汽车工况法排放测试关键技术研究与实现
|
摘要
汽车工况法排放测试对准确评价汽车的排放水平和保证汽车排放I／M制度的实施非常有必要。这种汽车排放测试方法中,工况模拟及其控制是一项关键技术。作为净化环境、控制汽车排放的有效措施,有必要根据不同工况法排放测试的特点,对其关键技术所涉及的理论与实现应用进行深入研究。
本文以四川省车辆热能动力机械重点实验室为依托,以数值模拟仿真与实验相结合为主要研究手段对工况法排放测试中有关工况模拟控制所涉及的共性技术进行理论与实验研究,同时针对目前主要的工况法排放测试方法的特点,对其工况模拟关键技术展开深入研究并以实验进行验证。主要工作如下：
1阐明了汽车在底盘测功机上的测试原理,分析了其动力学模型、功率测量模型。将汽车阻力分为速度项阻力与惯性阻力,建立了汽车阻力在底盘测功机上的电模拟模型。对惯量的电模拟进行了深入分析,阐明了电惯量的模拟原理,提出了在汽车测试中惯量模拟的控制策略、模拟惯量的计算和评价方法,并以试验进行了验证。
2对工况法采用的电涡流测功加载装置进行了分析,根据其非线性、时变特点,提出采用子空间法对电涡流加载器进行初始辨识,再由最小二乘预报误差法进行参数优化的复合辨识,由国标中相应的试验验证了所建模型的正确性。为简易稳态测试方法的设计提供了模型基础。
3针对ASM的测试特点,提出了一种过渡段自适应+稳态段PID控制的复合控制策略,过渡段采用一种基于改进RLS建模的自适应控制,以过渡段辨识获取的模型为基础进行PID控制的参数整定,进而进行稳态段的控制。采用C++builder6.0为开发平台,以Matlab建立的仿真算法为基础,设计稳态工况法测控程序,完成测控软件的设计。提出了基于计权思想的稳态工况法全工况模拟的评价指标和方法。以试验验证了所设计的控制策略和评价方法。
4建立了简易瞬态工况测试中车速参数的系统状态空间模型,采用Kalman滤波和带遗忘因子的强跟踪自适应Kalman滤波算法对车速和加速度信号进行了处理,在加速、等速、减速工况下进行了验证。结果表明,加速度的计算精度大大提高。
5针对VMAS控制系统特点,建立其电涡流加载装置的LS-SVM模型,将LS-SVM模型线性化以适用于GPC控制。设计了VMAS扭矩控制器的智能广义预测控制系统,以实验室的设备为基础,编制了测试软件,进行了测试试验,试验结果表明,所建立的系统模拟精度高,满足VMAS的测试要求。
6瞬态工况法排放测试的研究中,以变频驱动异步电机系统为研究对象,在分析了直接转矩控制原理的基础上,建立了电机DTC的仿真模型,由仿真试验研究了DTC控制的各响应性能。建立了“车-电力测功机”虚拟仿真系统,以此为平台,研究了测功机的四象限工作性能和惯量模拟性能,为测功机性能的改善奠下基础。
Vehicle emission test under driving mode is very important for an accurate assessment of vehicle emission levels and ensurement of the vehicle emissions I/M system,under this testing mode,the simulation and control of working conditions is a key technology.For cleaning up the environment and vehicle emissions control, it is necessary to study deeply the theory and application of the key technologies according to different working conditions.
Relying on the Vehicle Thermal Energy and Power Machinery key laboratory,combining with numerical simulation and experimental as the main means, the theoretical and experimental studies of common technologies involved in the control and simulation of working condition in the test under driving mode was carried out,and according to the main working conditions type,study and verification with experiment on the key technologies in the work condition was deeply researched.The main works are:
1The principle of the car running on the chassis dynamometer was explained, the dynamics model and power measurement model were analyzed. Vehicle resistance is divided into the speed type resistance and inertial type resistance,and the electrical simulation model of the vehicle resistance on the chassis dynamometer was founded.The principle of inertia simulation with electronic mode is analyzed.and the control strategy of the inertia simulation in the automotive test,calculation and evaluation way of the simulated inertia were proposed,and then the verification experiment was designed and realizeed.
2Characteristic of the eddy dynamometer used in the test under driving mode is analyzed,based on the nonlinear,time-varying characteristics,a complex identification,which adopt the subspace method for initial identification and use the least squares prediction error method for parameter optimization, is proposed.the correctness of the model was verified by the corresponding test in the Chinese stabdard.And then a basis for the design of the simple steady-state test methods was provided.
3According to ASM test characteristics,a composite control strategy with transition section adaptive and steady-state PID control is put forward,in the transition,adaptive control with the improved RLS model was adopted,and then the steady-state use the PID control,in which the PID control parameters was tuned with the model obtained by the identification in the the transition,based on the simulation algorithms with Matlab.the ASM control program was designed with C++builder6.0as the development platform.Based on the idea of weighting conditions,a evaluation indicators and methods for the simulation of the ASM test was proposeed.and then experiment was carried out to verify the control strategies and evaluation methods.
4State space model with speed parameters under the VMAS test was established,and the speed and acceleration signals was processed by Kalman filtering and strong tracking adaptive Kalman filter algorithm with forgetting factor.And the process effect was verified in the accelerated,constant speed,deceleration conditions.The results show that the calculation accuracy of the acceleration was greatly improved.
5According to the feature of VMAS,the LS-SVM model for the eddy dynamometer was founed,and then the LS-SVM model is linearized to suit for GPC control. The VMAS torque controller with smart generalized predictive control was designed,based on laboratory equipment,the test software was programmed,and then the experiment was carryied out,test results show that the control accuracy of the system meet the VMAS the test requirements.
6In transient mode emission test,the induction motor system with variable frequency drive was studied.Based on the analysis of principle of the direct torque control,the simulation model of the DTC control was founed,and then the response performance was analyzed by the simulation test.The virtual simulation system with car-electric dynamometer was founed,based on this platform,the four-quadrant performance and inertia simulation performance was studied,thus a basis for performance improvement of the dynamometer is established.
