对小半径曲线上股轮轨两点接触侧磨机理进行了分析,提出了现场钢轨打磨实施方案并对其合理性进行了验证,并以此为基础对基于RRD的钢轨打磨目标廓形设计方法进行了研究.结果表明,轮轨两点接触形态及轨侧接触点的大切向力是导致小半径曲线钢轨侧磨严重的主要原因之一,轮轨贴合式两点接触能够有效提高滚动半径差,减小轨侧接触点磨耗指数和两个接触点间的磨耗指数差异,提高转向力矩和转向架的曲线通过性能,理论分析和现场试验结果完全吻合.基于RRD的钢轨打磨目标设计廓形能够有效改善轮轨几何接触关系,消除轨距面处的接触点跳跃现象,在小半径曲线大横移量时较好地形成贴合式两点接触和轨距面的局部轮轨共形接触,在减小轮轨磨耗的同时可有效控制轮轨接触应力.

动车组由于其快捷、准时、节能等优势逐渐成为旅客运输的最佳选择.随着运量的增加,动车组在运营过程中会逐渐出现异常抖动现象.为解决该问题,分析某客运专线车辆异常抖动机理,并采用个性化廓形打磨方法对线路钢轨廓形进行了打磨修正.基于数值程序Contact、有限元软件Ansys和多体动力学软件Simpack对打磨前后钢轨廓形对车辆的运行性能的影响进行了分析.结果表明,通过钢轨打磨,轮轨接触点不连续现象得到解决,轮轨接触光带位置趋于优化,蛇行运动与车体共振频率有所降低,打磨后车辆的振动加速度和运行平稳性指标均优于打磨前钢轨,理论分析结果与线路实际添乘结果吻合.因此,对钢轨进行合理打磨能优化轮轨接触关系,改善动车组异常抖动现象并提升旅客乘坐舒适度.

The state of health (SOH) is essential for the safety and reliability of lithium-ion batteries in different applications. Moreover, the inconsistency of battery cells in battery packs is inevitable. To determine the SOH difference is even more challenging without the calculation of the SOH of each battery cell. To solve the problem, this article proposes a novel relative SOH (rSOH) estimation method based on wavelet analysis, and the SOH differences for series-connected lithium-ion battery cells in the battery pack can be obtained. It should be noted that no battery model is needed in this method. The more accessible battery voltage of each battery cell is sufficient to obtain the SOH differences, without SOH estimation for each battery cell. With the wavelet analysis, more detailed information of the battery cells is obtained. The rSOH is then introduced as the index of the SOH difference, and the estimation procedure is further analyzed. Finally, experimental validations are conducted by different aged battery cells. The different state of charge conditions and different driving cycles are applied to show the robustness of the proposed method. The experimental results show that the rSOH estimation error is limited within 5%, equivalently with less than 1% SOH estimation error, thus proving the effectiveness of the proposed rSOH estimation method.

Battery performance will be dramatically reduced at low temperatures. To solve this problem, a hybrid self-heating method (HSHM) for batteries used at low temperature is proposed in this article. The HSHM owns features of low cost, high temperature rise rate, low energy loss, etc., which has the potential to be widely used to heat batteries. The physical and electric configuration of the HSHM is designed, and the working principles are analyzed. The heating strategy of the HSHM is then introduced to illustrate the heating performance. To validate the proposed method, the experimental workbench is established. Experimental results show that even with smaller heating current, the heating speed of the HSHM is faster, and less energy is needed to heat the battery. Compared with the traditional self-heating method, the performance of the HSHM is improved by 1.3 times for the temperature rise rate and improved by 55.6% for the energy loss rate, respectively.

Active equalization is an efficient method to improve the performance of series-connected battery strings for the electric vehicles. However, the large-scale applications of the active equalization are restricted by many factors, such as system cost, control complexity, and equalization speed. In this paper, a unitized multiwinding transformer-based equalization method is proposed. The forward converter and flyback converter are realized, simultaneously. The forward converter principle is used to equalize the battery cells in the same subunit, while the flyback converter principle is applied for the equalization of the different subunits. Fewer metal-oxide-semiconductor field-effect transistors and transformer windings are needed for lower control complexity and lower system cost. Furthermore, different subunits of the battery string can be simultaneously equalized, resulting in higher time efficiency. To verify the proposed method, the simulation and experimental workbenches are established. Results indicate that the proposed method can equalize well both for the cells in different subunits and in the same subunit. The urban dynamometer driving schedule tests are further applied and the unbalanced problem is covered in about one hour. The results show that the proposed method has achieved a good performance of equalization in terms of system cost, control complexity, and speed.

