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| 1 | Control strategy of a novel electric power steering system integrated with active front steering function显示文摘A novel electric power steering system(EPS) integrated with active front steering(AFS) is developed.It has functions of both AFS system and EPS system with two actuator units:the AFS actuator unit and the EPS actuator unit.The AFS actuator unit controls the displacement transfer behavior of the steering system,and improves the handling stability under adverse road conditions by varying the steering ratio directly related to the speed and road conditions.The EPS actuator unit controls the force transfer behavior of the steering system,and improves the steering portability and road feel of the vehicle.Based on a dynamic model,the mixed H2/H∞ control strategy of the EPS actuator and the active steering intervention control strategy of the AFS actuator are designed.The simulation indicates that the novel EPS system with the designed control strategies has obvious advantages in vehicle handling stability and the driver's road feel over the traditional EPS system,and extends the vehicle's steering performance. | ZHAO WanZhong LIN Yi WEI JianWei SHI GuoBiao | 2011 | Science China(Technological Sciences)2011，54，6： | 25 |
| 2 | Primary studies on integration optimization of differential steering of electric vehicle with motorized wheels based on quality engineering显示文摘The model of the differential steering system(DSS) of electric vehicle with motorized wheels and the three-degree-of-freedom dynamic model of vehicle are built.Based on these models,the concepts and quantitative expressions of steering road feel,steering portability and steering stability are proposed.Through integrating the Monte Carlo descriptive sampling,elitist non-dominated sorting genetic algorithm(NSGA-II) and Taguchi robust design method,the system parameters are optimized with steering road feel and steering portability as optimization targets,and steering stability and steering portability as constraints.The simulation results show that the system optimized based on quality engineering can improve the steering road feel,guarantee steering stability and steering portability and thus provide a theoretical basis for the design and optimization of the electric vehicle with motorized wheels system. | ZHAO WanZhong WANG ChunYan SUN PeiKun LIU Shun | 2011 | Science China(Technological Sciences)2011，54，11： | 15 |
| 3 | Path planning and stability control of collision avoidance system based on active front steering显示文摘Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety,which can assist the driver to take the initiative to avoid obstacles under certain conditions,so as to effectively improve the driving safety of vehicle.This paper presents a collision avoidance system for an autonomous vehicle based on an active front steering,which mainly consists of a path planner and a robust tracking controller.A path planner is designed based on polynomial parameterization optimized by simulated annealing algorithm,which plans an evasive trajectory to bypass the obstacle and avoid crashes.The dynamic models of the AFS system,vehicle as well as the driver model are established,and based on these,a robust tracking controller is proposed,which controls the system to resist external disturbances and work in accordance with the planning trajectory.The proposed collision avoidance system is testified through CarSim and Simulink combined simulation platform.The simulation results show that it can effectively track the planning trajectory,and improve the steering stability and anti-interference performance of the vehicle. | WNAG Chun Yan ZHAO WanZhong XU ZhiJiang ZHOU Guan | 2017 | Science China(Technological Sciences)2017，60，8： | 12 |
| 4 | Tracking Performance of Electric Power Steering System Based on the Mixed H_2/H_∞ Strategy显示文摘The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering (EPS) system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system's robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system's robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide satisfied road feeling for the drivers. | ZHAO Wanzhong SHI Guobiao LIN Yi NIE Hong | 2011 | Chinese Journal of Mechanical Engineering2011，24，4： | 10 |