本文以四川省车辆热能动力机械重点实验室为依托,以数值模拟仿真与实验相结合为主要研究手段对工况法排放测试中有关工况模拟控制所涉及的共性技术进行理论与实验研究,同时针对目前主要的工况法排放测试方法的特点,对其工况模拟关键技术展开深入研究并以实验进行验证。主要工作如下：
1阐明了汽车在底盘测功机上的测试原理,分析了其动力学模型、功率测量模型。将汽车阻力分为速度项阻力与惯性阻力,建立了汽车阻力在底盘测功机上的电模拟模型。对惯量的电模拟进行了深入分析,阐明了电惯量的模拟原理,提出了在汽车测试中惯量模拟的控制策略、模拟惯量的计算和评价方法,并以试验进行了验证。
2对工况法采用的电涡流测功加载装置进行了分析,根据其非线性、时变特点,提出采用子空间法对电涡流加载器进行初始辨识,再由最小二乘预报误差法进行参数优化的复合辨识,由国标中相应的试验验证了所建模型的正确性。为简易稳态测试方法的设计提供了模型基础。
3针对ASM的测试特点,提出了一种过渡段自适应+稳态段PID控制的复合控制策略,过渡段采用一种基于改进RLS建模的自适应控制,以过渡段辨识获取的模型为基础进行PID控制的参数整定,进而进行稳态段的控制。采用C++builder6.0为开发平台,以Matlab建立的仿真算法为基础,设计稳态工况法测控程序,完成测控软件的设计。提出了基于计权思想的稳态工况法全工况模拟的评价指标和方法。以试验验证了所设计的控制策略和评价方法。
4建立了简易瞬态工况测试中车速参数的系统状态空间模型,采用Kalman滤波和带遗忘因子的强跟踪自适应Kalman滤波算法对车速和加速度信号进行了处理,在加速、等速、减速工况下进行了验证。结果表明,加速度的计算精度大大提高。
5针对VMAS控制系统特点,建立其电涡流加载装置的LS-SVM模型,将LS-SVM模型线性化以适用于GPC控制。设计了VMAS扭矩控制器的智能广义预测控制系统,以实验室的设备为基础,编制了测试软件,进行了测试试验,试验结果表明,所建立的系统模拟精度高,满足VMAS的测试要求。
6瞬态工况法排放测试的研究中,以变频驱动异步电机系统为研究对象,在分析了直接转矩控制原理的基础上,建立了电机DTC的仿真模型,由仿真试验研究了DTC控制的各响应性能。建立了“车-电力测功机”虚拟仿真系统,以此为平台,研究了测功机的四象限工作性能和惯量模拟性能,为测功机性能的改善奠下基础。
Vehicle emission test under driving mode is very important for an accurate assessment of vehicle emission levels and ensurement of the vehicle emissions I/M system,under this testing mode,the simulation and control of working conditions is a key technology.For cleaning up the environment and vehicle emissions control, it is necessary to study deeply the theory and application of the key technologies according to different working conditions.
Relying on the Vehicle Thermal Energy and Power Machinery key laboratory,combining with numerical simulation and experimental as the main means, the theoretical and experimental studies of common technologies involved in the control and simulation of working condition in the test under driving mode was carried out,and according to the main working conditions type,study and verification with experiment on the key technologies in the work condition was deeply researched.The main works are:
1The principle of the car running on the chassis dynamometer was explained, the dynamics model and power measurement model were analyzed. Vehicle resistance is divided into the speed type resistance and inertial type resistance,and the electrical simulation model of the vehicle resistance on the chassis dynamometer was founded.The principle of inertia simulation with electronic mode is analyzed.and the control strategy of the inertia simulation in the automotive test,calculation and evaluation way of the simulated inertia were proposed,and then the verification experiment was designed and realizeed.
2Characteristic of the eddy dynamometer used in the test under driving mode is analyzed,based on the nonlinear,time-varying characteristics,a complex identification,which adopt the subspace method for initial identification and use the least squares prediction error method for parameter optimization, is proposed.the correctness of the model was verified by the corresponding test in the Chinese stabdard.And then a basis for the design of the simple steady-state test methods was provided.
3According to ASM test characteristics,a composite control strategy with transition section adaptive and steady-state PID control is put forward,in the transition,adaptive control with the improved RLS model was adopted,and then the steady-state use the PID control,in which the PID control parameters was tuned with the model obtained by the identification in the the transition,based on the simulation algorithms with Matlab.the ASM control program was designed with C++builder6.0as the development platform.Based on the idea of weighting conditions,a evaluation indicators and methods for the simulation of the ASM test was proposeed.and then experiment was carried out to verify the control strategies and evaluation methods.
4State space model with speed parameters under the VMAS test was established,and the speed and acceleration signals was processed by Kalman filtering and strong tracking adaptive Kalman filter algorithm with forgetting factor.And the process effect was verified in the accelerated,constant speed,deceleration conditions.The results show that the calculation accuracy of the acceleration was greatly improved.
5According to the feature of VMAS,the LS-SVM model for the eddy dynamometer was founed,and then the LS-SVM model is linearized to suit for GPC control. The VMAS torque controller with smart generalized predictive control was designed,based on laboratory equipment,the test software was programmed,and then the experiment was carryied out,test results show that the control accuracy of the system meet the VMAS the test requirements.
6In transient mode emission test,the induction motor system with variable frequency drive was studied.Based on the analysis of principle of the direct torque control,the simulation model of the DTC control was founed,and then the response performance was analyzed by the simulation test.The virtual simulation system with car-electric dynamometer was founed,based on this platform,the four-quadrant performance and inertia simulation performance was studied,thus a basis for performance improvement of the dynamometer is established.
引文
[1]中国机动车污染防治年报(2011),中华人民共和国环境保护部,2011
[2]陈燕涛,李孟良,乔维高.车辆气体污染物测量技术的现状和发展分析[J].汽车研究与开发,2005,9：38-40.
[3]王岐东,贺克斌.机动车排放相关法规的研究[J].环境保护,2003,4:3-9
[4]肖亚平,国外轻型汽油车排放法规及控制技术的发展概况[J].北京汽车,2000,1：21-30
[5]张跃涛,张云龙,袁大宏等.我国在用车检查与保养制度的研究[J].汽车工程,2001,23(2)：110-112,96.
[6]罗丽娟.在用车推行I/M制度的检测方法的成本效益分析[J].上海环境科学,2002,21(7)：401-404.