Cell imbalance is one of the most critical problems in battery storage systems, especially in series-connected battery strings. The passive balancing methods are widely used in real applications, for their low cost, low computation complexity and easy to implement. However, the balancing current is still very small for commercial passive balancing systems and even the bleeder resistances are small enough, it suffers the problem that the balancing current cannot be tuned as wish. To address this problem, this paper proposed a high power low-cost balancing system, in which the bleeder resistors are removed from the passive balancing methods. By controlling the drive circuits of the Mosfets, the Mosfets is controlled in the amplifier mode and the energy can be discharged by the Mosfets with variable and controllable balancing current. The balancing circuits of the method is fabricated and the experimental validation is established. The experimental results verify that the proposed balancing method can realized the balancing function effectively and the balancing power can be high enough even without bleeder resistors

针对四旋翼无人机飞行过程中遇到信号干扰时姿态控制性能变差的问题,设计了基于串联模糊自整定PID控制器.系统采用串级PID控制算法,在内环角速度控制器中加入了模糊自整定PID参数控制器,提高了系统稳定性和抗干扰能力.在无人机飞行控制实验过程中响应速度快,振荡幅度小,缩短了系统稳定的调整时间.在该实验系统的基础上开设了本科生开放创新实验——四旋翼无人机控制系统设计,有效提高了学生专业知识运用能力和创新能力.

Formal concept analysis theory is a mathematical tool by establishing formal data structure to express the abstract relationship of concepts at different levels[1], It has absolute advantages in expressing the dependence relationship, which is used to be visualized by Hasse graph, between concept data. Based on this theory, the paper designs and implements a service system, which realizes data analysis and information retrieval. Firstly, the formal context is built in specific field according to the functions. Secondly, formal concept analysis tools are used to construct concept lattices of context and extract association rules. Then, the whole service system is established based on association rules. Finally, the service system is applied to medical treatment, health exercise and academic research to realize the functions of blood test results analysis, human body composition monitoring results analysis, academic research direction retrieval and so on.

This paper presents a method of adaptive grayscale weighted center extraction of light stripe based on skeleton tracking in order to improve the linear structured light three-dimensional surface measurement accuracy.First,a set of fairing and unidirectional skeletons is calculated by mathematical morphological method from the acquired images.Taking the skeleton as a search path,a useful pixel region is set along the normal direction of the skeleton.The grayscale threshold is divided according to the degree of importance of pixel grayscale on the light stripe centerline extraction in the normal section of the skeleton.The value of pixel gray which is more important to centerline extraction is weighted square.Then,the sub-pixel center of the light stripe is calculated according to the gray weighted centroid method.Finally,simulations and experiments are carried out.The simulation results show that the average deviation from the centerline of the light tripe to the fitted curve is less than 0.3 pixels,the standard deviation is less than 0.03 pixels,and the calculation time is 87.6 ms.The experimental results show that the maximum deviation,average deviation and standard deviation extracted by this method are all smaller compared with other methods.The proposed method has some advantages,including high accuracy,stable extraction result and good robustness,whereby a sub-pixel light stripe centerline with fine fairness can be obtained and hence the online measurement requirements could be satisfied.

For faster process speed and higher accuracy of RGB-D SLAM of planar mobile robot, the new method improved the traditional method of ORB feature detection and match based on the image segmentation. Our method considering the features of planar robots, simplify the feature match process and PnP pose transform matrix of neighbor fames. It evaluates the motion planar of robot while SLAM system running, which is used for the optimization and simplification later. Using color images and cooperating depth images, it can easily get the height of each extracted feature points and divide those points in several groups to reduce wrong match and accelerate match speed.

通过对影响热电池激活时间的主要因素:传火结构和引燃纸燃速、单体电池各组分的用量、电解质熔点、单体电池成型压力、工作电流密度等,进行实验测试和对比分析,提出了在结构设计等允许的情况下,缩短热电池激活时间的途径.

The direct feed system is prone to generate vibration due to insufficient damping in the direction of movement. In order to suppress the vibration of direct drive feed system, this paper presents a novel hybrid-excitated eddy current damper functioned as the damping compensation mechanism, which has non-contact mechanical structure and approximate linear damping characteristics. In this work, the characteristics of damper are investigated by Finite Element Analysis (FEA). The motion controller of the system was designed as a cascaded feedback structure with feedforward compensation. The control parameters are adjusted based on the identification of motor dynamic by the unbiased least square (ULS). Finally, the eddy current damper is installed in the motion direction of the direct drive feed system, and the vibration suppression experiments are implemented with 4.5g maximum acceleration. The results show that the root mean square value (RMS) value is reduced by 66% with the proposed method.

针对线结构光条纹骨架存在分枝导致条纹中心不平滑的问题,在数学形态学提取骨架的基础上,提出了一种基于端点跟踪的快速线结构光条纹骨架剪枝算法.该算法采用沿分枝方向跟踪识别并去除分枝端点的方式来剔除骨架分枝,不需要建立复杂的跟踪规则来判断剪枝方向,并且不需要设置固定的跟踪阈值,其跟踪长度由分枝长度决定,从而提高了剪枝效率.实验结果表明:该算法的剪枝时间与骨架分枝的总长度呈线性关系;与传统的剪枝算法相比,该算法的剪枝速度提高了3～7倍,能够有效地去除骨架分枝,保留骨架主干.该算法实现了光顺、单向连通的线结构光条纹骨架的快速剪枝,提高了三维测量的精度与速度.

