CN107825984A - A kind of suspension type monorail traffic track beam routing inspection trolley control device and control method - Google Patents
A kind of suspension type monorail traffic track beam routing inspection trolley control device and control method Download PDFInfo
- Publication number
- CN107825984A CN107825984A CN201711109569.1A CN201711109569A CN107825984A CN 107825984 A CN107825984 A CN 107825984A CN 201711109569 A CN201711109569 A CN 201711109569A CN 107825984 A CN107825984 A CN 107825984A
- Authority
- CN
- China
- Prior art keywords
- routing inspection
- inspection trolley
- control device
- suspension type
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 67
- 239000000725 suspension Substances 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000006870 function Effects 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 7
- 238000000465 moulding Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000010276 construction Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention disclose a kind of suspension type monorail traffic track beam routing inspection trolley control device, and the inspection for solution track girder in the prior art relies on manual inspection, and accuracy of detection is low, and to the prohibited data detection in ramp and bend it is true the problem of；The present invention includes routing inspection trolley body, control device and connection guide rail, control device is fixed on routing inspection trolley body interior, routing inspection trolley body upper part is slidably connected by connecting guide rail with track girder, control device includes wireless control system and the Wireless charging coil being connected with wireless control system, Wireless charging coil includes some transmitting coils, some repeating coils and receiving coil, and receiving coil is fixed on routing inspection trolley body inside upper part.Present invention simultaneously discloses its control method, including establish lagrangian dynamics model, nonlinear equation linearisation, establish fuzzy control model reconciliation mould four steps of solution.The present invention is simple in construction, control accuracy is high, the detection accurate data of ramp and bend, service life length.
Description
Technical field
A kind of routing inspection trolley control device and control method, belong to track traffic inspection control technology field, relate generally to
A kind of suspension type monorail traffic track beam routing inspection trolley control device and control method.
Background technology
With the development of science and technology and the progress of society, track transportation industry is greatly developed, increasing high ferro
It is current, provide greatly convenience for the trip of people.However, rapidly developing for track transportation industry is held to track girder
Weight, smoothness and stability requirement more and more higher, track girder Daily Round Check become the important detection project before high ferro operation.
Inspection of the people to track girder at present relies primarily on manual inspection, and labor intensity is big, accuracy of detection is low, and to ramp and bend
Prohibited data detection it is true, be unsatisfactory for the daily demand of people.
The content of the invention
In order to solve the above problems, the invention discloses a kind of suspension type monorail traffic track beam routing inspection trolley control device
And control method, it is simple in construction, control accuracy is high, the stability of a system and reliability are high, the detection accurate data of ramp and bend,
Service life is grown.
The object of the present invention is achieved like this：
A kind of suspension type monorail traffic track beam routing inspection trolley control device, including routing inspection trolley body, control device and
Guide rail is connected, the control device is fixed on routing inspection trolley body interior, and routing inspection trolley body upper part is by connecting guide rail and rail
Road beam is slidably connected, and the control device includes wireless control system and the wireless charging electric wire being connected with wireless control system
Circle, the Wireless charging coil include some transmitting coils, some repeating coils and receiving coil, receiving coil and are fixed on inspection
Trolley body inside upper part.
The repeating coil and transmitting coil are each attached to track girder bottom, and the turn ratio of transmitting coil and repeating coil is
5:3。
A kind of suspension type monorail traffic track beam routing inspection trolley control method, comprises the following steps：
Step 1, establish lagrangian dynamics model：By routing inspection trolley motion when horizontal displacement, vertical displacement and
Speed establishes Lagrange's equation, and thus obtains the total kinetic energy of routing inspection trolley.Lagrange's equation is：
In formula, L be system of material points kinetic energy and potential energy difference, qjFor the generalized coordinates of the system of material points, j is number of degrees of freedom, FjFor
Generalized force.
According to Lagrange's equation, the horizontal displacement x of routing inspection trolley is listedmWith vertical displacement ymFor：
The kinetics equation of the system is：
In formula, x is the displacement that routing inspection trolley connects guide rail operation, and m is routing inspection trolley quality, and l is to connect rail length, θ
For pivot angle, g is acceleration of gravity.
Step 2, nonlinear equation linearisation：Routing inspection trolley model in step 1 is subjected to linearisation abbreviation, and determined
The governing equation of routing inspection trolley.
Because connection rail length l is constant, and when pivot angle θ very littles, cos θ=1, sin θ=0, by dynamics side
It can be obtained after Cheng Huajian：
Step 3, establish fuzzy control model：The governing equation of routing inspection trolley in step 2, establishes fuzzy control
Model, input quantity is determined into a fuzzy subset, a Triangleshape grade of membership function is established, degree of membership is entered with the mode of extreme difference
Row statement, driving force, pivot angle, the membership function of go up a slope shake and bend inspection are stated out respectively, and determine Fuzzy Control molding
The input variable and output variable of type.
