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| 1 | Vehicle Active Steering Control Research Based on Two-DOF Robust Internal Model Control显示文摘Because of vehicle's external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained. | WU Jian LIU Yahui WANG Fengbo BAO Chunjiang SUN Qun ZHAO Youqun | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 11 |
| 2 | Sequencing and alignment of mitochondrial genomes of Tibetan chicken and two lowland chicken breeds显示文摘Tibetan chicken lives in high-altitude area and has adapted well to hypoxia genetically. Shouguang chicken and Silky chicken are both lowland chicken breeds. In the present study, the complete mito-chondrial genome sequences of the three chicken breeds were all sequenced. The results showed that the mitochondrial DNAs (mtDNAs) of Shouguang chicken and Silky chicken consist of 16784 bp and 16785 bp respectively, and Tibetan chicken mitochondrial genome varies from 16784 bp to 16786 bp. After sequence analysis, 120 mutations, including 4 single nucleotide polymorphisms (SNPs) in tRNA genes, 9 SNPs and 1 insertion in rRNA genes, 38 SNPs and 1 deletion in D-LOOP, 66 SNPs in pro-tein-coding genes, were found. This work will provide clues for the future study on the association between mitochondrial genes and the adaptation to hypoxia.Tibetan chicken, lowland chicken, mitochondrial genome, hypoxia. | BAO HaiGang, ZHAO ChunJiang, LI JunYing & WU ChangXin College of Animal Science and Technology, China Agricultural University, Beijing 100094, China | 2008 | Science China(Life Sciences)2008，51，1： | 1 |
| 3 | Mass transfer performance of a novel structured packing for liquid-liquid extraction显示文摘 | BAO Yinlong LIU Chunjiang YUAN Xigang | 2012 | Advanced Materials Research2012，，： | 1 |
| 4 | Neuroglobin mutation associated with hypoxia adaptation in Tibet chicken显示文摘Globin protein family plays an important role in storing and transporting oxygen. As a newly reported globin, the revealed function of neuroglobin includes binding and storing oxygen as well as facilitating the utilization of oxygen in neuronal cells. In the present study, mutations in exons of chicken Ngb gene were identified with the method of sequencing and created restriction site PCR in Tibet chicken and other four lowland chicken breeds. The mutations of Lys-2224(E4)-Asn and Ser-2279(E4)-Gly were identified in exon 4 of the gene. The Lys-2224(E4)-Asn mutation existed only in Tibet chicken and the mutation frequencies increased with increasing altitude. Analysis of the haplotype and diplotype of the two mutations in Tibet chicken populations of different altitudes showed that the frequencies of TG haplotype and TTGG diplotype also increased with increasing altitude, while the reverse tendency was found on GGAA diplotype. Under the hypoxic simulation incubation, the main haplotype was TG in living embryos and GA in dead embryos. The results showed that the Lys-2224(E4)-Asn mutation may be a specific mutation associated with hypoxia adaptation in Tibet chicken. | Zhang Lifan Liu Chong Lian Linsheng Zhao Chunjiang Bao Haigang Wu Changxin | 2007 | Progress in Natural Science:Materials International2007，17，12： | 0 |
| 5 | Steering and braking game control architecture based minimax robust stability control for emergency avoidance of autonomous vehicles显示文摘The existing electronic stability control(ESC)system does not consider the steering intention of an autonomous driving system(ADS)during autonomous driving emergency avoidance.The distributed control scheme between ESC and ADS does not involve any information interaction,and the balance between path tracking and lateral stability is not optimal.A Nash game control scheme of steering and braking system is proposed to ensure that both path tracking and stability are simultaneously in the loop and solve the conflict by simulating the interaction between the two agents considering the impact on the interaction between a path following and lateral stability.Each agent considers its interests and the opponent’s interest,resulting in a global optimal control solution of steering control and ESC.Then,using minimax optimization theory,a lateral stability strategy is proposed to make the game control architecture under emergency avoidance more robust to uncertain lateral disturbances.Finally,simulation and hardware in the loop experiments show that the proposed scheme can consider both vehicle’s path following performance and lateral stability in the event of an emergency. | WU Jian WU DeXi YAN Yang ZHANG Ning BAO ChunJiang WANG FengBo | 2022 | Science China(Technological Sciences)2022，65，4： | 0 |
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