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Multi-objective Stability Control Algorithm of Heavy Tractor Semi-trailer Based on Differential Braking

Chinese Journal of Mechanical Engineering 2012年第1期25卷 88-97页

作者： ZONG Changfu zhu tianjun WANG Chang LIU Haizhen State Key Laboratory of Automobile Dynamic Simulation Jilin UniversityChangchun 130025China Department of Mechanical and Electric Engineering Hebei Engineering UniversityHandan 056021China

Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.

关键词： rollover jack-knifing tractor semi-trailer multi-objective stability control

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Design of a Regenerative Auxiliary Power System for Service Vehicles

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Automotive Innovation 2018年第1期1卷 62-69页

作者： Yanjun Huang Milad Khazeraee Hong Wang Soheil MFard tianjun zhu Amir Khajepour Department of Mechanical and Mechatronics Engineering University of WaterlooWaterloo N2L3G1Canada Department of Electronic Information and Electrical Engineering Zhaoqing UniversityZhaoqing 526021China

This paper presents a RAPS,namely the regenerative auxiliary power system,for the vehicle with special accessory power *** city buses and delivery trucks as examples,service vehicles keep engines idling to power their auxiliary devices(e.g.,refrigeration systems and hydraulic pumps).The potential fuel savings brought on by the electrification of these auxiliary systems are first quantitatively analyzed over a typical drive cycle for a delivery *** RAPS is then designed,and its components are sized in accordance with the objectives of compactness and *** introducing the proposed RAPS into a conventional delivery truck with an internal combustion engine,the powertrain can be treated as a hybrid because of adding an extra *** a result,to pursue a high overall efficiency,a holistic controller is presented for determining how and when to recharge the battery while minimizing the auxiliary system’s power *** importantly,the proposed RAPS saves about 7%fuel when compared with consumption by conventional service vehicles.

关键词： Anti-idling Component sizing Auxiliary system electrification Power management control

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Fucoidan sulfate from Sargassum fusiforme regulates the SARS-CoV-2 receptor AXL expression in human embryonic lung diploid fibroblast cells

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2023年第11期24卷 1047-1052页

作者： Xuqiang ZHOU Weihua JIN Di JIANG Yipeng XU Sanying WANG Xinna WU Yunchuang CHANG Huili SU tianjun zhu Xiaogang XU Genxiang MAO College of Life Science Zhejiang Chinese Medical UniversityHangzhou310053China Zhejiang Provincial Key Lab of Geriatrics&Geriatrics Institute of Zhejiang Province Department of GeriatricsZhejiang HospitalHangzhou310030China College of Biotechnology and Bioengineering Zhejiang University of TechnologyHangzhou310014China Zhejiang Cancer Hospital the Key Laboratory of Zhejiang Province for Aptamers and TheranosticsInstitute of Basic Medicine and Cancer(IBMC)Chinese Academy of SciencesHangzhou310022China School of Medicine Zhejiang UniversityHangzhou310058China School of Biological and Chemical Engineering Zhejiang University of Science and TechnologyHangzhou310023China

Coronavirus disease 2019(COVID-19)is a global infectious disease that seriously endangers human life and health and affects normal social *** the pandemic outbreak from December 2019 to February 2023,the total number of confirmed cases has exceeded 753 million,and the deaths caused by COVID-19 have reached 6.6 million(https://***;accessed on Feb.16,2023).

关键词： Sargassum lung cases

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重型半挂车多目标稳定性控制策略

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农业机械学报 2011年第12期42卷 32-37页

作者：朱天军李飞宗长富崔国华河北工程大学机电工程学院邯郸056038 中国汽车技术研究中心天津300162 吉林大学汽车仿真与控制国家重点实验室长春130025

针对重型半挂车侧翻稳定性问题,建立了重型半挂车六轴模型,同时为了描述车辆的非线性特性,在车辆模型中加入非线性轮胎模型,并通过商业软件TruckSim进行模型验证。利用LQR最优控制技术,研究基于牵引车横摆角速度、侧向加速度及车辆铰接... 详细信息

针对重型半挂车侧翻稳定性问题,建立了重型半挂车六轴模型,同时为了描述车辆的非线性特性,在车辆模型中加入非线性轮胎模型,并通过商业软件TruckSim进行模型验证。利用LQR最优控制技术,研究基于牵引车横摆角速度、侧向加速度及车辆铰接角的重型半挂车多目标稳定性控制策略,并在TruckSim和Matlab/Simulink联合仿真环境下进行算法仿真验证。仿真结果表明:提出的重型半挂车多目标稳定性控制策略可以有效提高车辆的行驶稳定性,从而避免危险事故发生。

关键词：重型半挂车稳定性控制侧翻折叠 LQR最优控制

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基于线性矩阵不等式的重型车辆防侧翻鲁棒控制算法研究

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汽车工程 2012年第5期34卷 394-398页

作者：朱天军宗长富李飞杨勇吉林大学汽车仿真与控制国家重点试验室长春130025 中国汽车技术研究中心天津300162 中华人民共和国国家知识产权局北京100088