[7]K.H.Jones. The Past and Future Benefit of Automotive Inspection and Maintenance Program[J]. SAE 831208
[8]Fredric, C.Menz.美国机动车污染控制(上、下)[J].世界环境,2002,4、5：27-28,33-36
[9]蔡凤田.汽车排放污染物实用控制技术[M].北京：人民交通出版社,1999
[10]国家环境保护总局,国家质量监督检验检疫总局.GB 18285-2005点燃式发动机汽车排气污染物限值及测量方法(双怠速法及简易工况法)[S].北京：中国标准出版社,2005
[11]刘勇,胡于进,李成刚.关于在用车的工况法尾气排放检测[J].北京汽车,2004,1：14-17
[12]张训.汽车底盘测功机测控系统的研究[D].哈尔滨理工大学,2009.
[13]黄万友,牛洪成,李娟等.简易瞬态工况底盘测功机控制系统理论设计[J].内燃机与动力装置,2008,(4)：42-47.
[14]李晶华,高俊华,黎苏等.底盘测功机阻力设定对汽车排放的影响分析[J].汽车技术,2007,(12)：35-39.
[15]龚金科.汽车排放污染及控制[M].人民交通出版社.2005
[16]钱人一.美国在用车尾气排放的工况法检测[J].汽车技术,2001,(6)：18-20,24.
[17]杨家强,基于PWM整流器和异步电机直接转矩控制的交流变频动态电力测功机的研究.浙江大学博士学位论文,2004.
[18]刘述喜.基于直接转矩控制的交流变频电力测功机控制方法的研究.重庆大学硕士论文,2005.
[19]李黎.馈能式交流底盘测功机DTC控制系统.重庆大学硕士论文,2010.
[20]吴震.汽车交流底盘测功机测试系统研究.吉林大学硕士论文,2007.
[21]杨洋.关于交流变频异步电力测功机系统的仿真研究.湖南大学硕士论文,2001.
[22]张友坤,周云山,刘明树,等.车辆电模拟转鼓试验台动态特性研究[J].农业机械学报,2001,32(1)：83-85
[23]Corti,Enrico.Eddy current brake control for test cycles simulation[C].Proceedings of the 2003 Spring Technical Conference of the ASME Internal Combustion Engine Division.2003,575-583
[24]Hong Che-Wun, Shio Tson-Wei.Fuzzy control strategy design for an autopilot on automobile chassis dynamometer test stands[J].Mechatronics,1996,6(5):537-555
[25]Tascillo,Anya L.Hierarchical anticipatory neural controller with fuzzy spectral filter diagnostics[C].IEEE International Conference on Neural Networks-Conference Proceedings,1995,1:334-338
[26]Noble A D. Predictive Control Applied to Transient Engine Testbads[J]. SAE 880487
[27]Bunker B J,Franchek M A,etal.Robust multivariable control of an engine-dynamometer system[J].IEEETransctions Control Systems Technology,1997,5(3):189-199
[28]黄秀权,武文治.电涡流测功机自动加载控制[J].吉林工业大学学报.1991.(4).7-9
[29]田颖,金振华,卢青春等.基于PWM控制的电涡流测功机控制器的开发[J].汽车工程,2010,32(1)：69-72
[30]葛安林,李永军,牛铭奎等.电涡流测功器自适应控制研究[J].汽车工程,2000,22(3)：210-213.
[31]程广伟,周志立,邓楚南等.基于遗传算法的电涡流测功机预测控制[J].农业机械学报,2008,39(7)：18-22.
[32]王旭东,孙慧博,张道杰等.测功机模糊PID控制动态仿真研究[J].哈尔滨理工大学学报,2009,14(2)：59-62.
[33]辽宁工业大学的段敏,石晶,鲁晓丽等.电涡流测功机励磁电流模糊控制的研究[J].车用发动机,2007,(4)：59-63.
[34]尹大勇,卢青春,聂圣芳等.基于实时嵌入式操作系统的电涡流测功机控制器开发[J].内燃机工程,2005,26(4)：77-80.
[35]张西文,雷淼全.电涡流测功机自动控制步长的分析[J].汽车运输研究,1996,15(1)：60-65.
[36]James K Tompson,Aaron Marks.Inertia simulation in brake dynamometertesting[C]. Phoenix Arizonia:20thAnnual brake colloquium and exhibition,2002.
[37]张为公,周宁宁.汽车台架试验系统机械惯量电模拟方法[J].汽车工程,1998, Vol20 No.5：312-316.
[38]任有,许洪国,李显生等.汽车底盘测功机惯性系统开发研究[J].公路交通科技,2002,19(3)：141-143.
[39]闵永军.车辆排气污染物测试技术研究与工程实现.东南大学博士论文,2006.
[40]盛朝强,谢昭莉.基于电惯量的汽车惯性式制动试验系统的设计[J].重庆大学学报(自然科学版),2005,28(1)：90-92,101.
[41]宫文斌,刘安龙,江阔等.机械惯量混合电模拟技术研究[J].农业机械学报,2009,40(1)：208-212.
[42]张彪,刘昭度,李志远等.机械转动惯量电模拟系统设计与试验[J].农业机械学报,2007,38(5)：37-38,42.
[43]姚圣卓,刘昭度,齐志权等。轻型汽油车简易瞬态工况污染物排放检测系统设计[J],上海环境科学,2003,22(10),722-724
[44]张鑫,阎楚良,王安顺等.车辆动力性检测评价方法研究[J].农业机械学报,2002,33(4)：25-28.
[45]余志生.汽车理论[M].第5版.北京：机械工业出版社,2009.2-16
[46]国家环境保护总局,国家质量监督检验检疫总局.GB 18352.3-2005轻型汽车污染物排放限值及测f方法(中国Ⅲ、Ⅳ阶段)[S].北京：中国标准出版社,2005
[47]M.Rodic,K.Jezernik,M.Trlep. Dynamic emulation of mechanical loads:an advanced approach[J].IEE Proc.-Electr.Power Appl,2006,153(2):159-166.
[48]P.Santlholdt,E.Ritchie,J.K.Pedersen,et al.A Dynamometer Performing Dynamical Emulation of Loads with Non-Linear Friction[J].IEEE,1996:873-878.
[49]Robert Wendel Newton, Robert E.Betz,H.Bruce Penfold.Emulating Dynamic Load Characteristics Using a Dynamic Dynamometer[J].IEEE,1995:465-470.
[50]Najeh Tounsi,Alain Otho.Dynamometer Performance Modeling and Experimental Assessment[J].Journal of Dynamic Systems,Measurement,and Control,2000, 122(3):477-482.
