域NMPC同比降低36.17%/15.25%、11.55%/38.58%、6.13%/25.27%;高速双移线工况下,同比降低30.28%/29.77%、25.07%/3.85%、11.02%/2.68%.此外,在高速低附着工况中,该方法仍能保证良好的控制精度及侧向稳定性,其峰值侧向偏差为0.2017 m、峰值纵向偏差为0.9744 km h^(-1)、峰值航向偏差为1.1936°、峰值质心侧偏角为1.9074°.
基金Key-Area Research and Development Program of Guangdong Province(2023B0909020004)Project of Innovation Research Team in Zhongshan(CXTD2023006)+1 种基金Natural Science Foundation of Guangdong Province(2023A1515011573)Zhongshan Social Welfare Science and Technology Research Project(2024B2022)。
文摘Laser powder bed fusion(LPBF)is highly suitable for forming 18Ni300 mold steel,thanks to its excellent capability in manufacturing complex shapes and outstanding capacity for regulating microstructures.It is widely used in fields such as injection molding,die casting,and stamping dies.Adding reinforcing particles into steel is an effective means to improve its performance.Nb/18Ni300 composites were fabricated by LPBF using two kinds of Nb powders with different particle sizes,and their microstructures and properties were studied.The results show that the unmelted Nb particles are uniformly distributed in the 18Ni300 matrix and the grains are refined,which is particularly pronounced with fine Nb particles.In addition,element diffusion occurs between the particles and the matrix.The main phases of the base alloy are α-Fe and a small amount of γ-Fe.With the addition of Nb,part of the α-Fe is transformed into γ-Fe,and unmelted Nb phases appear.The addition of Nb also enhances the hardness and wear resistance of the composites but slightly reduces their tensile properties.After aging treatment,the molten pools and grain boundaries become blurred,grains are further refined,and the interfaces around the particles are thinned.The aging treatment also promotes the formation of reverted austenite.The hardness,ultimate tensile strength,and volumetric wear rate of the base alloy reach 51.9 HRC,1704 MPa,and 17.8×10^(-6) mm^(3)/(N·m),respectively.In contrast,the sample added with fine Nb particles has the highest hardness(56.1 HRC),ultimate tensile strength(1892 MPa)and yield strength(1842 MPa),and the volume wear rate of the sample added with coarse Nb particles is reduced by 90%to 1.7×10^(-6) mm^(3)/(N·m).
