Applied Mechanics and Materials Vol. 740

Abstract: Here we propose a new approach for measuring the environment for the mobile robot. Without using any old framework of sensors; we utilized the latest vision system -- the spherical camera system - which consists of several cameras around a certain geometric surface. Equipped with a lift device, the spherical camera system can measure the environment around itself. We present some results of simulated and real experiments showing the validity of our method. Our approach is acceptable and exciting, and will be applied in the mobile robot’s application in the future.

Abstract: According to the characteristic that each wheel torque of 4WD electric vehicle is independent controllable, the control allocation method with hierarchical structure to optimize the distribution of motor torque can improve the handling stability of the vehicle. The controller is composed of an upper controller and a lower distributor, of which the upper controller can calculate the generalized force of longitudinal force and yaw moment that the vehicle needed based on the vehicle state, and the lower controller is used to figure out the torque allocated to each wheel. The whole vehicle and steering system models are established for simulation and demonstration through the application of Matlab and Simulink. The simulation results show that the control allocation method with hierarchical structure can effectively improve the handling stability of the vehicle.

Abstract: With the analysis of influence factors on regenerative braking in electro-mechanical braking system, and considering the power battery charging characteristics, a regenerative braking system control strategy for electric vehicle is researched in this paper. The models of the motor and the whole vehicle are built in AMESim. The control effects and the braking force distribution on front and rear wheels of the control strategy in an FTP-72 driving cycle are simulated and analyzed. The simulation results show that the control strategy could be utilized in the 4WD electric vehicles. The ideal braking force distribution on front and rear wheels and the high amount of recovery energy could be achieved.

Abstract: As for an Extended Range Electric Vehicle (EREV), firstly we introduced its structure and APU's control principles, and way to improve fuel consumption. Through simulation and analysis, control strategy and parameters with lower fuel consumption was got. Finally through dyno tests, fuel consumption and simulation results were validated, and fuel consumption lowered 22.3%.

Abstract: Each wheel torque can be controlled independently, so four-wheel-drive electric vehicle can not only control the vehicle stability through hydraulic braking pressure regulation, but also through controlling the motor driving and braking force to generate yaw moment, which are different with the conventional vehicles. 4WD Evs have potential applications in control engineering. Both in-wheel motors and the EHB are actuators for vehicle stability control. In this paper, a vehicle co-simulation platform is constructed through the application of AMEsim and Simulink, additionally, a fuzzy controller is designed to generate yaw moment so as to compensate for deviations between CG slip angles and yaw rate. The simulation results show that the stability control system with motors and a mechanical load brake system can effectively improve the handling stability of the vehicle.

Abstract: The solution selection problem of inverse kinematics for a mechanical arm is an important factor affecting the robot end effector positioning. This paper takes a real robotic arm of four degrees of freedom grasping the target object as the research background and studies the multi-solution problem of the inverse kinematics. Firstly, the paper establishes the kinematics model of the mechanical arm and solved the inverse kinematics equation by multiplying by the inverse of the coordinate transformation matrix on both sides. Secondly, the paper presents an optimization method based on joint minimization aiming at the multi-solution problem, and deals with the singularity of the mechanical arm by using the method of setting threshold in the process of operation, which can get the optimal solution without suffering singularity problems. Finally, the simulation and experiment results show that the joint angle of the mechanical arm changes smoothly during the operation process and singular points do not occur, verifying the effectiveness of the processing method.

Abstract: Fixing Diesel Particulate Filter (DPF) in diesel is an effective measure to solve the particulate emissions. As PM is accumulated in DPF constantly, it will increase diesel exhaust resistance and affect diesel performance. Through building the exhaust resistance test rig and diesel test bench, the thesis studies the effects of particulate matter loading in DPF on diesel exhaust resistance and diesel performance. The results show that it is the most effective to conduct silicon carbide filter’s thermal regeneration when particulate matter loading is 8g/L.

Abstract: PID Temperature Control Systems of Greenhouse Based on FSM (finite state machines) Methodology is used in variable-temperature-controlled greenhouse. This system cored with an advanced 16 bit RISC (Reduced Instruction Set Computer) MPU MSP430F149 with low power. The sensors employ a higher accuracy Pt1000 Resistance Temperature sensor and Silicon Photoelectric Generator. In software design, it used the thinking of FSM programming increment style PID Control algorithm. The Flexible Application of FSM can make the program clear and more effectively to management. The increment style PID Control algorithm avoids paranormal value when setting temperature is changed and temperature control more accurately. The cite operation shows that this controller has the advantages such as high reliability and good control effect.

Abstract: This Paper Proposes a Scheme for Filtering of Stochastic Distributed Parameter Systems. it is Assumed that a Real-Time Environment Consists of m Groups of Sensors, each of which Provides Necessarily State Spatially Measurements from Sensing Devices. Base on Lyapunov Stability Theorem and Itô formula, a Class of Distributed Adaptive Filters with Penalty Terms Result in the State Errors Forming a Stable Evolution System and Asymptotically Converge to Stochastic Distributed Parameter Systems, and then the Preferable State Estimation is Derived. Numerical Simulation Demonstrates the Effectiveness of the Proposed Method.

Abstract: A new method for constructing a Lyapunov-Razumikhn function to deal with the stability problem of time-varying delay nonlinear uncertain system is presented in this paper. A quadratic trinomial with two variables（ξ,Τ）is obtained, and then the upper bound of the allowable delay Τ can be obtained by solving the optimization problem with varying positive matrix Q. That is to say, we can obtain the optimal combination of Τ and Q matrix.