| 5 | Mixed H_2/H_∞ road feel control of EPS based on genetic algorithm显示文摘In view of the existence of uncertainties such as system model and disturbance signal in the electric power steering(EPS) sys-tem,and the demand for system dynamic performance,the mixed H2/H∞ controller based on genetic algorithm is proposed.In order to obtain satisfactory steering feel,robust performance and steering stability,models of EPS system and a two-degree-of-freedom car are set up,then the state space model and the augmented matrixes are built.The H∞ method is introduced to minimize the effect of disturbances on the outputs,and the H2 method is applied to optimizing the system performance based on genetic algorithm.The simulation results show that the modified mixed H2/H∞ controller,which synthesizes the advantage of H2 control and H∞ control,has better robust performance and robust stability.The designed controller can attenuate the noises and disturbances caused by road random motivation,torque sensor measurement and model parameter uncertainty,ena-bling the driver to obtain satisfactory road feel. | ZHAO WanZhong WANG ChunYan | 2012 | Science China(Technological Sciences)2012，55，1： | 9 |
| 6 | Investigation of the characteristics and deactivation of catalytic active center of Cr-Al_2O_3 catalysts for isobutane dehydrogenation显示文摘Deactivation mechanism of Cr-Al2O3 catalyst and the interaction of Cr-Al in the dehydrogenation of isobutane, as well as the nature of the catalytic active center, were studied using XRD, SEM, XPS, H2-TPR, isobutane-TPR and TPO techniques. The results revealed that the deactivation of Cr-Al2O3 catalyst was mainly caused by carbon deposition on its surface. The Cr3+ion could not be reduced by hydrogen but could be reduced to Cr2+by hydrocarbons and monoxide carbon. The active center for isobutane dehydrogenation could be Cr2+/Cr3+produced from Cr6+by the on line reduction of hydrocarbon and carbon monoxide. The binding energy of Al3+was strongly affected by the state of chromium cations in the catalysts. | Deren Fang Jinbo Zhao Wanjun Li Xu Fang Xin Yang Wanzhong Ren Huimin Zhang | 2015 | Journal of Energy Chemistry2015，24，1： | 8 |
| 7 | Multidiscipline collaborative optimization of differential steering system of electric vehicle with motorized wheels显示文摘Based on the multidiscipline design optimization theory, a multidiscipline collaborative optimization model of the differential steering system of electric vehicle with motorized wheels is built, with the steering economy as the main system and the steering road feel, the steering flexibility and the mechanic character of the steering sensors as the subsystems. Considering the coupled relationship of each discipline, the main system is optimized by the multi-island algorithm and the subsystems are optimized by the sequential quadratic programming algorithm. The simulation results show that the steering economy can be optimized by the collaborative optimization, and that the system can get good steering road feel, good steering flexibility and good mechanic character of the steering sensors. | ZHAO WanZhong XU XiaoHong WANG ChunYan | 2012 | Science China(Technological Sciences)2012，55，12： | 7 |
| 8 | Synthesis and applications of mesoporous Cu-Zn-Al_2O_3 catalyst for dehydrogenation of 2-butanol显示文摘A series of mesoporous Cu-Zn-Al2O3 materials have been synthesized at ambient temperature and their structure was characterized by XRD, N2 physical adsorption and TPR techniques. Their catalytic applications for the dehydrogenation of 2-butanol to methyl ethyl ketone (MEK) were evaluated in a fixed-bed flow reactor at atmospheric pressure. It is demonstrated from the XRD patterns that both the as-synthesized samples and calcined samples have the typical XRD patterns of meso-structured materials and the results of N2O chemical adsorption showed that Cu was embedded in the framework of the mesoporous materials and homogeneously dispersed in the mesoporous Cu-Zn-Al2O3 materials. The catalytic activity of 2-butanol dehydrogenation was varied in the order of CZA(10) | Deren Fang Wanzhong Ren Zhongmin Liu Xiufeng Xu Lei Xu Hongying Lǔ Weiping Liao Huimin Zhang | 2009 | Journal of Natural Gas Chemistry2009，18，2： | 7 |
