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Real-time Tire Parameters Observer for Vehicle Dynamics Stability Control

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Chinese Journal of Mechanical Engineering 2010年第5期23卷 620-626页

作者： LI Liang LI Hongzhi ZHANG xiaolong he Lin SONG Jian State Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing 100084 China

The performance of the vehicle dynamics stability control system（DSC） is dominated by the accurate estimation of tire forces in *** characteristics of tire forces are determined by tire dynamic states and parameters,which vary in an obviously large scope along with different working ***,there have been many methods based on the nonlinear observer to estimate the tire force and dynamic parameters,but they were only used in off-line analysis because of the computation complexity and the dynamics differences of four tires in the steering maneuver conditions were not considered *** paper develops a novel algorithm to observe tire parameters in real-time controller for *** algorithm is based on the sensor-fusion technology with the signals of DSC sensors,and the tire parameters are estimated during a set of maneuver *** calibrated tire parameters in the control cycle are treated as the elementary states for vehicle dynamics observation,in which the errors between the calculated and the measured vehicle dynamics are used as the correcting factors for the tire parameter observing *** test process with a given acceleration following a straight line is used to validate the estimation method of the longitudinal stiffness;while the test process with a given steering angle is used to validate the estimated value of the cornering *** ground test result shows that the proposed algorithm can estimate the tire stiffness accurately with an acceptable computation cost for real-time controller only using DSC sensor *** proposed algorithm can be an efficient algorithm for estimating the tire dynamic parameters in vehicle dynamics stability control system,and can be used to improve the robustness of the DSC controller.

关键词： tire longitudinal stiffness cornering stiffness vehicle dynamics stability

Understanding ultra-dispersed CeO_(x)modified iridium clusters as bifunction electrocatalyst for high-efficiency water splitting in acid electrolytes

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Journal of Rare Earths 2023年第2期41卷 208-214页

作者： Xiaojie Zhao Ying Chang xiaolong he Huiqi Zhang Jingchun Jia Meilin Jia Inner Mongolia Key Laboratory of Green Catalysis and Inner Mongolia Collaborative Innovation Center for Water Environment Safety College of Chemistry and Environmental ScienceInner Mongolia Normal UniversityHohhot 010022China

Designing bifunctional catalysts with high catalytic activity and durability for electrochemical water splitting has become a promising approach to producing clean and sustainable hydrogen *** high specific surface area and ultra-small size,metal clusters have become a kind of promising *** introducing Ce species,the noble metal iridium(Ir)can be electronically modulated,thus reduce the activation energy of intermediate,and improve the intrinsic catalytic activity for practical *** performance of Ir_(3)CeO_(x)/C is more prominent among different feeding ratios of the *** overpotential is only 299 mV for the oxygen evolution reaction(OER),and the overpotential is only23 mV for the hydrogen evolution reaction(heR)at 10 mA/cm^(2) in acid *** Ir doped with appropriate amount of Ce can obtain excellent OER and heR performance and catalyze water splitting *** work provides a strategic approach to the formation of clusters of precious metals and rare earths.

关键词： Clusters Oxygen evolution reactions Hydrogen evolution reactions Oxygen vacancies Rare earths

Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 228-246页

作者： Kaixian Ba Yuan Wang xiaolong he Chunyu Wang Bin Yu Yaliang Liu Xiangdong Kong hebei Provincial Key Laboratory of heavy Machinery Fluid Power Transmission and Control Qinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment Yanshan UniversityQinhuangdao 066004China

Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ***,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy *** contrast,pump control systems offer a high ***,their response ability is *** fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of ***,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first *** addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC *** method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the ***,experimental verification is performed using the PCDS performance test *** experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the *** relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

关键词： Legged robot Pump-valve compound drive system(PCDS) Force compensation control Quantitative feedback theory(QFT) Disturbance torque observer(DTO)

Evolution of the magmatic–hydrothermal system and formation of the giant Zhuxi W–Cu deposit in South China

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Geoscience Frontiers 2022年第1期13卷 158-181页

作者： xiaolong he Da Zhang Yongjun Di Ganguo Wu Bojie Hu Hailong Huo Ning Li Fang Li China University of Geosciences(Beijing) Beijing 100083China

