嵌入式电子助力转向系统研究

电子转向助力技术能够有效驱动汽车转向,为提高其转向控制的稳定性和准确性,本文设计了一种基于嵌入式的电子助力转向系统。首先针对传统的电子助力转向系统,利用牛顿第二定律建立其动力学模型,为控制器设计及构建硬件环境奠定基础。其次,针对典型电子转向助力系统的动力学模型,为降低其运动副间的摩擦对控制性能的影响,设计了自适应摩擦前馈补偿控制器,并根据Lyapunov稳定性原则确定了自适应控制率解析表达式。再次,本文以STM32F407嵌入式控制器为核心,搭建系统硬件平台并设计软件流程。最后,基于此平台展开试验验证,系统通过跟踪阶跃指令和正弦指令对比分析了传统PID算法和自适应摩擦前馈补偿算法,试验结果表明自适应前馈补偿算法可提高系统稳态精度和动态响应能力,并验证所设计的基于嵌入式的电子助力转向系统的正确性和完整性。     

Distribution of δD in 25-cm Surface Snow Along Trans-Antarctic Route (Ⅱ)——The “1990 International Trans-Antarctic Expedition” Glaciological Research

On the way of the "1990 International Trans-Antarctic Expedition", the first author of this paper, the Chinese member of the expedition, collected 104 snow samples in 25-cm surface snow along a 5986-km route on Antarctic ice sheet from west to east. The geographical distribution of δD across the Antarctica by the longest route is obtained from stable isotope analysis for the first time. After discussing regional differences of physical geographic conditions, maritime-continental influence, altitudes and latitudes at sampling sites, the distribution of δD is considered to have a close relation to latitudes, but the topographic effect is prominent in some particular regions. The mean annual temperature at sampling site and its relationship with δD in surface snow covering Antarctica from west to east are discussed also. The δD-temperature gradient from the south end of Antarctic Peninsula to Vostok obtained in this paper is very close to that in Terre Adelie Land obtained by predecessors. The snow-dri     

ISOLATION,CHARACTERIZATION AND EXPRESSION OF THE COMPLEMENTARY DNA FOR HUMAN TUMOR NECROSIS FACTOR (TNF-α)

A cDNA for human TNF-α (615bp) was isolated by means of polymerase chain reaction (PCR) using first strand cDNA from PMA-induced HL-60 cells as template. The result from sequencing the 615 bp cDNA fragment indicated that it corresponded to the entire sequence of mature human TNF coding region. Direct expression of mature human TNF was achieved using a plasmid pHT-1 constructed by ligation of the cDNA and a synthetic DNA. The IPTG-induced bacterial product (hTNF) showed cytotoxicity to mouse L-929 cells. The TNF activity was further identified by neutralization of a specific monoclonal antibody against human TNF-α. Approximately 80,000 units of activity were detected per ml of culture at A600=2.     

SYNTHESIS AND MAGNETISM OF BINUCLEAR COPPER(Ⅱ) COMPLEXES CONTAINING SALUCYLAMIDATOCUPRATE(Ⅱ)

New binuclear copper(Ⅱ) complexes, [Cu(samen)Cu(NO_2-phen)]·H_2O and [Cu(sampn)-Cu(NO_2-phen)]·2H_2O have been synthesized, where samen~(4-), sampn~(4-) and NO_2-phen denote N, N′-ethylenedisalicylamidate anion, N, N′-1, 2-propanedisalicylamidate anion and 5-nitro-1, 10-phenanthroline respectively. 3ased on IR, elemental analyses and electronic spectra, the complexes are proposed to have a phenoxy-bridged structure and to consist of the Cu(Ⅱ)ion in distorted planar environment. The complexes have been characterized with varlable-temperature magnetic susceptibility (4—300 K) and the observed data were fit to those from a modified Bleaney-Bowers equation by least-squares method, giving the exchange integral J=-63.0 cm~(-1) (samen) and J=-46.5cm~(-1) (sampn). This indicates the existence of antiferromagnetic spin exchange interaction among the metal ions.     