将重型车辆侧翻稳定性控制问题转化为通过状态反馈控制实现鲁棒干扰抑制的问题。在此基础上,以动态横向载荷转移率为控制目标,设计一个基于线性矩阵不等式(LMI)的状态反馈鲁棒控制器。利用商业软件Trucksim中的模型,进行开环和人-车闭... 详细信息

将重型车辆侧翻稳定性控制问题转化为通过状态反馈控制实现鲁棒干扰抑制的问题。在此基础上,以动态横向载荷转移率为控制目标,设计一个基于线性矩阵不等式(LMI)的状态反馈鲁棒控制器。利用商业软件Trucksim中的模型,进行开环和人-车闭环的侧翻稳定性控制对比仿真。结果表明,LMI防侧翻鲁棒控制器可有效提高车辆的侧倾稳定性,并具有较好的抗干扰性和鲁棒性。

关键词：重型车辆线性矩阵不等式鲁棒控制器

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基于改进TTR算法的重型车辆侧翻预警系统

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机械工程学报 2011年第10期47卷 88-94页

作者：朱天军宗长富吴炳胜孙振军河北工程大学机电工程学院邯郸056038 吉林大学汽车动态模拟国家重点实验室长春130025

重型车辆具有重心高,装载量大,高宽比相对乘用车较大等特点,导致其侧翻稳定极限较低,极易发生侧翻事故。建立重型车辆侧翻预测模型,利用车辆实车试验数据离线辨识技术,辨识出3自由度车辆模型中的关键参数,然后利用改进后的车辆模型进行... 详细信息

重型车辆具有重心高,装载量大,高宽比相对乘用车较大等特点,导致其侧翻稳定极限较低,极易发生侧翻事故。建立重型车辆侧翻预测模型,利用车辆实车试验数据离线辨识技术,辨识出3自由度车辆模型中的关键参数,然后利用改进后的车辆模型进行在线侧翻危险预测及控制,实现车辆动态侧翻特性精确预测。在此基础上,将卡尔曼滤波技术融入到改进侧翻预测时间(Time to rollover,TTR)侧翻预警算法中,选取车辆的横向载荷转移率作为侧翻极限判据,根据当前车辆状态预测未来3 s车辆的侧翻危险程度,并实时计算TTR值,一旦TTR值满足侧翻条件,系统自动触发预警装置。利用侧翻预警系统车载试验平台,对侧翻预警控制系统进行验证。侧翻预警场地试验结果表明:所开发的重型车辆侧翻预警系统可以准确有效地进行车辆侧翻危险程度预警,达到预期的开发设计目标。

关键词：重型车辆侧翻预警系统改进侧翻预测时间算法

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Will the Globe Encounter the Warmest Winter after the Hottest Summer in 2023?

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Advances in Atmospheric Sciences 2024年第4期41卷 581-586页

作者： Fei ZHENG Shuai HU Jiehua MA Lin WANG Kexin LI Bo WU Qing BAO Jingbei PENG Chaofan LI Haifeng ZONG Yao YAO Baoqiang TIAN Hong CHEN Xianmei LANG Fangxing FAN Xiao DONG Yanling ZHAN Tao zhu tianjun ZHOU Jiang zhu International Center for Climate and Environment Science(ICCES) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China State Key Laboratory of Numerical Modeling for Atmospheric Sciences and Geophysical Fluid Dynamics(LASG) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China Nansen-zhu International Research Centre(NZC) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China Center for Monsoon System Research(CMSR) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China CAS Key Lab of Regional Climate-Environment for Temperate East Asia(RCE-TEA) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China

In the boreal summer and autumn of 2023,the globe experienced an extremely hot period across both oceans and *** consecutive record-breaking mean surface temperature has caused many to speculate upon how the global temperature will evolve in the coming 2023/24 boreal *** this report,as shown in the multi-model ensemble mean(MME)prediction released by the Institute of Atmospheric Physics at the Chinese Academy of Sciences,a medium-to-strong eastern Pacific El Niño event will reach its mature phase in the following 2−3 months,which tends to excite an anomalous anticyclone over the western North Pacific and the Pacific-North American teleconnection,thus serving to modulate the winter climate in East Asia and North *** some uncertainty due to unpredictable internal atmospheric variability,the global mean surface temperature(GMST)in the 2023/24 winter will likely be the warmest in recorded history as a consequence of both the El Niño event and the long-term global warming ***,the middle and low latitudes of Eurasia are expected to experience an anomalously warm winter,and the surface air temperature anomaly in China will likely exceed 2.4 standard deviations above climatology and subsequently be recorded as the warmest winter since ***,the necessary early warnings are still reliable in the timely updated mediumterm numerical weather forecasts and sub-seasonal-to-seasonal prediction.