| 9 | Changes in sediment discharge in a sediment-rich region of the Yellow River from 1955 to 2010: implications for further soil erosion control显示文摘The well-documented decrease in the discharge of sediment into the Yellow River has attracted considerable attention in recent years. The present study analyzed the spatial and temporal variation of sediment yield based on data from 46 hydrological stations in the sediment-rich region of the Yellow River from 1955 to 2010. The results showed that since 1970 sediment yield in the region has clearly decreased at different rates in the 45 sub-areas controlled by hydrological stations. The decrease in sediment yield was closely related to the intensity and extent of soil erosion control measures and rainstorms that occurred in different periods and sub-areas. The average sediment delivery modulus(SDM) in the study area decreased from 7,767.4 t/(km2?a) in 1951–1969 to 980.5 t/(km2?a) in 2000–2010. Our study suggested that 65.5% of the study area with the SDM below 1,000 t/(km2?a) is still necessary to control soil deterioration caused by erosion, and soil erosion control measures should be further strengthened in the areas with the SDM above 1,000 t/(km2?a). | JuYing JIAO ZhiJie WANG GuangJu ZHAO WanZhong WANG XingMin MU | 2014 | Journal of Arid Land2014，6，5： | 7 |
| 10 | Preparation and biodistribution of ^(99)Tc^m-PIDP as bone imaging agent显示文摘A novel zoledronic acid derivative,1-hydroxy-2-(2-propyl-1H-imidazol-1-yl)ethane-1,1-diyldiphosphonic acid (PIDP), was synthesized by three-step reactions from 2-propyl-1H-imidazole. It was labeled with 99Tcm in conditions of 0.1 mg SnCl2.2H2O at pH 6.0 and 99TcmO4? in aqueous solution for 20 min at room temperature. The labeling yield and radiochemical purity of 99Tcm-PIDP are both higher than 95%. The biodistribution results show that the bone uptake is up to 8.47% ID/g which is the maximum of bone uptake at 30 min after injection of 99Tcm-PIDP in mice. The pharmacokinetic parameters can be estimated from the exponential equation of C=59.565e-11.307t+2.069e-1.211t. The clear bone image of rabbit was obtained at 120 min after injection of 99Tcm-PIDP. The results indicate that 99Tcm-PIDP has highly selective uptake in the skeletal and low uptake, rapid clearance in soft tissues, so it would be a potential novel bone imaging agent. | CHEN Chuanqing LUO Shineng LIN Jianguo YANG Min YE Wanzhong QIU Ling SANG Guangming XIA Yongmei | 2009 | Nuclear Science and Techniques2009，20，5： | 6 |
| 11 | Research on optimized GA-SVM vehicle speed prediction model based on driver-vehicle-road-traffic system显示文摘The accurate prediction of vehicle speed plays an important role in vehicle's real-time energy management and online optimization control. However, the current forecast methods are mostly based on traffic conditions to predict the speed, while ignoring the impact of the driver-vehicle-road system on the actual speed profile. In this paper, the correlation of velocity and its effect factors under various driving conditions were firstly analyzed based on driver-vehicle-road-traffic data records for a more accurate prediction model. With the modeling time and prediction time considered separately, the effectiveness and accuracy of several typical artificial-intelligence speed prediction algorithms were analyzed. The results show that the combination of niche immunegenetic algorithm-support vector machine(NIGA-SVM) prediction algorithm on the city roads with genetic algorithmsupport vector machine(GA-SVM) prediction algorithm on the suburb roads and on the freeway can sharply improve the accuracy and timeliness of vehicle speed forecasting. Afterwards, the optimized GA-SVM vehicle speed prediction model was established in accordance with the optimized GA-SVM prediction algorithm at different times. And the test results verified its validity and rationality of the prediction algorithm. | LI YuFang CHEN MingNuo LU XiaoDing ZHAO WanZhong | 2018 | Science China(Technological Sciences)2018，61，5： | 5 |
| 12 | Robust control of hand wheel torque for active front steering system显示文摘Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver. | ZHAO WanZhong LI YiJun WANG ChunYan | 2015 | Science China(Technological Sciences)2015，58，1： | 5 |
