针对轮毂电机驱动电动汽车不平衡电磁力引起的垂向振动恶化问题,提出一种基于模型预测控制(model predictive control, 简称MPC)理论的半主动悬架控制方法。首先,建立由轮毂电机和空气悬架(hub motor‑air suspension, 简称HM‑AS)系统组成的轮毂电机驱动电动汽车七自由度半车模型,并基于随机路面进行实车试验来验证模型的准确性;其次,根据车辆综合性能指标构建成本函数,以悬架动行程和可调阻尼减振器生成的阻尼力为约束条件,建立模型预测控制器;最后 ...
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[Rehabilitation guidelines and specifications for traumatic spinal cord injury (2025 edition)]. [PDF]
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