关键词： winter climate El Niño seasonal forecast GMST

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二次型最优控制的半挂汽车列车主动侧倾控制算法研究

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中国机械工程 2008年第7期19卷 872-877页

作者：宗长富朱天军郑宏宇田承伟吉林大学汽车动态模拟国家重点实验室长春130025

针对半挂汽车列车的侧倾稳定性问题,建立了八自由度的半挂汽车列车动力学模型,并以线性二次型调节器(linear quadratic regulator,LQR)为基础,提出了一种基于回路传输恢复技术(loop transfer recovery,LTR)的线性二次型高斯(linear quad... 详细信息

针对半挂汽车列车的侧倾稳定性问题,建立了八自由度的半挂汽车列车动力学模型,并以线性二次型调节器(linear quadratic regulator,LQR)为基础,提出了一种基于回路传输恢复技术(loop transfer recovery,LTR)的线性二次型高斯(linear quadratic guass,LQG)最优控制算法。设计了局部状态反馈控制器,实现某车速下的侧倾控制,并进行了该车速下阶跃转向工况的车辆仿真分析。仿真结果表明:LQG/LTR控制器具有良好的抑制干扰噪声的能力和较好的鲁棒性,有效提高了半挂汽车列车的侧倾稳定性。

关键词：半挂汽车列车侧倾稳定性线性二次型高斯最优控制鲁棒性

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Optimized NGS-based analysis reveals mtDNA profile in plasma exosome of HCC patients

Optimized NGS-based analysis reveals mtDNA profile in plasma...

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2019年中国肿瘤标志物学术大会暨第十三届肿瘤标志物青年科学家论坛

作者： Yijie Li Shanshan Guo Xu Guo Yang Wang Yang Liu tianjun zhu Dong Lai Taokai Shan Jinliang Xing Department of Pathology Basic Medical CollegeInner Mongolia Medical University State Key Laboratory of Cancer Biology and Department of Physiology and Pathophysiology Fourth Military Medical University Third Department of Medical Oncology Shanxi Provincial Cancer Hospital

Next generation sequencing-based methods have been commonly used to detect mutations of mitochondrial *** amplification is a highly effective way for mtDNA enrichment before ***,it has been observed that highly variable sequencing depth within PCR amplicons severely reduces the coverage uniformity and accuracy of mutation ***,it is necessary to develop an optimized PCR-based strategy for mtDNA *** analyzed the effect of DNA quality on efficiency of PCR amplification and assessed the effects of different primer design methods including the number of primer pairs,overlap length of amplicon and modification of primers on coverage uniformity and mutation calling in mtDNA *** results showed that the DNA quality significantly affected the PCR amplification ***,the over-and under-representation of coverage depth at overlap region of amplicons was observed when amplicons were not modified and overlap was shorter than two sequencing fragment sizes(800 bp).Then,under-representation was overcome by increasing overlap length of amplicons,and over-representation was effectively reduced by 5’-block modification of primers and sticky-end ligation of ***,we found that these two optimized PCR-based sequencing strategies effectively improved mutation calling in primer binding *** optimized PCR-based mtDNA enrichment and sequencing approaches have been established,which laid a foundation for accurate mutation detection of mtDNA in diseases.

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基于全局增益调度控制的重型半挂车主动侧倾控制算法

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机械工程学报 2008年第10期44卷 138-144页

作者：宗长富朱天军麦莉郑宏宇高志国吉林大学汽车动态模拟国家重点实验室长春130025 一汽轿车股份有限公司长春130025

重型半挂车极易发生侧翻事故,提高其侧倾稳定性可以减少事故发生和人员财产损失。针对重型半挂车侧倾稳定性问题,建立车速可变的8自由度动力学模型。在回路传输恢复技术(Loop transfer recovery,LTR)的线性二次高斯(Linear quadratic gu... 详细信息

重型半挂车极易发生侧翻事故,提高其侧倾稳定性可以减少事故发生和人员财产损失。针对重型半挂车侧倾稳定性问题,建立车速可变的8自由度动力学模型。在回路传输恢复技术(Loop transfer recovery,LTR)的线性二次高斯(Linear quadratic guass,LQG)控制方法基础上,建立全局增度调度控制的全状态反馈控制器,使LQG/LTR局部状态反馈控制器在不同车速下均能对车辆实施最优主动侧倾控制,从而实现在噪声干扰下对重型半挂车的主动侧倾控制。进行变车速阶跃转向工况下的车辆仿真,对比分析主动控制前后的重型半挂车标准横向载荷转移等参数。车辆仿真结果表明,LQG/LTR方法具有良好的抑制干扰噪声的能力,可使系统具有较好的鲁棒性和稳定性。与被动式车辆相比,变车速的全局增益调度控制算法能有效提高重型半挂车的侧倾稳定性。

关键词：重型半挂车侧倾稳定性主动侧倾控制全局增益调度

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