| 13 | Local Path Planning and Tracking Control of Vehicle Collision Avoidance System显示文摘Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation.We present a collision avoidance system,which is composed of an evasive trajectory planner and a path following controller.Considering the stability of the vehicle in the conflict-free process,the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm.The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement.Simulation results show that the vehicle with the proposed controller has good stability in the collision process,and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds.The research results can provide a certain basis for the research and development of automotive collision avoidance technology. | Xu Zhijiang Zhao Wanzhong Wang Chunyan Dai Yifan | 2018 | Transactions of Nanjing University of Aeronautics and Astronautics2018，35，4： | 5 |
| 14 | Stability control strategy of steer-by-wire system based on LQG/LTR显示文摘A control strategy based on LQG/LTR theory for steer-by-wire (SBW) system is proposed in this paper. Firstly, the models of the SBW system and the whole vehicle are constructed. econdly, the control strategy of LQG for SBW system is proposed, in which the LTR is utilized to eliminate the effect from the Kalman filter. Thirdly, simulations based on the co- simulation platform of MATLAB/Simulink and Carsim are performed with the proposed control strategy to identify its performance. At last, field experiments are conducted to further verify the feasibility of the proposed control strategy in real application. The simulation and experiment results indicate that the proposed control strategy has good stability, robustness and feasibility in real application, and is more effective in practical application of SBW system. | ZHANG Han ZHAO WanZhong | 2017 | Science China(Technological Sciences)2017，60，6： | 5 |
| 15 | Study on mixed H_2/H_∞ robust control strategy of four wheel steering system显示文摘Four wheel steering(4 WS) technology can effectively improve the vehicle handling stability and driving safety. In order to fully consider the influence of the rear wheel steering, the vehicle dynamics model of 4 WS vehicle, including the rear wheel steering by wire and two degrees of freedom vehicle model of 4 WS vehicle, is established in this paper. The desired yaw rate is obtained according to the variable transmission ratio strategy. The yaw rate tracking strategy is applied to 4 WS vehicle and rear wheel steering resistance moment is taken into account. Based on the robust control theory, H_2/H_∞ mixed robust controller design is carried to research the stability control of 4 WS vehicle. Finally, the closed-loop simulation added driver model based on preview theory is carried out. The simulation results indicate that the designed H_2/H_∞ mixed robust controller can achieve the stability control. | ZHAO WanZhong QIN XiaoXi | 2017 | Science China(Technological Sciences)2017，60，12： | 5 |
| 16 | Stability control of steer by wire system based on μ synthesis robust control显示文摘The uncertainty influences may result in performance deterioration and instability to the steer by wire(SBW) system. Thus, it must make the control system keep robust stability from uncertainty, and have good robustness. In order to effectively restrain the interference and improve steering stability, this paper presents a μ synthesis robust controller based on SBW system, which considers the effect of model uncertainty and external disturbance on the system dynamics. Taking the ideal yaw rate tracking, interference suppression and excellent robustness as the control objectives, the μ synthesis robust controller is designed using linear fractional transformation theory to deal with the uncertainty. Then, it is testified through time domain and robustness simulation analysis. Simulation results show that the proposed controller can not only ensure robustness and robust stability of the system quite well, but improve handling stability of the vehicle effectively. The results of this study provide certain theoretical basis for the research and application of SBW system. | WANG ChunYan DENG Ke ZHAO WanZhong ZHOU Guan ZHOU Dong | 2017 | Science China(Technological Sciences)2017，60，1： | 5 |
