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An optimal torque distribution for electric vehicle based on sliding mode observer

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An optimal torque distribution for electric vehicle based on...

第36届中国控制会议

作者： niaona zhang Haolin Li Xiaofang zhang Xiaohui Lu Electronic and Electrical Engineering Institute Changchun University of Technology School of Mechatronic Engineering Changchun University of Technology

ISBN: (纸本)9781538629185

Four wheels driven electric vehicle has advantages in stability control,active safety control and other aspects,the reasonable torque distribution strategy directly affects the driving performance of the *** this paper,an optimal torque distribution approach is proposed for electric vehicle equipped with four independent wheel motors to improve vehicle handling and stability ***,a novel objective function is formulated which considering the interference among different performance ***,in order to improve the stability of the vehicle under different driving conditions,the purpose of the dynamic weighting factor is to adjust the relative weight of each performance in the objective *** the same time,the control effect of the controller is controlled by the input parameters,therefore a tire-force estimation based on sliding mode observer is present to improve the accuracy in estimating tire ***,the simulation results indicate that the proposed control can effectively improve the vehicle handling and stability.

关键词： Optimal torque distribution Sliding mode observer Handling and stability

The Electronic Differential Control Based on the Slip Ratio

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The Electronic Differential Control Based on the Slip Ratio

第36届中国控制会议

作者： niaona zhang Caimao Xu Wenjing Niu Xiaohui Lu Electronic and Electrical Engineering Institute Changchun University of Technology School of Mechatronic Engineering Changchun University of Technology

ISBN: (纸本)9781538629185

To achieve the differential function of electric vehicle of two wheel-hub motors,by following the optimal slip ratio of each wheel and equalizing the slip ratio of both drive wheels as target,a differential control strategy based on slip ratio is *** the standard μ-s curve to set the fuzzy rule,a fuzzy controller is constructed to estimate the adhesion coefficient of pavement and the optimal slip ***,based on the optimal slip ratio of each wheel,the electronic differential control strategy designed by linear sliding mode is adopted to control the driving torque of the two rear wheels to realize the electronic differential *** simulation results show that the method proposed in this paper is better to realize the differential function of the vehicle and improve the driving stability of the electric vehicle.

关键词： Electronic differential Slip ratio Fuzzy control Sliding mode control

Moisture Absorption and Mechanical Properties of Chemically Modified Linen/Polypropylene Composites

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Chemical Research in Chinese Universities 2017年第6期33卷 1000-1006页

作者： HU Qiuxue LI Li YAN Wenling ZHAO Qi zhang niaona zhang Yumei DONG Jinbiao LIU Baijun HU Wei College of Chemical Engineering Changchun University of Technology Changchun 130012 P. R. China School of Life Science and Technology Harbin Institute of Technology Harbin 150080 P. R. China College of Chemistry Jilin University Changehun 130012 P. R. China

To decrease the moisture absorption and improve the mechanical properties of linen/polypropylene（PP） composites, linen was modified with silane N-β-（trimethoxysilyl） propyl]ethylenediamine（AAPTS）, surfactant trimethyloctadecylalmnonium bromide（STAB）, and both AAPTS and STAB, respectively. Fourier transform infrared（FTIR） spectra showed that the linen was successfully modified and alkyl chains were attached through different treatments. The linen and PP were compounded by melt compressing. The moisture absorption of linen was decreased after STAB and AAPTS-STAB modifications. The moisture absorption, mechanical property and thermal property of the composites were also characterized. The results show that the moisture absorption of the AAPTS-modified li- nen（F1） reinforced PP（PPF1） is 8.09%, which is higher than that of the unmodified linen reinforced PP（PPF）（7.89%）. The moisture absorption of the STAB-AAPTS-modified linen（F3） reinforced PP（PPF3） is 6.58%. The tensile strengths of PPF1 and PPF3 are 33.7 and 35.8 MPa, which are improved by 22.5% and 30% compared with that of PPF（27.5 MPa）, respectively. Nevertheless, the moisture absorption of the STAB-modified linen（F2） reinforced PP（PPF2） is decreased by 22.4%, and the tensile strength is improved by 30% compared with those of PPF. Scanning electron microscopy（SEM） analysis of the fractured surface confirms the good interfacial adhesion of PPF2 compared with those of other composites. Furthermore, the 5% mass loss temperatures of the composites are all higher than 290 ℃. Thus, linen modified with STAB is a promising reinforcement for biocomposites.

