模型车

In this paper the dynamics characteristics are analyzed theoretically at first. According to the unique configuration and mechanics characteristics, the mechanics model and kinetic differential equation of the half-tracked air-cushion vehicle are established. Algorithm of mechanics and lifting-state parameters are put forward and analyzed. And variation ranges of the driving state parameters are obtained and the corresponding influence factors are analyzed. The further qualitative studies on control model are carried out.

因此，本文首先从理论上分析了半履带式气垫车的动力学特性，根据半履带式气垫车的独特结构和力学特性，建立了半履带式气垫车的力学模型和相应的运动微分方程，提出并分析了在纵摇与升沉运动时，半履带式气垫车的力学参数和垫升状态参数的计算方法，得到了在行驶过程中各运行状态参数的变化规律，并分析了相应的影响因素，进而对控制对象模型进行了定性研究。

In order to prove the reliability, test studies have been primarily carried out in the indoor soil bin. The data of the vehicle driving state parameters under the same or different terrain are analyzed. The process curves are compared by different control schemes. The theoretical model of the optimum driving state is reliable and fuzzy control scheme is feasible. The disturbances and unknown factors of control system are analyzed. Test results prove that the half-tracked air-cushion vehicle can drive steadily under control of the computer. At the same time the sensors used to measure soil mechanics characteristics on line need to be developed. And it is the important problem to be solved in the future study. The necessary regulation and correction are put up. So the studies in this paper provide some instruction for the further research work.

为了验证本文提出的最佳工作状态及最佳垫压理论，并分析控制系统的可靠性和稳定性，本文在半履带式气垫车的模型车上，在室内土槽中进行了初步的实车性能和理论验证试验，考察了在同种和不同土壤条件下气垫车的行驶状态参数的测量数据，比较了采用不同控制方法下的过程曲线，验证了最佳工作状态的理论模型和模糊控制系统方案的可行性与可靠性，从而保证了采用自整定模糊PID控制器能够使半履带式气垫车在稳定行驶最佳工作状态下；同时通过试验研究，分析了系统中各干扰与未知因素，对控制方案进行了相应的调整和修正，为今后进一步的研究工作提供了一定的指导。

Based on mechanism and vehicle theories theoretical analysis is pursued and normal driving conditions are put forward. The relations are analyzed between load distribution and power consumption. Mechanical formula is proposed. Furthermore in this paper the theoretical model of the total power consumption is established, and the relations of the total minimized power consumption with the air-cushion pressure and the fan revolution are discussed. The optimum operation point is put forward. The dynamic digital simulation studies are carried out on the operating procedure of the half-track air-cushion vehicle on soft terrain. Mechanical parameters and soil mechanics characteristics affecting vehicle power consumption and riding performance are analyzed. At the same time according to the model formula, the automation control problem is discussed. It is a theoretical instruction for further automation control.

本文还从力学和车辆原理的角度进行了理论分析，推导了半履带式气垫车的需求功率及正常行驶条件，研究了气垫压力和功率消耗之间的关系，提出了力学模型公式；建立了半履带式气垫车总功率消耗的理论模型，研究了最小功率消耗时功率与垫压及表征气垫车行驶状态的各参数的关系，分析了相应的影响因素，并提出了最佳工作状态的定义；同时进行了半履带式气垫车在软地面的行驶过程的动态数字仿真试验研究工作，对影响车辆功率消耗和行驶平顺性的各力学参数和土壤参数进行了分析，得到了各运行状态参数的变化规律，验证了最佳工作状态和最佳垫压的理论，根据力学模型公式对进一步的自动控制问题进行了探讨，为系统的控制提供了理论指导。

Considering different types of the two-wheeler and the riding posture, four models of the bicycle and the motorcycle are established based on their distinctive features, making it easier to carry out the following work.

在建立两轮车仿真模型时，考虑到两轮车的类型和骑车人的坐骑姿态，针对自行车和摩托车的特点分别建立了四种两轮车仿真模型，便于后续工作较为全面地展开分析。

Firstly, on the basis of summarizing the research results, this paper deeply discusses the calculating model to analyze the instantaneous motion state in vehicle collision and the interrelation between restitution coefficient and vehicle collision speed. The simplified Gim tyre model is introduced, this type model has the fast computing and higher calculating precision, it is the practical vehicle type model in the analysis of vehicle collision accident at present. According to the collinear collision and two-dimension collision, the paper establishes the impact model at vehicle collision moment and the post collision movement model.

本文在总结前人研究的基础上，分析了车对车碰撞作用瞬间状态的计算模型及碰撞恢复系数与碰撞前、后速度的关系：介绍了Gim轮胎理论模型的简化形式，该模型计算速度快、计算精度高，尤其在车轮大侧偏角运动时其计算精度远远优于其它轮胎模型，是目前在汽车碰撞事故分析中最为实用的汽车轮胎理论模型：根据交通事故中最普遍的一维碰撞和二维碰撞的不同情况，分别建立了碰撞作用瞬间的力学模型和碰撞后车辆动力学模型。

Simulation result shows that this method is simple and convenient, can directly reflect changing of important parameters in the braking process such as velocity, acceleration, braking distance, braking force, loading and adhesion power etc; It can avoid the overelaborate procedure of manual calculation and programming ,offer strong tools for study on the braking performance of car-trailer.

