Four-wheel steering (4WS) vehicles have better stability control and path following performance than front-wheel steering (FWS) vehicles. Aiming at this characteristic, a new four-wheel active steering control strategy is proposed. For intelligent vehicle path tracking and nonlinear vehicle system state estimation, a path tracking control algorithm based on the MPC algorithm is designed to analyze the stability of the vehicle and set up constraints to achieve accurate tracking of the reference path. Automotive dynamic control systems require information on system variables. For example, the sideslip angle of electric vehicles cannot be measured directly. Based on UKF theory and the information input of low-cost sensors on the vehicle, an estimator is designed to estimate vehicle sideslip angle and yaw rate. According to the difference between the estimated value and the ideal value of the vehicle state, the LQR optimal controller is designed to realize the optimal control of the front and rear steering. And compared with the dynamic simulation results of front-wheel steering, proportional control four-wheel steering and yaw rate feedback four-wheel steering. The experimental results of the simulation platform show that the path tracking 4WS state feedback optimal control method has good lateral control stability and path tracking accuracy.
The exploitation of highly efficient electromagnetic (EM) wave absorption and shielding material is deemed as a valid strategy to eliminate EM radiation/interference. However, it is arduous for a material to...
Polymer/clay composites are an innovative class of materials. In this study, we present a facile method for the preparation of biodegradable and robust PLA/organomodified montmorillonite (OMMT) composite films with excellent gas barrier performance. When the design of PLA/OMMT composite films, in addition to making OMMT have good intercalation effect in the matrix, the compatibility of intercalating polymer and matrix should also be considered. In this work, two polymers with high gas barrier properties, namely poly(vinyl alcohol) (PVA) and ethylene vinyl alcohol copolymer (EVOH), were selected to intercalate OMMT. The morphology and microstructures of the prepared PLA/PVA/OMMT and PLA/EVOH/OMMT composites were characterized by the X-ray diffraction measurement, scanning electron microscopy, and differential scanning calorimetry. It was shown that the good dispersibility of PVA in the PLA matrix, rather than the intercalation effect, was responsible for the improved gas barrier and mechanical properties of PLA/PVA/OMMT composite. The elongation at break increases from 4.5% to 22.7% when 1 wt % PVA is added to PLA/OMMT. Moreover, gas barrier of PLA/PVA1/OMMT measured as O2 permeability is 52.8% higher than that of neat PLA. This work provides a route to intercalate OMMT interlayer with high gas barrier polymers and thus can be a useful reference to fabricate PLA/OMMT composites with improved gas barrier and mechanical properties. A comparison of oxygen permeabilities with existing commercial packaging films indicates that the biodegradable PLA/PVA/OMMT may serve as a viable substitute for packaging film applications.
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