[51]赵奇平,吴东栋.汽车行驶阻力在转鼓试验台的电模拟研究[J].机电技术,2010,33(5)：65-68.
[52]马继杰.制动器惯性台架电模拟惯量性能和关键技术研究.吉林大学博士论文,2010.
[53]盛朝强,曾钰琳,袁景明等.基于交流电机的电惯量控制系统算法研究[J].自动化技术与应用,2010,29(7)：8-11,19.
[54]J.E.McInroy,S.F.Legowski,C.M.Morris,et al.Emulating large,time varying rotary power loads at low cost[C].IEEE International Conference on Control Applications,Hawai'i,1999:796-801.
[55]唐启义,冯明光.实用统计分析及其DPS数据处理系统[M].北京：科学出版社,2002.426-432
[56]张学利,何勇,田国华.汽车底盘测功机[J].中国汽车保修设备,2001,6：25-35
[57]哈尔滨大电机研究所.涡流测功机[M].哈尔滨：黑龙江科学技术出版社,1983.1-73
[58]Toshiyuki Takagi, Mitsuo Hashimoto, Seiji Aarita, et al. experimental verification of 3D eddy current analysis code using T-method[J]. IEEE Transaction on Magnetics,1990,26(2):474-477
[59]王修中,岳红,高东杰等.二阶加滞后连续模型的直接辨识[J].自动化学报,2001,27(5)：728-731.
[60]Lennart Ljung,System identification-theory for the user.Second edition[M].Sweden:Prentice Hall,1999:340-351.
[61]Michel Gevers,A Personal View on the Development of System Identification.
[62]Lin,C.J.and C.C.Chin,Prediction and identification using wavelet-based recurrent fuzzy neural networks[J].IEEE Transactions on Systems Man and Cybernetics Part B-Cybernetics 2004.34(5):2144-2154.
[63]Lennart Ljung,Prediction error estimation methods[J].Circuits Systems and Signal Processing,2002.21(1):11-21.
[64]Tohru K.Subspace Methods for System Identification[M]. London:Springer-Verlag,2005
[65]董新,子空间辨识方法的研究及软件包的开发.华北电力大学硕士论文,2006.
[66]M.,V.,Subspace based methods for the identification of linear time invariant systems[J]. Automatica,1995.31(12):1835-1851.
[67]李幼凤, 苏宏业,褚健,子空间模型辨识方法综述[J].化工学报,2006.57(3)：473-479.
[68]Ho B.L.,R.E.Kalman,Effective construction of linear state-variable models from input-output functions[J].Proceedings 3rd Annual Allerton Conference on Circuit and System Theory,1965.12:545-548.
[69]Akaike,H.,Stochastic theory of minimal realization[J].IEEE Transactions on Automatic Control,1974.19(6):667-673.
[70]Gevers,M.,T.Kailath,An innovations approach to least-squares estimation,part VI: Discrete-time innovations representations and recursive estimation[J].IEEE Transactions on Automatic Control,1973.18:588-600.
[71]Verhaegen M.,Dewilde P.,Subspace model identification,part Ⅰ:The output-error state-space identification class of algorithms[J].International Journal of Control, 1992.56(2):1187-1210.
[72]方崇智,萧德云.过程辨识[M].北京：清华大学出版社,1988.
[73]国家环境保护总局,国家质量监督检验检疫总局.GB3847-2005<<车用压燃式发动机和压燃式发动机汽车排气烟度排放限值及测量方法>>.2005.
[74]国家环境保护总局,国家质量监督检验检疫总局.GB18285-2005<<点燃式发动机汽车排气污染物排放限值及测量方法(双怠速法及简易工况法>>.2005
[75]卢希果.I/M制度的检测方法及其评价[J].汽车维护与修理,2002,1-3：29-30,30-32,27-29
[76]左付山,加速模拟工况汽车排放检刚系统的研究,南京林业大学硕士学位论文,2003
[77]葛蕴珊,张学敏,韩秀坤等.在用汽油车ASM方法测量结果影响因素研究[J].汽车工程,2006,28(6)：530-533.
[78]刘金崑,先进PID控制MATLAB仿真[M],电子工业出版社.2004
[79]王伟,张晶涛,柴天佑等.PID参数先进整定方法综述[J].自动化学报,2000,26(3)：347-355.
[80]庞中华,崔红.系统辨识与自适应控制MATLB仿真.北京航空航天大学出版社.2009
[81]黄永红,李念平,罗睿等.基于系统辨识的汽包水位自适应控制[J].湖南电力,2006,26(5)：15-18.
[82]贾玉红,刘鹰.起落架载荷的自校正控制[J].航空学报,2004,25(3)：237-241.
[83]刘白雁,史维祥,丁崇生.一阶系统的模型跟随输出自适应控制[J].控制与决策,1989,(5)：25-29.
[84]黄勇,王大庆,丁崇生等.电液伺服试验机控制方式平滑切换的研究[J].机床与液压,1999,(2)：33-35,26
[85]姜睿,王军,李东海等.改进最小二乘算法在主汽温控制系统中的应用[J].清华大学学报(自然科学版),2008,48(1)：97-100.
[86]金元郁,庞中华,崔红等.改进的最小方差自校正控制算法[J].青岛科技大学学报(自然科学版),2005,26(2)：165-168.
[87].李恒宾,刘平,任庆平等.一种用于ASM测试的改进RLS广义最小方差自适应控制.机械设计与制造,2012(3),171-173
[88]胡寿松.自动控制原理[M].第四版.北京：科学出版社,2001.77-80
[89]蔡锐彬,陈丹青,孙国斌等.采用Vmas系统检测分析汽车排放物的研究[J].车用发动机,2003,(3)：39-42.
[90][90]王文涛,彭美春,周桂添等.在用汽油车瞬态排放测试工况的相关性[J].环境监测管理与技术,2005,17(6)：36-39.
[91]葛蕴珊,张学敏,高力平等.简易瞬态工况法测量准确度影响因素研究[J].汽车工程,2006,28(4)：335-339.
[92]祁亨年.支持向量机及其应用研究综述[J].计算机工程,2004,30(10)：6-9.
