Applied Mechanics and Materials Vols. 536-537

Abstract: For the problem that the stability of surface Electromyographic EMG(sEMG) based human-machine interface(HMI) declines as the muscle fatigue takes place, an improved incremental training algorithm for online support vector machine(SVM) is proposed. This paper study the changes of sEMG when muscle fatigue occurs by the method of continuous wavelet transform, and then apply the improved online SVM for sEMG classification. The novel method adjusts the parameters of SVM model to adapt itself based on the changes of sEMG signals and the training data is conditionally selected and forgot. Experiment results show that the presented algorithm performs high modeling precision and training speed is increased. Furthermore, this method effectively overcomes the influence of muscle fatigue during long-term operating sEMG based HMI.

Abstract: In order to achieve the performance of the steer-by-wire force feedback based on magnetorheological fluid (MRF) damper, an experimental system was developed. The aligning torque model and the return model based on MRF damper were built up. The general structure and hardware components were introduced. The change course of feedback force is achieved followed the change of the current of the MRF damper. Experiments showed that the force feedback system based on MRF damper can be used for automobile steer-by-wire system in the little angle.

Abstract: Contrary to the difficult for complex equipment in the parallel signal acquisition, thereby affecting the equipment condition monitoring results, Design a parallel signal data acquisition device and its collection method based on embedded system. It can achieve real-time multi-point data collection and analyze parallel signal data acquisition system structure and function, then giving the hardware design of embedded systems based on the chip, including the processes of mass storage system and a plurality of communication method. Realize of the equipment condition monitoring and fault diagnosis based on this.

Abstract: One kind of processors with coprocessor is widely used in control areas. Traditional single-core operating system (OS) cant support the coprocessor. In order to take full advantage of the performance of the processor, we presented a real-time operating system framework named AutoOSEK-CP on the basis of AutoOSEK, which is a single-core operating system based on AutoSAR OS, to support dual-core processor. In this architecture, alarm management, interrupt processing and inter-core communication mechanism were moved in coprocessor module, and the master processor was responsible for the other functions of OS. Finally, we designed a prototype of AutoOSEK-CP to test the performance in HCS12XEP100. The results showed that the real-time performance and the time-tick accuracy were improved significantly compared with AutoOSEK.

Abstract: In this paper, the working frequency band gap of ultrasonic motor (USM) was investigated under finite element model and experimental prototype. The findings indicate that the discrepancy between theoretical analysis and experimental test is mainly related to the fixation conditions of stator. This work proposes a new geometrical symmetrical stator for standing-wave-type linear USM to reduce the discrepancy. The first longitudinal and the second bending modes of stator are combined to drive the USM. Parameterized finite element model with actual boundary is developed to analyze and optimize the stator performance. The results show that the gap between working frequencies can be substantial reduced compared to the initial design.

Abstract: This paper describes a Geometry Based algorithm (GBA) developed for aggregation behavior of a swarm of simple robots. Aggregation is one of the primary behaviors for swarm robots. Decentralization and stability for single-swarm aggregations are the two major properties of the GBA algorithm presented in this paper. Our analysis, together with extensive simulation studies considering various swarm size and configurations, indicate that the GBA algorithm is scalable and effective for swarm aggregations.

Abstract: In order to develop the four in-wheel motors driven Electric Vehicle (EV), this paper designed a skidding detector depending on the motor torque, established a slip-ratio estimator. Then, the Model Following Control (MFC) and Optimal Slip-ratio Control algorithms were analysed, compared and optimized. All of the algorithms were simulated using the one-wheel vehicle model. The simultion results show that the algorithms can make full use of the road adhesion characteristics and do good work on the ASR and the vehicle dynamics.

Abstract: The study object is Hybrid Electric Vehicle (HEV) with front-wheel drive (FWD) pattern and wire-controlled braking system. The relations between pavement adhesion coefficient and recovery efficiency of regenerative braking were discussed. Consequences were concluded through theoretical derivations basing on the two-wheel model. Simulations were built and simulated within a certain HEV on the platform in MATLAB/SIMULINK. The results indicate that the recovery efficiency would experience an upward trend if the pavement adhesion coefficient declines.

Abstract: The slip-judgment method of threshold value was made for all-wheel independent electric drive vehicle through the analysis of the relationship of steering kinematics, which based on detecting speed and current of wheel-motor. The speed coordinated control of motor was used as synchronous control method. Models of vehicle dynamics and synchronous control were respectively constructed in Adams and Matlab/Simulink, which composed the model of mechanical-electric collaborative simulation. The synchronous control process of vehicle that running on bisectional road was analyzed, the result shows that synchronous control based on power control strategy reduces slip-wheel motors power consumption and increases other motors output power and torque through reducing the motor speed to average speed of normal wheel-motor. Improves the traction performance and stability of vehicle, also reduces the wheel wear and drivers control difficulty. The method has advantages of low cost, wide applicability, good controllability, high reliability etc., provide the reference of synchronization technology for independent electric drive military vehicle.

Abstract: Hybrid Control Unit (HCU) is the core control component of hybrid electric vehicle (HEV). According to the input signals such as driver attempts, accelerate pedal position, gear and brake pedal position etc, the HCU can calculate the output parameters such as engine output power, motor and generator torque etc, Therefore, the design of HCU will directly influence the power performance, fuel economy, reliability and other performances of hybrid electric vehicle. This HCU is designed based on MC9S12DP512 microprocessor. In this paper, first, the function requirement and design philosophy of the HCU is explained. Then, according to the function, the HCU is divided into power supply module, CAN communication module, MCU module, digital input module, AD converter module etc. And the function and circuit principle of each function module are explained respectively. Finally, the design method related to improve HCU EMC performance is illustrated.