The Zhuxi deposit is a recently discovered W–Cu deposit located in the Jiangnan porphyry–skarn W belt in South China. The deposit has a resource of 3.44 million tonnes of WO3, making it the largest on Earth,however its origin and the evolution of its magmatic–hydrothermal system remain unclear, largely because alteration–mineralization types in this giant deposit have been less well-studied, apart from a study of the calcic skarn orebodies. The different types of mineralization can be classified into magnesian skarn, calcic skarn, and scheelite–quartz–muscovite(SQM) vein types. Field investigations and mineralogical analyses show that the magnesian skarn hosted by dolomitic limestone is characterized by garnet of the grossular–pyralspite(pyrope, almandine, and spessartine) series, diopside, serpentine,and Mg-rich chlorite. The calcic skarn hosted by limestone is characterized by garnet of the grossular–andradite series, hedenbergite, wollastonite, epidote, and Fe-rich chlorite. The SQM veins host highgrade W–Cu mineralization and have overprinted the magnesian and calcic skarn orebodies. Scheelite is intergrown with hydrous silicates in the retrograde skarn, or occurs with quartz, chalcopyrite, sulfide minerals, fluorite, and muscovite in the SQM *** inclusion investigations of the gangue and ore minerals revealed the evolution of the ore-forming fluids, which involved:(1) melt and coexisting high–moderate-salinity, high-temperature, high-pressure(>450 ℃and >1.68 kbar), methane-bearing aqueous fluids that were trapped in prograde skarn minerals;(2) moderate–low-salinity, moderate-temperature, moderate-pressure(~210–300 ℃and ~0.64 kbar),methane-rich aqueous fluids that formed the retrograde skarn-type W orebodies;(3) low-salinity,moderate–low-temperature, moderate-pressure(~150–240 ℃and ~0.56 kbar), methane-rich aqueous fluids that formed the quartz–sulfide Cu(–W) orebodies in skarn;(4) moderate–low-salinity,moderate-temperature, low-pressure(~150–250 ℃and ~0

关键词： Zhuxi Giant ore deposit W-Cu mineralization C-H-O-S-Pb isotopes Magmatic-hydrothermal system

高校化学类实验室“双防一全”机制的探索与实践

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实验室研究与探索 2025年第1期44卷 219-222,227页

作者：王继锋卢立珏张若妤张立伟何晓龙温从涛温州大学国资与实验室管理处浙江温州325000 温州大学化学与材料工程学院浙江温州325000 温州大学生命与环境科学学院浙江温州325000

高校化学类实验室是安全隐患最多、最复杂且最易发生事故的实验室,其安全隐患主要源于化学品全周期管理不健全、化学类实验室安全风险分级防控与隐患排查双重预防机制不健全等。针对化学类实验室安全治理的难点,温州大学通过建立化学品... 详细信息

高校化学类实验室是安全隐患最多、最复杂且最易发生事故的实验室,其安全隐患主要源于化学品全周期管理不健全、化学类实验室安全风险分级防控与隐患排查双重预防机制不健全等。针对化学类实验室安全治理的难点,温州大学通过建立化学品全流程管理平台、信息化安全风险分级防控体系和多种方式的隐患排查治理体系,构建针对化学类实验室的“双防一全”管理机制。以安全风险防控提高隐患排查效率,以隐患排查加强安全风险防控建设,形成闭环管理,将风险防控关口前移,提高风险预防能力。

关键词：高校实验室化学类实验室双重预防机制安全治理

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滑子菇柠檬磷伞种液体发酵培养基工艺优化与理化特性分析

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食品研究与开发 2025年第1期46卷 132-138页

作者：王逸初杨秀婷贺晓龙高小朋延安大学生命科学学院陕西延安716000 微生物资源开发与绿色循环利用陕西省高校工程研究中心陕西延安716000

以玉米淀粉、黄豆粉、MgSO_(4)为主要原料制作滑子菇培养基。通过单因素筛选、PB中心组合设计及响应面分析对发酵培养基进行优化,在优化配方处理下,待其生长到子实体阶段,通过质构仪测定结合相关国家标准分析其理化性质。结果表明,当玉... 详细信息

以玉米淀粉、黄豆粉、MgSO_(4)为主要原料制作滑子菇培养基。通过单因素筛选、PB中心组合设计及响应面分析对发酵培养基进行优化,在优化配方处理下,待其生长到子实体阶段,通过质构仪测定结合相关国家标准分析其理化性质。结果表明,当玉米淀粉(碳源)浓度为47.396 g/L、黄豆粉(氮源)浓度为55.707 g/L、MgSO_(4)(无机盐)浓度为6.363 g/L,培养基中菌丝生物量最高,达到2.094 g,优化量提升182.98%。此条件下生长出的滑子菇硬度为(16.18±0.37)N,弹性为(1.25±0.05)mm,凝聚性为(0.25±0.02)mJ,其各项数值均符合相关国家标准规定。采用优化后培养基发酵培育的滑子菇具有高抗氧活性、高生物量、高致密性的特点。

关键词：滑子菇柠檬磷伞培养基优化理化特性分析液体菌种

Dynamic simulation of China’s water-grain-meat system and evaluation of its support capability based on water footprint theory

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International Journal of Agricultural and Biological Engineering 2023年第5期16卷 270-282页

作者： Qiuxiang Jiang Haoyu Liao Xingtao Ouyang Qiang Fu xiaolong he Yunxing Wu Zilong Wang College of Water Conservancy and Civil Engineering Northeast Agricultural UniversityHarbin 150030HeilongjiangChina