[93]丁世飞,齐丙娟,谭红艳等.支持向量机理论与算法研究综述[J].电子科技大学学报,2011,40(1)：1-10
[94]Suykens J.A.K.,Vandewalle J.,Least squares support vector machine classifiers[J].Neural Processing Letters,vol.9(3),1999,pp.293-300
[95]阎威武.支持向量机理论、方法和应用研究[D].上海交通大学博士学位论文,上海交通大学,2003..
[96]阎威武,邵惠鹤.支持向量机和最小二乘支持向量机的比较及应用研究[J].控制与决策,vol.18(3),2003,pp.358-360.
[97]Suykens J.A.K.,Vandewalle J.,Recurrent least squares support machines[J]. IEEE Transactions on Circuit and System-I:Fundamental Theory and Applications, vol.47(7),2000,pp.1109-1114.
[98]Clarke D W,Mohtadi C,Tuffs P S.Generalized Predictive Control [J]. Automatic, 1987,23(2):137-160.
[99]时汝佳,刘友宽,金秀章等.基于广义预测控制的热工应用研究[J].仪器仪表用户,2010,17(4)：32-33.
[100]Xavier Blasco,Miguel Martinez,Juan Senent,et al.Generalized Predictive Control Using Genetic Aglorithms (GAGPC).An Application to Control of a Non-linear Process with Model Uncertainty[C].Methodology and Tools in Knowledge-Based Systems v.1.1998:428-437.
[101]冯少辉.模型预测控制工程软件关键技术及应用研究.浙江大学博士学位论文,2003.
[102]诸静等.智能预测控制及应用[M].杭州：浙江大学出版社,2000：50-64.
[103]郭振凯,宋召青,毛剑琴等.基于最小二乘支持向量机的非线性广义预测控制[J].控制与决策,2009,24(4)：520-525,531.
[104]向立志,史运涛,高东杰等.基于支持向量机N4SID辨识模型的非线性预测控制[J].控制与决策,2007,22(5)：549-553.
[105]潘正强,周经伦,郑龙等.预测偏差的LS-SVM预测控制[J].火力与指挥控制,2008,33(11)：43-45.
[106]刘斌,苏宏业,褚健等.一种基于最小二乘支持向量机的预测控制算法[J].控制与决策,2004,19(12)：1399-1402.
[107]Serdar Iplikci.Online Stabilization of Chaotic Maps Via Support Vector Machines Based Generalized Predictive Control[J].ICANN 2006,Part I,LNCS 4131:868-877.
[108]刘平,李人宪,王伟,简易瞬态工况法排放测试中车速信号的卡尔曼滤波研究,汽车工程(vo132),4,343-346
[109]张贤达.现代信号处理[M],北京：清华大学大学出版社,2002：177-188.
[110]刘平,李人宪,自适应卡尔曼滤波在简易瞬态工况法中的应用,公路交通科技(应用技术版)[J],2009,7,218-220
[111]刘平,李人宪,基于自适应Kalman滤波的VMAS车速信号处理,机械科学与技术,2011(vo130),11,1850-1854,
[112]付梦印,邓志红,张继伟,Kalman滤波理论及其在导航系统中的应用[M],北京：科学出版社,2003：97-100
[113]张学敏,葛蕴珊,韩秀坤等.我国汽油车废气检测方法分析研究[J].汽车技术,2004,(7)：8-11.
[114]杨耕,罗应力等.电机与运动控制系统[M].北京：清华大学出版社,2006年3月第1版.
[115]谭茀娃,金如麟,谢宝昌.电机拖动与控制基础[M].上海：上海交通大学出版社,2002年7月第1版.
[116]范文进,冯晓云,葛兴来等,异步牵引电动机直接转矩控制系统建模与仿真,电力机车与城轨车辆[J],2008.31(1).48-51
[117]范杰,王明渝,刘述喜等.基于直接转矩控制的测功机动态负载研究[J].微特电机,2007,35(8)：55-57,62.
[118]吴东栋.交流电力式汽车转鼓试验台的研究.武汉理工大学硕士论文,2011.
[119]刘述喜,王明渝,范杰等.异步测功机直接转矩控制动态负载研究[J].微电机,2007,40(12)：78-81.
[120]S.Vaez-Zadeh,E.Jalali.Combined vector control and direct torque control method for high performance induction motor drives[J]. Energy Conversion and Management,2007,48(12):3095-3101.
[121]Thomas G.Habetler,Francesco Profumo,Michele Pastorelli,et al.Direct Torque Control of Induction Machines Using Space Vector Modulation[J].IEEE transaction on industry application,1992,28(5):1045-1053.
[122]Marian P.Kazmierkowski,Andrzej B.Kasprowicz.Improved Direct Torque and Flux Vector Control of PWM Inverter-Fed Induction Motor Drives[J].IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICSVOL,1995,42(4):344-350.
[123]薛定宇,陈阳泉.基于Matlab/Simulink的系统仿真技术与应用[M].北京：清华大学出版社,2002.
[124]施保华,秦娟英.基于MATAB/SIMULAINK动态仿真模型的异步电动机直接转矩控制的研究[J].电气传动自动化,2002,23(6)：7-12
[125]陈彬,宋平岗,何鑫,异步电动机直接转矩控制的SIMULINK仿真研究[J].华东交通大学学报[J],2007.24(1)：93-96
[126]Marian P.Kazmierkowski,Pawel Wojcik.Flux Vector Control with Space Vector Modulation for PWM Inverter Fed Induction Motor Drive[C].Melecon 2010-2010 15th IEEE Mediterranean Electrotechnical Conference,2010:774-778.
[127]E.R.Collins,Jr.,Y.Huang.A Programmable Dynamometer for Testing Rotating Machinery Using a Three-phase Induction Machine[J].IEEE Transactions on Energy Conversion,1994,9(3):521-527.
[128]Z.Hakan Akpolat,Greg M.Asher,Jon C.Clare.Dynamic Emulation of Mechanical Loads Using a Vector-Controlled Induction Motor-Generator Se[J].IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,1999,46(2):370-379.
[2]陈燕涛,李孟良,乔维高.车辆气体污染物测量技术的现状和发展分析[J].汽车研究与开发,2005,9：38-40.
[3]王岐东,贺克斌.机动车排放相关法规的研究[J].环境保护,2003,4:3-9
[4]肖亚平,国外轻型汽油车排放法规及控制技术的发展概况[J].北京汽车,2000,1：21-30
[5]张跃涛,张云龙,袁大宏等.我国在用车检查与保养制度的研究[J].汽车工程,2001,23(2)：110-112,96.