A stereo matching algorithm of sub-pixel phases based on region segmentation is proposed to solve the problem of mismatching in boundary shadow region and depthdiscontinuous region appeared in binocular projected grating measurement.The proposed algorithm uses a matching strategy for coarse-to-fine and obtains the coarse matching points under a standard epipolar line constraint,a phase constraint and other constraints.The algorithm divides the coarse matching results into a depth-continuous region without boundary shadow and a depth-discontinuous region with boundary shadow in accordance with the characteristics of the deformed fringe map and the phase unwrapping map.Sub-pixel matching points are then obtained by using the least square curve fitting method with windowed matching measure and the extrapolation method,respectively.Experimental results show that the proposed algorithm effectively eliminates the disparity smoothing transition in depth-discontinuous region.A comparison with the traditional point matching algorithm and traditional template matching algorithm shows that the proposed algorithm reduces mean relative error of heights from 62％ to 69％ and from 57％ to 61％,respectively in depth-discontinuous region and increases the matching accuracy 3 to 4 times in depth-continuous region.The proposed algorithm effectively improves the accuracy of phase stereo matching,and is of great significance to improve the accuracy of 3D present measurement technique.

Based on the theoretical and test data calculation,and combining the first and second phase vehicle of Ningbo line 1 operation energy consumption statistical data,the importance of reasonable choice of ground energy recovering equipment capacity to the metro operation and vehicle was evaluated,while the choice of ground regenerative energy absorption equipment capacity was verified,which provided the basis of data fine tuning.

Cell failure and imbalance are critical problems in battery storage systems, especially in series-connected battery strings. The reconfiguration function and the balancing function are both of great importance, but it is very challenging and problematic to own both functions simultaneously. This paper attempts to make contributions on realizing both functions through new circuits and new control strategies. Firstly, a reconfigurable balancing circuit is proposed, which is able to simultaneously balance and reconfigure the battery string. In the circuits, a new way to achieve passive balancing with no bleeding resistor is realized, and the failure cells in the battery string can be bypassed with the same circuits. By taking advantage of fewer switches in the circuits, the method owns the merits of low cost and low system complexity. Secondly, to efficiently balance and reconfigure the battery string, a control strategy is proposed according to the unique structure of the circuits. Thirdly, the reconfigurable balancing circuits are fabricated and an experimental test workbench is established. The reconfigurable balancing circuits and the control strategy are validated in the experimental test workbench. The experimental results indicate that the proposed method is able to realize both the balancing function and the reconfiguration function well, and the performance of the battery string can be maintained and improved significantly. The improvements are 13% and 34% for 4 cell- and 100 cell- series-connected battery strings, respectively.

阻尼耦合轮对是一种较新型的轮轨导向系统,现建立阻尼耦合轮对车辆的动力学模型,系统地分析了耦合阻尼对其直线稳定性和曲线上轮轨横向力的影响,并得出了轮对最佳耦合阻尼取值范围.研究发现,选择适当的耦合度时,阻尼耦合轮对的应用能够克服转向架临界速度的提高和曲线通过性能的提升之间的矛盾,使二者同时得到改善.

The driving and braking energy recovery system of electric vehicle faces a lot of uncertainties, including the system parameters and the running environment uncertainties. An adaptive robust control (ARC) is presented in this paper to treat the problems including disturbance and parameter variation in the design of driving and regenerative braking controller. It can enhance the stability robustness and performance robustness. A model of the driving and regenerative braking system is constructed and then the ARC controller is designed. The experiment results show that the controller based on ARC theory has better performance of stability, robustness, and disturbance attenuation than traditional PID controller.

The ability to search in accordance with standard graphics is one of the key capabilities of IR seeker , which can make up small filed of view and improve the ability of target acquisition . For roll-pitch infrared platform , the searching graphic distortion was analyzed by using the common method that the two orthogonal axes scan in turn . The standard mouth searching was carried out by a new proposed segmented scan method , which a recursively solving spherical arc line constraint equation based on quaternion was used . This segmented method was constrained less and the algorithm was small amount of calculation . It was a more efficient solution to solve the approximation search problem . A virtual simulation system was built using the MATLAB ToolBox and the validity of the segmented scanning method was also proved . This method can not only implement the standard mouth searching pattern at any position in the front hemisphere scene , but also be used for any arbitrary shape search pattern for the analogous seeker .

A trajectory optimization method of optical axis was proposed for the roll-pitch seeker.Due to the large overshoot caused by the uncertainties of optical axis trajectory,the system will be instability.At present,in the servo-search process of the roll-pitch infrared seeker,the traditional servo algorithm is poor to adjust the optical axis motion trajectory,which causes the searching pattern to be distorted with the change of the off-axis angle.And also it leads to a deterioration of the dynamic performance of the servo-search.In order to resolve this problem,a segmented scan method was designed by recursively solving spherical arc line constraint equation based on quaternion.It solves the searching pattern distortion by using the spherical arc line constraint on the motion trajectory of the optical axis.Simulation results show that the infrared seeker can achieved the standard searching pattern at any position in the front hemisphere scene through the segmented scan method,and the dynamic performance is greatly improved.