The supply capacity of water resources,food and meat products is of great importance to the people’s livelihood of a *** recent years,although China has introduced many policies on water resources and grain production,the current situation of China’s food self-sufficiency and imbalance between supply and demand of water resources has not been fundamentally *** security and water security are facing a serious *** paper takes the water footprint as the connection point,and combines the water food meat system with mutual influence,mutual causation and dynamic feedback into a composite *** the same time,the simulation model of the composite system is established by using system dynamics,and the dynamic simulation of water grain meat in China from 2000 to 2050 is carried out to explore the current situation and future development trend of China’s water,grain and meat supply *** was found that during the simulated period,the agricultural blue-green water footprint on the demand side would continue to dominate,followed by the gray water *** blue water footprint on the supply side remained stable,whereas the green water footprint and the circulating water footprint showed an upward *** to the contemporary social and economic development and the model of water resources in China,there will be no meat shortage in the future,but issues have been found in the ability to guarantee water and food *** root of China’s food support capability problem is excessive grain consumption due to meat production,whereas the cause of the water support capability problem is the slow development of the water *** support capability issues can be solved by regulating the meat output of livestock farming and fishery operations,reducing excess production capacity,and stabilizing the meat supply and *** solve the water support capability issue,China should focus on accelerating the pace of agricultural water-co

关键词： system dynamics water footprint evaluation water support capability food support capability meat support capability

Genesis of Makeng-type Fe-polymetallic deposits in SE China:New constraints by geochronological and isotopic data from the Dapai–Makeng metallogenic system

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Geoscience Frontiers 2023年第5期14卷 189-212页

作者： Absai Vatuva xiaolong he Xinming Zhang Da Zhang Haibin Feng Yuan Yuan Sen Wang Jinjun Yi Yongjun Di China University of Geosciences(Beijing) Beijing 100083China University of Namibia Windhoek Private Bag 13301Namibia Xiangtan University Xiangtan 411105China

The southwestern Fujian depression belt(SFDB)is an economically important Mesozoic Fe metallogenic belt in South China and is renowned for its Makeng-type Fe deposits,in which stratified skarn Fe orebodies generally occur in or near the contact zone between late Paleozoic carbonate sequences and Mesozoic ***,the genesis and geodynamic setting of these deposits remain unclear because the characteristics of the widely distributed Pb–Zn–Cu and Mo orebodies in these deposits and the temporal,spatial,and genetic relationships between magmatism and mineralization are poorly *** Dapai Fe polymetallic deposit in the SFDB is a typical example of Makeng-type Fe deposits but also has regional significance,whereby the stratified skarn Fe orebodies have overprinted the stratabound Pb–Zn–Cu mineralization followed by final fissure-filling by vein-disseminated Mo mineralization.A detailed geological investigation suggests that episodic magmatic–hydrothermal events were involved in the formation process of the Dapai Fe polymetallic *** and sphalerite from the Pb–Zn–Cu orebodies yield an Rb–Sr isochron age of 175.5±3.3 Ma,which is regarded as the timing of Pb–Zn–Cu *** grains from Fe-mineralized granodiorite porphyry and Mo-mineralized monzogranite yield weighted-mean 206Pb/238U ages of 146.3±0.9 Ma and 131.7±0.4 Ma,interpreted as the timings of Fe and Mo mineralization,*** zircons from granodiorite also yield a 206Pb/238U model age cluster of184 Ma,which coincides reasonably with the timing of Pb–Zn–Cu mineralization and implies the existence of an unidentified ore-related intrusion in the Dapai *** further zircons from the porphyritic granodiorite yield an age cluster of-150 Ma,consistent with the timing of Fe ***,pyrite,and sphalerite from the Dapai and Makeng deposits have similar S–Pb isotopic compositions and suggest a magmatic *** our results with published isotopic data fo

关键词： Southwestern Fujian Depression Belt Makeng-type Fe polymetallic deposit Sulfide Rb-Sr dating Zircon U-Pb dating S-Pb-Fe isotopes Geodynamic setting

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预制舱式变电站在高寒地区的应用分析

电力设备管理 2025年第1期 262-264页

作者：何小龙党显军中国电建集团四川工程有限公司

在高寒地区,极端低温环境对变电站的正常运行构成严峻挑战。本文围绕预制舱式变电站在高寒地区的应用进行分析,探讨预制舱式变电站在极端气候条件下的技术应对措施,包括铺设防冻土层、舱体结构保温设计、铺设加热电缆、布设通风装置等,... 详细信息

在高寒地区,极端低温环境对变电站的正常运行构成严峻挑战。本文围绕预制舱式变电站在高寒地区的应用进行分析,探讨预制舱式变电站在极端气候条件下的技术应对措施,包括铺设防冻土层、舱体结构保温设计、铺设加热电缆、布设通风装置等,从而提升预制舱式变电站在高寒地区的适应能力和运行稳定性,为该类设备在类似环境中的广泛应用提供理论依据和技术支持。

关键词：预制舱智能变电站高寒地区