[6]罗丽娟.在用车推行I/M制度的检测方法的成本效益分析[J].上海环境科学,2002,21(7)：401-404.
[7]K.H.Jones. The Past and Future Benefit of Automotive Inspection and Maintenance Program[J]. SAE 831208
[8]Fredric, C.Menz.美国机动车污染控制(上、下)[J].世界环境,2002,4、5：27-28,33-36
[9]蔡凤田.汽车排放污染物实用控制技术[M].北京：人民交通出版社,1999
[10]国家环境保护总局,国家质量监督检验检疫总局.GB 18285-2005点燃式发动机汽车排气污染物限值及测量方法(双怠速法及简易工况法)[S].北京：中国标准出版社,2005
[11]刘勇,胡于进,李成刚.关于在用车的工况法尾气排放检测[J].北京汽车,2004,1：14-17
[12]张训.汽车底盘测功机测控系统的研究[D].哈尔滨理工大学,2009.
[13]黄万友,牛洪成,李娟等.简易瞬态工况底盘测功机控制系统理论设计[J].内燃机与动力装置,2008,(4)：42-47.
[14]李晶华,高俊华,黎苏等.底盘测功机阻力设定对汽车排放的影响分析[J].汽车技术,2007,(12)：35-39.
[15]龚金科.汽车排放污染及控制[M].人民交通出版社.2005
[16]钱人一.美国在用车尾气排放的工况法检测[J].汽车技术,2001,(6)：18-20,24.
[17]杨家强,基于PWM整流器和异步电机直接转矩控制的交流变频动态电力测功机的研究.浙江大学博士学位论文,2004.
[18]刘述喜.基于直接转矩控制的交流变频电力测功机控制方法的研究.重庆大学硕士论文,2005.
[19]李黎.馈能式交流底盘测功机DTC控制系统.重庆大学硕士论文,2010.
[20]吴震.汽车交流底盘测功机测试系统研究.吉林大学硕士论文,2007.
[21]杨洋.关于交流变频异步电力测功机系统的仿真研究.湖南大学硕士论文,2001.
[22]张友坤,周云山,刘明树,等.车辆电模拟转鼓试验台动态特性研究[J].农业机械学报,2001,32(1)：83-85
[23]Corti,Enrico.Eddy current brake control for test cycles simulation[C].Proceedings of the 2003 Spring Technical Conference of the ASME Internal Combustion Engine Division.2003,575-583
[24]Hong Che-Wun, Shio Tson-Wei.Fuzzy control strategy design for an autopilot on automobile chassis dynamometer test stands[J].Mechatronics,1996,6(5):537-555
[25]Tascillo,Anya L.Hierarchical anticipatory neural controller with fuzzy spectral filter diagnostics[C].IEEE International Conference on Neural Networks-Conference Proceedings,1995,1:334-338
[26]Noble A D. Predictive Control Applied to Transient Engine Testbads[J]. SAE 880487
[27]Bunker B J,Franchek M A,etal.Robust multivariable control of an engine-dynamometer system[J].IEEETransctions Control Systems Technology,1997,5(3):189-199
[28]黄秀权,武文治.电涡流测功机自动加载控制[J].吉林工业大学学报.1991.(4).7-9
[29]田颖,金振华,卢青春等.基于PWM控制的电涡流测功机控制器的开发[J].汽车工程,2010,32(1)：69-72
[30]葛安林,李永军,牛铭奎等.电涡流测功器自适应控制研究[J].汽车工程,2000,22(3)：210-213.
[31]程广伟,周志立,邓楚南等.基于遗传算法的电涡流测功机预测控制[J].农业机械学报,2008,39(7)：18-22.
[32]王旭东,孙慧博,张道杰等.测功机模糊PID控制动态仿真研究[J].哈尔滨理工大学学报,2009,14(2)：59-62.
[33]辽宁工业大学的段敏,石晶,鲁晓丽等.电涡流测功机励磁电流模糊控制的研究[J].车用发动机,2007,(4)：59-63.
[34]尹大勇,卢青春,聂圣芳等.基于实时嵌入式操作系统的电涡流测功机控制器开发[J].内燃机工程,2005,26(4)：77-80.
[35]张西文,雷淼全.电涡流测功机自动控制步长的分析[J].汽车运输研究,1996,15(1)：60-65.
[36]James K Tompson,Aaron Marks.Inertia simulation in brake dynamometertesting[C]. Phoenix Arizonia:20thAnnual brake colloquium and exhibition,2002.
[37]张为公,周宁宁.汽车台架试验系统机械惯量电模拟方法[J].汽车工程,1998, Vol20 No.5：312-316.
[38]任有,许洪国,李显生等.汽车底盘测功机惯性系统开发研究[J].公路交通科技,2002,19(3)：141-143.
[39]闵永军.车辆排气污染物测试技术研究与工程实现.东南大学博士论文,2006.
[40]盛朝强,谢昭莉.基于电惯量的汽车惯性式制动试验系统的设计[J].重庆大学学报(自然科学版),2005,28(1)：90-92,101.
[41]宫文斌,刘安龙,江阔等.机械惯量混合电模拟技术研究[J].农业机械学报,2009,40(1)：208-212.
[42]张彪,刘昭度,李志远等.机械转动惯量电模拟系统设计与试验[J].农业机械学报,2007,38(5)：37-38,42.
[43]姚圣卓,刘昭度,齐志权等。轻型汽油车简易瞬态工况污染物排放检测系统设计[J],上海环境科学,2003,22(10),722-724
[44]张鑫,阎楚良,王安顺等.车辆动力性检测评价方法研究[J].农业机械学报,2002,33(4)：25-28.
[45]余志生.汽车理论[M].第5版.北京：机械工业出版社,2009.2-16
[46]国家环境保护总局,国家质量监督检验检疫总局.GB 18352.3-2005轻型汽车污染物排放限值及测f方法(中国Ⅲ、Ⅳ阶段)[S].北京：中国标准出版社,2005
[47]M.Rodic,K.Jezernik,M.Trlep. Dynamic emulation of mechanical loads:an advanced approach[J].IEE Proc.-Electr.Power Appl,2006,153(2):159-166.