端视等离子体原子发射光谱仪的性能评价

端视等离子体原子发射光谱仪与侧视等离子体原子发射光谱仪相比在分析性能方面所表现出来的差异一直是光谱分析工作者所关注的一个重要方面。此文较系统的总结了近年来在此方面所做的研究工作，引用47篇文献。     

KINETIC STUDY OF THE POLYCONDENSATION OF 9-AMINO-NONANOIC ACID

9-Amino-nonaneic acid was polycondensed in boiling paraffin hydrocarbon medium, the water formed during the reaction was immediately carried away by the vapor of the medium. By using this technique, polycondensation ran very rapidly, and within 15 min. the extent of reaction (p) reached more than 95%, and after 3 hrs., p surpassed 99%. The number average molecular weight was higher than 40,000. These have never been reached as reported in literature.Because p can be pushed to over 99%, it is possible to study the complete course of polycondensation reactions. It was found that the reaction followed second order from the beginning up to p around 99%. Beyond this, the system became so viscous that a viscosity factor should be considered. This caused the reaction to be changed to third order.     

THE STRUCTURAL BASIS OF THE POOR FIBRIN SPECIFICITY OF UROKINASE(Ⅰ)——KNOWLEDGE-BASED PREDICTION OF KRINGLE STRUCTURES OF UROKINASE AND ITS RELATED PROTEINS

The Kringle-1 structure of plasminogen (PGK-1), the Kringle-2 structure of tissue plasminogen activator (PAK-2) and the Kringle structure of prourokinase (UKK) has been modeled on the basis of the three-dimensional structure of Kringle-1 of prothrombin (PTK-1) at 2.8 resolution. The predicted three-dimensional structure of these Kringles shows that the binding site of PGK-1 is characterized by an apparent dipolar site, the polar parts of which are separated by a hydrophobic region. PAK-2 possesses the anionic center but has not a cationic binding center which might be provided by a guanidinium group from Arg-69 located adjacent to the Arg-71 position. UKK possesses neither the anionic binding center nor the cationic center which are probably the main reason for the poor fibrin specificity of urokinase.     

RELATIONSHIPS BETWEEN X—H STRETCHING OVERTONE FREQUENCIES AND BOND LENGTHS/BOND ANGLES

A relationship between the X-H (X = N, O, C, and so on) equilibrium bond length in a Morse oscillator and the X-H stretching overtone frequency shifts is obtained theoretically. We use the equation to discuss the empirical linear relationships that have been proposed for heterocyclics, alkanes and fluorinated benzenes. On the other hand, a unified relationship between the X-H bond angles and the experimental quantities (ω(?) and the coupling strength λ) is also presented for XH2, XH, and XH4 molecules or molecular fragments. Calculations of X-H bond angles for a number of molecules show that the results from our equations are in excellent agreement with the experimental values. Also we can extract the information of relative magnitude of bond coupling force field.     

DIRECT DETERMINATION OF NEODYMIUM AND ERBIUM IN RARE EARTH MIXTURE BY DERIVATIVE SPECTROPHOTOMETRY

The absorption spectra of 4f electron transitions of the complexes of neodymium and erbium with 8-hydroxyquinoline-5-sulphonic acid in the presence of diethylamine and ethanol have been measured by normal and third-derivative spectrophotometry. Their molar absorptivities are 70.7 l.mol~(-1).cm~(-1) for Nd and 62.5 l.mol~(-1).cm~(-1) for Er. They are 7.6 times and 14.9 times greater than those of corresponding chlorides, respectively. Use of the third-derivative spectra both eliminates the interference of Ce(Ⅳ) and increases the sensitivity for Nd and Er. Beer,s Law was obeyed from 0-10 ug/ml of Nd and Er. The method has been applied to the determination of neodymium and erbium in rare earth mixtures.     

激光引发二氟卡宾与烯烃的反应

近十年来,激光引发一氯二氟甲烷红外多光子解离和激光敏化反应的研究非常活跃,但大部分工作都集中于解离机制及同位素分离,而对CF_2HC(?)多光子解离产生的二氟卡宾