关键词： Linen Moisture absorption Sttrfactant Polypropylene Composite

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参数不确定柔性机械手的神经滑模控制

机械工程学报 2011年第1期47卷 31-35,42页

作者：张袅娜长春工业大学自动化系长春130012

通过重新定义系统的输出,将具有不确定性参数的柔性机械手系统分成输入输出子系统与零动态子系统。对输入输出子系统提出神经滑模控制策略,通过满足滑模可达条件对径向基函数(Radial basis function,RBF)神经网络的权值进行在线修正,以... 详细信息

通过重新定义系统的输出,将具有不确定性参数的柔性机械手系统分成输入输出子系统与零动态子系统。对输入输出子系统提出神经滑模控制策略,通过满足滑模可达条件对径向基函数(Radial basis function,RBF)神经网络的权值进行在线修正,以逼近系统的非奇异终端滑模控制输入,该方法可有效消除抖振;重新定义的系统输出中的系数,通过将零动态子系统在稳定工作点附近的近似线性化来选取。仿真试验结果表明,该方法实现了柔性机械手点到点的准确控制,消除了柔性机械手末端的弹性振动。

关键词：柔性机械手非奇异终端滑模神经网络

Carboxyl-functionalized Nanocellulose Reinforced Nanocomposite Proton Exchange Membrane

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Chemical Research in Chinese Universities 2019年第4期35卷 735-741页

作者： YANG Xue WEI Yingcong CHU Xuefeng ZHAO Qi YAN Wenling DONG Chenjun LIU Baijun SUN Zhaoyan HU Wei zhang niaona College of Chemical Engineering Changchun University of TechnologyChangchun 130012P. R. China State Key Laboratory of Photocatalysis on Energy and Environment College of Chemistry Fuzhou University Fuzhou 350002 P. R. China School of Electrical and Electronic Information Engineering Jilin Jianzhu University Changchun 13011& P. R. China College of Chemistry Jilin UniversityChangchun 130012P. R. China State Key Laboratory of Polymer Physics and Chemistry Changchun Institute of Applied Chemistry Chinese Academy of Sciences Changchun 130022 P. R. China

Nanocellulose(NCC) was prepared through the acid hydrolysis of microcellulose(MCC) and was reacted with maleic anliydride to obtain carboxyl-functionized nanocellulose(MA-NCCs). The presence of .OH and .SO3H on the surface of rod-like MA-NCC was confirmed by Fourier transfonn infrared spectrometry(FTIR). Sulfonated poly(aryl ether ether ketone ketone)(Ph-SPEEKK) was synthesized with bis(4-fluorophenyl-methanone) and 2-phenylhydroquinone as monomer. MA-NCC/Ph-SPEEKK nanocomposite membranes with different MA-NCCs content were prepared, and their properties were characterized. Compared with Ph-SPEEKK, MA-NCC/Ph-SPEEKK nanocomposite membrane showed better mechanical and thermal properties and higher proton conductivity. The proton conductivity of the composite membrane with 4%(mass fraction) MA-NCCs under 80℃ was 0.095 S/cm. And its tensile strength reached 30.3 MPa, which was 21.2% higher than that of Ph-SPEEKK pure polymer membrane.

关键词： Sulfonated poly(arylether etlier ketone ketone) Carboxylation Nanocellulose Proton exchange membrane

Research on Consensus Problems with Second-Order Sliding Mode Algorithm in Multi-agent Systems

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Research on Consensus Problems with Second-Order Sliding Mod...