[48]P.Santlholdt,E.Ritchie,J.K.Pedersen,et al.A Dynamometer Performing Dynamical Emulation of Loads with Non-Linear Friction[J].IEEE,1996:873-878.
[49]Robert Wendel Newton, Robert E.Betz,H.Bruce Penfold.Emulating Dynamic Load Characteristics Using a Dynamic Dynamometer[J].IEEE,1995:465-470.
[50]Najeh Tounsi,Alain Otho.Dynamometer Performance Modeling and Experimental Assessment[J].Journal of Dynamic Systems,Measurement,and Control,2000, 122(3):477-482.
[51]赵奇平,吴东栋.汽车行驶阻力在转鼓试验台的电模拟研究[J].机电技术,2010,33(5)：65-68.
[52]马继杰.制动器惯性台架电模拟惯量性能和关键技术研究.吉林大学博士论文,2010.
[53]盛朝强,曾钰琳,袁景明等.基于交流电机的电惯量控制系统算法研究[J].自动化技术与应用,2010,29(7)：8-11,19.
[54]J.E.McInroy,S.F.Legowski,C.M.Morris,et al.Emulating large,time varying rotary power loads at low cost[C].IEEE International Conference on Control Applications,Hawai'i,1999:796-801.
[55]唐启义,冯明光.实用统计分析及其DPS数据处理系统[M].北京：科学出版社,2002.426-432
[56]张学利,何勇,田国华.汽车底盘测功机[J].中国汽车保修设备,2001,6：25-35
[57]哈尔滨大电机研究所.涡流测功机[M].哈尔滨：黑龙江科学技术出版社,1983.1-73
[58]Toshiyuki Takagi, Mitsuo Hashimoto, Seiji Aarita, et al. experimental verification of 3D eddy current analysis code using T-method[J]. IEEE Transaction on Magnetics,1990,26(2):474-477
[59]王修中,岳红,高东杰等.二阶加滞后连续模型的直接辨识[J].自动化学报,2001,27(5)：728-731.
[60]Lennart Ljung,System identification-theory for the user.Second edition[M].Sweden:Prentice Hall,1999:340-351.
[61]Michel Gevers,A Personal View on the Development of System Identification.
[62]Lin,C.J.and C.C.Chin,Prediction and identification using wavelet-based recurrent fuzzy neural networks[J].IEEE Transactions on Systems Man and Cybernetics Part B-Cybernetics 2004.34(5):2144-2154.
[63]Lennart Ljung,Prediction error estimation methods[J].Circuits Systems and Signal Processing,2002.21(1):11-21.
[64]Tohru K.Subspace Methods for System Identification[M]. London:Springer-Verlag,2005
[65]董新,子空间辨识方法的研究及软件包的开发.华北电力大学硕士论文,2006.
[66]M.,V.,Subspace based methods for the identification of linear time invariant systems[J]. Automatica,1995.31(12):1835-1851.
[67]李幼凤, 苏宏业,褚健,子空间模型辨识方法综述[J].化工学报,2006.57(3)：473-479.
[68]Ho B.L.,R.E.Kalman,Effective construction of linear state-variable models from input-output functions[J].Proceedings 3rd Annual Allerton Conference on Circuit and System Theory,1965.12:545-548.
[69]Akaike,H.,Stochastic theory of minimal realization[J].IEEE Transactions on Automatic Control,1974.19(6):667-673.
[70]Gevers,M.,T.Kailath,An innovations approach to least-squares estimation,part VI: Discrete-time innovations representations and recursive estimation[J].IEEE Transactions on Automatic Control,1973.18:588-600.
[71]Verhaegen M.,Dewilde P.,Subspace model identification,part Ⅰ:The output-error state-space identification class of algorithms[J].International Journal of Control, 1992.56(2):1187-1210.
[72]方崇智,萧德云.过程辨识[M].北京：清华大学出版社,1988.
[73]国家环境保护总局,国家质量监督检验检疫总局.GB3847-2005<<车用压燃式发动机和压燃式发动机汽车排气烟度排放限值及测量方法>>.2005.
[74]国家环境保护总局,国家质量监督检验检疫总局.GB18285-2005<<点燃式发动机汽车排气污染物排放限值及测量方法(双怠速法及简易工况法>>.2005
[75]卢希果.I/M制度的检测方法及其评价[J].汽车维护与修理,2002,1-3：29-30,30-32,27-29
[76]左付山,加速模拟工况汽车排放检刚系统的研究,南京林业大学硕士学位论文,2003
[77]葛蕴珊,张学敏,韩秀坤等.在用汽油车ASM方法测量结果影响因素研究[J].汽车工程,2006,28(6)：530-533.
[78]刘金崑,先进PID控制MATLAB仿真[M],电子工业出版社.2004
[79]王伟,张晶涛,柴天佑等.PID参数先进整定方法综述[J].自动化学报,2000,26(3)：347-355.
[80]庞中华,崔红.系统辨识与自适应控制MATLB仿真.北京航空航天大学出版社.2009
[81]黄永红,李念平,罗睿等.基于系统辨识的汽包水位自适应控制[J].湖南电力,2006,26(5)：15-18.
[82]贾玉红,刘鹰.起落架载荷的自校正控制[J].航空学报,2004,25(3)：237-241.
[83]刘白雁,史维祥,丁崇生.一阶系统的模型跟随输出自适应控制[J].控制与决策,1989,(5)：25-29.
[84]黄勇,王大庆,丁崇生等.电液伺服试验机控制方式平滑切换的研究[J].机床与液压,1999,(2)：33-35,26
[85]姜睿,王军,李东海等.改进最小二乘算法在主汽温控制系统中的应用[J].清华大学学报(自然科学版),2008,48(1)：97-100.
[86]金元郁,庞中华,崔红等.改进的最小方差自校正控制算法[J].青岛科技大学学报(自然科学版),2005,26(2)：165-168.
[87].李恒宾,刘平,任庆平等.一种用于ASM测试的改进RLS广义最小方差自适应控制.机械设计与制造,2012(3),171-173
[88]胡寿松.自动控制原理[M].第四版.北京：科学出版社,2001.77-80
[89]蔡锐彬,陈丹青,孙国斌等.采用Vmas系统检测分析汽车排放物的研究[J].车用发动机,2003,(3)：39-42.
[90][90]王文涛,彭美春,周桂添等.在用汽油车瞬态排放测试工况的相关性[J].环境监测管理与技术,2005,17(6)：36-39.