| 17 | An enhanced hybrid and adaptive meta-model based global optimization algorithm for engineering optimization problems显示文摘由于在高效率和精确性之间的好平衡,元模型基于优化算法是一个重要全球优化范畴并且广泛地被使用了。更好解决高度非线性并且集中的工程优化问题,一个提高的混血儿和适应元模型基于的计算全球优化(电子火腿) 首先在这个工作被建议。重要区域更改方法(IRU ) 和不同采样尺寸策略在优化方法被建议提高表演。由使用自动、可伸缩的策略,重要区域将根据搜索结果适应地被更新改进产生精确和集中率。不平的采样策略和集中的采样策略在优化的不同阶段被使用高效地改进搜索并且避免过早地在一个小设计空格聚在一起的结果。新优化算法的有效性被与不同变量凳子标记优化问题作比较到六个优化方法验证。电子火腿优化方法然后被使用优化实际否定泊松比率(NPR ) 的设计参数在这个工作的碰撞盒子。结果显示建议电子火腿在优化计算有高精确性和效率集中的问题和罐头广泛地在设计工业被使用。 | ZHOU Guan DUAN LiBin ZHAO WanZhong WANG ChunYan MA ZhengDong GU JiChao | 2016 | Science China(Technological Sciences)2016，59，8： | 4 |
| 18 | Insights into the influence of temperature on the adsorption behavior of sodium oleate and its response to flotation of quartz显示文摘Temperature affects the flotation of quartz in the calcium/sodium oleate(Na OL)system,while there is a lack of understanding of its potential mechanism.Therefore,in this work,the flotation response of quartz to temperature was investigated via micro-flotation experiments,interface property analyses,and theoretical calculations.Flotation results demonstrated that increasing temperature contributed to higher flotation recovery of quartz,which enhanced the removal of quartz from hematite.Surface tension results revealed that higher temperatures lowered the critical micelle concentration(CMC)and surface tension of the Na OL solution,and thus enhanced its surface activity.Solution chemistry calculations and X-ray photoelectron spectroscopy(XPS)measurements confirmed that the increased content of Ca(OH)+achieved by increasing temperatures enhanced the adsorption amounts of calcium species(acting as activation sites)on the quartz surface.Dynamic light scattering(DLS)measurements verified that the association degree of RCOOàto form(RCOO)22àwas strengthened.Furthermore,adsorption density measurements and molecular dynamics(MD)simulations confirmed that increasing the temperature facilitated Na OL adsorption toward the surface of the quartz,which was attributed to the stronger interaction between Na OL and the calcium-activated quartz surface at higher temperatures.As a result,quartz flotation was improved by increasing temperatures.Accordingly,a possible adsorption model was proposed. | Shaohang Cao Wanzhong Yin Bin Yang Zhanglei Zhu Haoran Sun Qiuyue Sheng Keqiang Chen | 2022 | International Journal of Mining Science and Technology2022，32，2： | 4 |
| 19 | Parametric design strategy of a novel cylindrical negative Poisson's ratio jounce bumper for ideal uniaxial compression load-displacement curve显示文摘A cylindrical negative Poisson's ratio(CNPR) structure based on two-dimensional double-arrow negative Poisson's ratio(NPR)structure was introduced in this paper. The CNPR structure has excellent stiffness, damping and energy absorption performances,and can be applied as spring, damper and energy absorbing components. In this study, the CNPR structure was used as a jounce bumper in vehicle suspension, and the load-displacement curve of NPR jounce bumper was discussed. Moreover, the influences of structural parameters and materials on the load-displacement curve of NPR jounce bumper were specifically researched. It came to the conclusion that only the numbers of cells and layers impact the hardening displacement of NPR jounce bumper. And all parameters significantly affect the structure stiffness at different displacement periods. On the other hand, the load-displacement curve of NPR jounce bumper should be in an ideal region which is difficult to be achieved applying mathematical optimization method. Therefore, a parametric design strategy of NPR jounce bumper was proposed according to the parametric analysis results. The design strategy had two main steps: design of hardening displacement and design of stiffness. The analysis results proved that the proposed method is reliable and is also meaningful for relevant structure design problem. | WANG YuanLong ZHAO WanZhong ZHOU Guan WANG ChunYan GAO Qiang | 2018 | Science China(Technological Sciences)2018，61，10： | 4 |
| 20 | Torque Distribution of Electric Vehicle with Four In-Wheel Motors Based on Road Adhesion Margin显示文摘With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process. | WANG Chunyan LI Wenkui ZHAO Wanzhong DUAN Tingting | 2019 | Transactions of Nanjing University of Aeronautics and Astronautics2019，36，1： | 3 |
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