第30届中国控制与决策会议

作者： Xiaofang zhang niaona zhang Xuanxuan Bao Changchun University of Technology Electronic and Electrical Engineering Institute

For a class of second order linear dynamic multiagent systems with leader and bounded input disturbance, a multi-agent system model is established by graph theory and matrix theory knowledge. A second-order sliding mode control algorithm based on finite state structure is applied to mult-iagent system. Under the condition that the first derivative of sliding mode is unknown, the control output is generated by switching between multiple state machines according to the measured value of sliding mode, so that the sliding mode and its first derivative converge to zero in a finite time, and to achieve the goal that the multi-agent system can be consistent for a limited period of *** algorithm weakens the chattering problem in the traditional sliding mode control, and improves the accuracy and robustness of the control system. The effectiveness of the algorithm is proved by simulation experiments.

关键词： Multi-agent Systems Finite-time consensus Second order sliding mode Robustness

Double Closed-Loop Control of High-Regulation of Electronically Controlled Air Suspension

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Double Closed-Loop Control of High-Regulation of Electronica...

第36届中国控制会议

作者： niaona zhang Yanyang Li Xiaohui Lu Ru Kong School of Electrical & Electronic Engineering Changchun University of Technology School of Mechatronic Engineering Changchun University of Technology

Electronic control air suspension in the vehicle height adjustment process in the presence of time delay,over charging,over discharge and oscillation *** order to solve this problem,design a double closed-loop controller based on sliding mode control and PID control,through the neural network algorithm,dynamic adjustment of the controller structure parameters,in order to achieve the precise control of the body *** tracking control of neural network PID algorithm is used to control the height of outer ring *** the mathematical model of the suspension,the inner loop adopts sliding mode control to realize the optimal control force *** on Matlab/Simulink software,a simulation model of the vehicle body height control system is established to verify the reliability of the *** and analysis of the process of the vehicle static height and the tracking performance of the dynamic *** results show that the control system can effectively reduce the error in the adjustment process and meet the requirements of the control precision.

关键词： Electronically Controlled air Suspension Vehicle High Regulation Neural Network PID Sliding Mode Control

Multi-agent distributed optimization based on the game theory and its application in automobile chassis

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Multi-agent distributed optimization based on the game theor...

第37届中国控制会议

作者： Ru Kong niaona zhang Xuanxuan Bao Xiaohui Lu Changchun University of Technology

Most problems in real life can be solved by optimizing a series of complex ***,most of the existing optimization theories are dependent on the specific application scenarios,and lack a systematized optimization *** most of the existing optimization algorithms are based on the global information to build a decision-making mechanism,it’s difficult to meet in *** this purpose this paper studies the multi-agent optimization problem of the hot research in the field of complex multi-objective optimization in the world in recent years,and proposes a multi-agent distributed optimization method based on the game *** paper achieves global optimization by analyzing the optimization target of each agent and determining the action strategy of multi-agent,finally,taking the automobile chassis as an example to to verify this method.

关键词： Multi-agent Distributed optimization Game theory Automobile chassis

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智能网联电动汽车经济性巡航速度规划

汽车工程 2022年第4期44卷 609-616,637页

作者：张哲丁海涛张袅娜郭孔辉吉林大学汽车仿真与控制国家重点实验室长春130022 长春工业大学电气与电子工程学院长春130012

本文中在充分利用智能交通环境信息的前提下,提出一种基于滚动距离域近似动态规划的经济性巡航速度规划方法,实现了车辆在不同坡度道路上的经济性巡航,有效延长电动汽车的续航里程。首先,根据动态交通环境,设计了基于距离域的分段滚动形... 详细信息

本文中在充分利用智能交通环境信息的前提下,提出一种基于滚动距离域近似动态规划的经济性巡航速度规划方法,实现了车辆在不同坡度道路上的经济性巡航,有效延长电动汽车的续航里程。首先,根据动态交通环境,设计了基于距离域的分段滚动形式,建立车速与道路坡度的映射关系;其次,采用了带有异步并行网络的近似动态规划算法,综合考虑安全性和通行效率,快速求解经济性巡航车速;最后,搭建智能网联汽车硬件在环仿真平台对所提方法进行了验证。结果表明,与传统定速巡航策略相比,本文中提出的方法在不增加通行时间的前提下,可有效降低车辆能耗,延长续航里程。

关键词：网联电动汽车经济性驾驶近似动态规划能量管理