[91]葛蕴珊,张学敏,高力平等.简易瞬态工况法测量准确度影响因素研究[J].汽车工程,2006,28(4)：335-339.
[92]祁亨年.支持向量机及其应用研究综述[J].计算机工程,2004,30(10)：6-9.
[93]丁世飞,齐丙娟,谭红艳等.支持向量机理论与算法研究综述[J].电子科技大学学报,2011,40(1)：1-10
[94]Suykens J.A.K.,Vandewalle J.,Least squares support vector machine classifiers[J].Neural Processing Letters,vol.9(3),1999,pp.293-300
[95]阎威武.支持向量机理论、方法和应用研究[D].上海交通大学博士学位论文,上海交通大学,2003..
[96]阎威武,邵惠鹤.支持向量机和最小二乘支持向量机的比较及应用研究[J].控制与决策,vol.18(3),2003,pp.358-360.
[97]Suykens J.A.K.,Vandewalle J.,Recurrent least squares support machines[J]. IEEE Transactions on Circuit and System-I:Fundamental Theory and Applications, vol.47(7),2000,pp.1109-1114.
[98]Clarke D W,Mohtadi C,Tuffs P S.Generalized Predictive Control [J]. Automatic, 1987,23(2):137-160.
[99]时汝佳,刘友宽,金秀章等.基于广义预测控制的热工应用研究[J].仪器仪表用户,2010,17(4)：32-33.
[100]Xavier Blasco,Miguel Martinez,Juan Senent,et al.Generalized Predictive Control Using Genetic Aglorithms (GAGPC).An Application to Control of a Non-linear Process with Model Uncertainty[C].Methodology and Tools in Knowledge-Based Systems v.1.1998:428-437.
[101]冯少辉.模型预测控制工程软件关键技术及应用研究.浙江大学博士学位论文,2003.
[102]诸静等.智能预测控制及应用[M].杭州：浙江大学出版社,2000：50-64.
[103]郭振凯,宋召青,毛剑琴等.基于最小二乘支持向量机的非线性广义预测控制[J].控制与决策,2009,24(4)：520-525,531.
[104]向立志,史运涛,高东杰等.基于支持向量机N4SID辨识模型的非线性预测控制[J].控制与决策,2007,22(5)：549-553.
[105]潘正强,周经伦,郑龙等.预测偏差的LS-SVM预测控制[J].火力与指挥控制,2008,33(11)：43-45.
[106]刘斌,苏宏业,褚健等.一种基于最小二乘支持向量机的预测控制算法[J].控制与决策,2004,19(12)：1399-1402.
[107]Serdar Iplikci.Online Stabilization of Chaotic Maps Via Support Vector Machines Based Generalized Predictive Control[J].ICANN 2006,Part I,LNCS 4131:868-877.
[108]刘平,李人宪,王伟,简易瞬态工况法排放测试中车速信号的卡尔曼滤波研究,汽车工程(vo132),4,343-346
[109]张贤达.现代信号处理[M],北京：清华大学大学出版社,2002：177-188.
[110]刘平,李人宪,自适应卡尔曼滤波在简易瞬态工况法中的应用,公路交通科技(应用技术版)[J],2009,7,218-220
[111]刘平,李人宪,基于自适应Kalman滤波的VMAS车速信号处理,机械科学与技术,2011(vo130),11,1850-1854,
[112]付梦印,邓志红,张继伟,Kalman滤波理论及其在导航系统中的应用[M],北京：科学出版社,2003：97-100
[113]张学敏,葛蕴珊,韩秀坤等.我国汽油车废气检测方法分析研究[J].汽车技术,2004,(7)：8-11.
[114]杨耕,罗应力等.电机与运动控制系统[M].北京：清华大学出版社,2006年3月第1版.
[115]谭茀娃,金如麟,谢宝昌.电机拖动与控制基础[M].上海：上海交通大学出版社,2002年7月第1版.
[116]范文进,冯晓云,葛兴来等,异步牵引电动机直接转矩控制系统建模与仿真,电力机车与城轨车辆[J],2008.31(1).48-51
[117]范杰,王明渝,刘述喜等.基于直接转矩控制的测功机动态负载研究[J].微特电机,2007,35(8)：55-57,62.
[118]吴东栋.交流电力式汽车转鼓试验台的研究.武汉理工大学硕士论文,2011.
[119]刘述喜,王明渝,范杰等.异步测功机直接转矩控制动态负载研究[J].微电机,2007,40(12)：78-81.
[120]S.Vaez-Zadeh,E.Jalali.Combined vector control and direct torque control method for high performance induction motor drives[J]. Energy Conversion and Management,2007,48(12):3095-3101.
[121]Thomas G.Habetler,Francesco Profumo,Michele Pastorelli,et al.Direct Torque Control of Induction Machines Using Space Vector Modulation[J].IEEE transaction on industry application,1992,28(5):1045-1053.
[122]Marian P.Kazmierkowski,Andrzej B.Kasprowicz.Improved Direct Torque and Flux Vector Control of PWM Inverter-Fed Induction Motor Drives[J].IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICSVOL,1995,42(4):344-350.
[123]薛定宇,陈阳泉.基于Matlab/Simulink的系统仿真技术与应用[M].北京：清华大学出版社,2002.
[124]施保华,秦娟英.基于MATAB/SIMULAINK动态仿真模型的异步电动机直接转矩控制的研究[J].电气传动自动化,2002,23(6)：7-12
[125]陈彬,宋平岗,何鑫,异步电动机直接转矩控制的SIMULINK仿真研究[J].华东交通大学学报[J],2007.24(1)：93-96
[126]Marian P.Kazmierkowski,Pawel Wojcik.Flux Vector Control with Space Vector Modulation for PWM Inverter Fed Induction Motor Drive[C].Melecon 2010-2010 15th IEEE Mediterranean Electrotechnical Conference,2010:774-778.
[127]E.R.Collins,Jr.,Y.Huang.A Programmable Dynamometer for Testing Rotating Machinery Using a Three-phase Induction Machine[J].IEEE Transactions on Energy Conversion,1994,9(3):521-527.
[128]Z.Hakan Akpolat,Greg M.Asher,Jon C.Clare.Dynamic Emulation of Mechanical Loads Using a Vector-Controlled Induction Motor-Generator Se[J].IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,1999,46(2):370-379.