通过建立拖挂式房车制动过程的力学模型，并在MATLAB/SIMUUNK环境下搭建仿真模型，时拖挂式房车制动过程进行动态仿真，结果表明，该方法能简单、直观、便捷地反映拖挂式房车制动过程中的速度、加速厦、制动距离、制动力、载荷、附着力等参数的变化，避免了手工计算或编程的繁琐，为拖挂式房车制动性能的研究提供有力的工具。

The basic theory of the wireless shunting locomotive signal ing and monitoring system is introduced.

指出了当前机车调车方法的不足，介绍了无线调车机车信号和监控系统的基本原理，设计了在无线调车方式下的车地通信模型，并说明了该模型中应该注意的一些问题。

Based on rail/wheel reaction and track/bride reaction theory and systems engineering theory, new vehicle-track and vehicle-track-bridge system dynamic models are established and discussed in details, including ballast track model and ballastless track model. The characteristics of the models are:(1) vehicle-track and vehicle-track-bridge system dynamic models are coupled in vertical and lateral;(2) track vibration on bridge is taken in account, track on bridge is considered as one or two layer continuous-point supported rail model, according to actual track structure, interaction between vehicle and bridge transfer from track structure;(3) three type of ballastless track models (tieembanked, elastic-tie-block, slab track) are presented;(4) models reflect the main feature of actual vehicle, track and bridge structure, the response computation frequency of models is relatively broad, which can be applied to analyze both low frequency and high frequency vibration.

基于轮轨相互作用和线桥相互作用特点，本文从系统工程角度出发建立了车辆、有碴轨道和无碴轨道、简支箱梁桥垂向和横向耦合系统动力分析模型，该系统模型具有以下特点：（1）车线、车线桥体系均考虑为垂向、横向耦合振动系统，车线间通过轮轨接触几何关系耦合，轨道与桥梁间通过轨道与梁体间的力与位移协调条件耦合；（2）充分考虑桥上线路在车线桥系统中参振作用，根据桥上线路轨道结构特点将桥上轨道结构模型具体化，即对桥上轨道结构视为多层支承体系，车桥间的动力作用通过轨道结构来传递；（3）建立了三种形式无碴轨道动力分析模型，即长轨枕埋入式、弹性支承块式和轨道板式无碴轨道模型；（4）系统模型详细，分析频带宽，适用范围较广。

The modeling methods about vestibule diaphragm, coupler and draft gear are introduced, too. Among the six Models, Model A and Model B can be used to study the vehicle stability and curve negotiation under different track situations. Model C and Model D can be used to carry out the stability, dynamic curving behavior and ride comfort of the high-speed passenger car. Model E and Model F are three-dimension train dynamic models which consist of three cars (head car, intermediate car and tail car).

所建立的6种动力学模型中，模型A和模型B可用于研究不同轨道条件下车辆的运动稳定性及动态曲线通过性能；模型C和模型D可以用来研究车辆的运动稳定性、动态曲线通过性能及运行平稳性；模型E和模型F是列车系统动力学分析模型，都是由三节车组成的列车单元，三车列车模型作为一个最小的列车单元，包含了头车、中间车和尾车，已能够反映整个列车的动力学特性。

What kind of model cars do you like?

你喜欢哪种模型车？

Cynanchum Lingtai apricot production in the average weight 65 grams, the brightly-colored fruit, juicy rich, sweet-sour taste, sweet from the nucleolus, when the late Qing Dynasty famous Shaanxi, Gansu provinces, the Qing imperial court Tongzhi tribute for years.

灵台生产的牛心杏平均单果重65克，果实色泽鲜艳，汁多味浓，甜酸适口，离核仁甜，清末时就驰名陕、甘两省，清同治年间曾为朝廷贡品。

Chenopodium album,Solanum nigrum, and Amaranthus retroflexus were very susceptible to the herbicides. Polygonum persicaria and Abutilon theophrasti were relatively less susceptible to the herbicides, and Lycopersicon esculentum was not susceptible to it. The relationship between reduction rates of weed biomass and PPM values of weed leaves 2,4, and 6 days after treatment was established.

供试的6种杂草对该混剂的敏感性存在显著差异：红心藜Chenopodium album、龙葵Solanum nigrum和反枝苋Amaranthus retroflexus对该混剂最敏感，ED90值分别为47.65、71.67和29.17g/hm2；春蓼Polygonum persicaria和苘麻Abutilon theophrasti敏感，ED90值分别为96.91、114.20g/hm2；而番茄不敏感。