穿浪双体船在海洋中高速航行时,纵向运动会对其性能造成不利影响,产生的垂向加速度使乘员晕船,设备短期失效。为了解决此问题,首先建立穿浪双体船纵摇和垂荡运动模型,然后运用切片理论求解运动方程中的水动力系数,将随机海浪作为外界干扰,以T型水翼为纵向运动稳定装置,进而建立带T型水翼的穿浪双体船纵向运动模型。最后以90 m长的穿浪双体船为研究对象,利用状态反馈H∞控制策略设计控制器,对船体的纵摇和垂荡进行仿真实验。结果表明：状态反馈H∞控制器可有效地减小船舶纵向运动,降低晕船率,为减小高速船纵向运动提供可靠实用的方法。

When wave piercing catamaran sails at high speed in the sea, longitudinal motion has a harmful influence on its performance. The vertical acceleration makes crew seasickness and equipments out of work in a short term. In order to solve this problem, pitching and heaving motion model of wave piercing catamaran is established. Then strip theory is used to solve hydrodynamic coefficients of motion equation. Considering random ocean wave as external interference and T-foil as stability device of longitudinal motion, the longitudinal motion model of wave piercing catamaran with T-foil is established. The pitching and heaving motion is experimenting with the 90 -meters wave piercing catamaran using state-feedback H∞algorithm as controller. The results show that state-feedback H∞ controller could reduce the longitudinal motion of the ship and the rate of seasickness effectively. This paper has provided a reliable and practical method to reduce the longitudinal motion of wave pierc

提出了一种包含侧向和纵向运动控制模块的路径跟随策略，搭建了基于微分平坦理论的侧向运动控制模块，把非线性车辆模型反馈线性化．通过极点配置实现了对车辆行驶轨迹的闭环控制。搭建了双闭环纵向运动控制模块，外环对车辆的行驶距离进行控制，内环对车辆的纵向车速进行控制。实车试验结果表明，该控制策略能把跟随误差限制在7cm内。

A following strategy of a fully-automatic parking assist system comprising lateral and longitudinal motion control module is presented in this paper. The lateral motion control module based on differential flatness theory is established. After linearizing the non-linear vehicle model feedback, closed loop of vehicle traveling track is realized through pole placement. Dual closed-loop longitudinal motion control module is established, with the outer closed-loop controls the distance traveled of the vehicle, while the inner-loop controls the longitudinal velocity. Field test results show that with this control strategy, following error can be limited within 7 centimeters.

针对小波方法对自主式水下机器人(AUV)纵向速度进行外部随机干扰抑制时存在的过抑制问题,提出一种AUV纵向速度信号故障特征增强与外部随机干扰抑制方法,采用自适应随机共振方法实现AUV纵向速度信号的随机共振,以达成外部随机干扰能量向故障信号能量的转移;针对AUV纵向速度信号的非周期特性,基于AUV纵向速度信号与周期信号驱动下双稳系统输出信号实验数据,分析AUV纵向速度信号驱动下布朗粒子运动状态。水池实验结果表明:所提方法相对小波方法故障信号特征增强效果为70.66%,避免了过抑制问题,且布朗粒子仅在负势阱内运动。

With respect to over-attenuation caused by wavelet decomposition, when attenuating the external stochas-tic disturbance for longitude velocity of autonomous underwater vehicle ( AUV) , a novel algorithm was proposed to enhance fault feature and attenuate stochastic disturbance for AUV longitude velocity. The stochastic resonance of longitude velocity was obtained based on adaptive stochastic resonance, thereby transmitting the energy of external disturbance to that of fault signal. Based on experiment data from outputs of bistable system driven by the non-peri-odic longitude velocity signal and periodic signal, respectively, the motion state of Brownian particle driven by the longitude velocity was analyzed. The pool experiment results showed that in comparison with wavelet method, the enhancement of fault feature was improved by 70.66% without over-attenuation based on the proposed method, the Brownian particle just moved in negative potential well.

针对高超声速滑翔飞行器再入轨迹规划问题,提出了一种基于微分平坦理论的三自由度轨迹生成方法。在分析纵向运动简化模型的微分平坦属性基础上,将纵向参考轨迹规划问题映射到平坦输出空间,消除微分动力学约束的同时降低系统设计的维数,进而提高求解效率;采用全局插值多项式参数化平坦输出函数,将问题转换为非线性规划问题求解;设计比例-微分反馈控制律跟踪纵向参考轨迹,同时采用航向角误差走廊控制侧向运动,实现三自由度轨迹生成。仿真分析表明所提出的方法能够较快生成满足多种约束且性能优化的飞行轨迹。

For the trajectory planning problem in hypersonic glide vehicle,a differential flatness based three-degree-of-freedom trajectory generation approach is proposed.Based on the flatness analysis of the simplified longitudinal motion model,the reference longitudinal trajectory planning problem was mapped into the flat output space to improve the solving efficiency by eliminating the dynamical constraints and reducing the design dimension.Then the initial problem was transformed into a nonlinear programming problem utilizing global polynomial approximations to the flat outputs.To compensate for the effects of the earth rotation and external disturbances,a Proportion-Differentiation control based reference trajectory tracking controller was designed with good convergence capability.By integrating the lateral motion determined by the error corridor of heading angle based bank angle revision,the three-degree-of-freedom gliding trajectory was ultimately generated.Numerical simulations were cond

车辆的横向偏移现象在现实的交通流中广泛存在，交通瓶颈处的横向偏移现象往往更加显著。车辆间横纵向的运动相互干扰，使得瓶颈交通流组织十分混乱，通行能力受到显著影响。为了研究瓶颈处车辆横纵向行为规律及其对交通流的影响，提出一个考虑横向偏移特征的车辆行为模型：通过引入目标转向角概念，并结合经典优化速度模型，给出了用于描述车辆的横纵向运动规律的运动方程，同时通过分析车辆横向偏移特征，制定了基于车辆行驶状态划分的目标转向角确定规则集。数值模拟结果表明：车辆的横向偏移会对交通流的运行产生影响，在一定的横向偏移反应阈值下，瓶颈处横向干扰于交通流的影响随着密度的增加而增加；同时观察到了实际城市交通瓶颈的宏观及微观现象，验证了模型的有效性。

Microscopic traffic models are developed to simulate traffic phenomena. However, current models are usually based on the fact that vehicles travel in the middle of a single lane and make a lateral movement only when the driver wants to change lane. They are incapable of describing driving behavior in a complex traffic environment with a lot of lateral separations which may cause traffic flow to be unstable on a single lane. In order to solve the problem, in this paper we first build up the equations of motion based on target steering angle (TSA) and then establish a series of rules for determining TSA by considering the lateral separation characteristics between the follower and the leader. Finally a new vehicular behavior model is developed. The properties of the model are investigated by simulating two scenarios. It is found that the proposed model is capable of describing complex phenomena which cannot be described by existing models and explaining the perturbation caused by bus nea