Step 4, Xie Mo are solved：Carry out fuzzy reasoning by the fuzzy control program in step 3 and solve mould to solve.
Carry out vague description to membership function with fuzzy condition statement, the control rule of fuzzy controller be by one group that
The dimmed conditional statement that is connected by the annexation of "or" around here describes, each of which fuzzy condition statement,
When input, output language variable reacted on respective domain the fuzzy subset of each Linguistic Value for it is known when, can be expressed as discussing
Fuzzy relation on the collection of domain.Fuzzy controller receives Indistinct Input amount, by fuzzy logic inference, finally gives controlled data volume
Fuzzy control quantity.Because fuzzy control quantity cannot be directly used to the control of controlled device, the control variable of controlled device is necessary
For precise control amount, so, de-fuzzy is carried out to membership function using gravity model appoach, takes some points that represent to be used as degree of membership letter
Several relevant variable parameters.
Lagrangian model described in step 1 is modeled using vector dynamic behavior.
The foundation rule that fuzzy control model is established described in step 3 is to tremble the driving force of routing inspection trolley, pivot angle, upward slope
The dynamic variable with bend inspection is subject to abstract generalization, summarizes and emulates its validity, and then draws corresponding fuzzy language set.
It is described to represent the point a little surrounded as membership function curve and axis of abscissas in the center of gravity of area.
The present invention compared with prior art, has the advantages that, of the invention is rational in infrastructure, passes through wireless charging skill
Art carries out wireless charging to routing inspection trolley control device, the inspection distance of routing inspection trolley is increased, using fuzzy control and glug
Bright day model is combined, and increases the control accuracy of routing inspection trolley.Automaticity of the present invention is high, system run all right and can
High by property, control accuracy is high, service life length.
Brief description of the drawings
Fig. 1 is the overall structure figure of the present invention.
Embodiment
The specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
A kind of suspension type monorail traffic track beam routing inspection trolley control device, including routing inspection trolley body 1, control device 2
With connection guide rail 3, the control device 2 is fixed on inside routing inspection trolley body 1, and the top of routing inspection trolley body 1 is led by connection
Rail 3 is slidably connected with track girder 4, and the control device 2 includes wireless control system and the nothing being connected with wireless control system
Micro USB electric coil, the Wireless charging coil include some transmitting coils 5, some repeating coils 6 and receiving coil 7, receive line
Circle 7 is fixed on the inside upper part of routing inspection trolley body 1.
The repeating coil 6 and transmitting coil 5 are each attached to the circle of the bottom of track girder 4, transmitting coil and 6 repeating coils 5
Number is than being 5:3.
A kind of suspension type monorail traffic track beam routing inspection trolley control method, comprises the following steps：
Step 1, establish lagrangian dynamics model：By routing inspection trolley motion when horizontal displacement, vertical displacement and
Speed establishes Lagrange's equation, and thus obtains the total kinetic energy of routing inspection trolley；
Step 2, nonlinear equation linearisation：Routing inspection trolley model in step 1 is subjected to linearisation abbreviation, and determined
The governing equation of routing inspection trolley；
Step 3, establish fuzzy control model：The governing equation of routing inspection trolley in step 2, establishes fuzzy control
Model, determine the input variable, output variable and membership function of fuzzy control model；
Step 4, Xie Mo are solved：Carry out fuzzy reasoning by the fuzzy control program in step 3 and solve mould to solve.
Lagrangian model described in step 1 is modeled using vector dynamic behavior.
The foundation rule that fuzzy control model is established described in step 3 is to tremble the driving force of routing inspection trolley, pivot angle, upward slope
The dynamic variable with bend inspection is subject to abstract generalization, summarizes and emulates its validity, and then draws corresponding fuzzy language set.
It is gravity model appoach that mould method is solved described in step 4, takes some relevant variable parameters for representing point as membership function.
It is described to represent the point a little surrounded as membership function curve and axis of abscissas in the center of gravity of area.
It should be understood that above description is to illustrate rather than to be limited.By reading above-mentioned retouch
State, many embodiments and many applications outside the example provided all will be aobvious and easy for a person skilled in the art
See.Therefore, the scope of the present invention should not determine with reference to foregoing description, but should with reference to preceding claims and this
The four corner of the equivalent that a little claims are possessed determines.It is for comprehensive purpose, all articles and special with reference to including
The disclosure of profit application and bulletin is all by reference to being incorporated herein.Theme disclosed herein is omitted in preceding claims
Any aspect is not intended to abandon the body matter, also should not be considered as applicant the theme is not thought of as it is disclosed
Apply for a part for theme.
Those listed above it is a series of describe in detail only for the application feasibility embodiment specifically
Bright, they are simultaneously not used to limit the protection domain of the application, all equivalent implementations made without departing from the application skill spirit
Or change should be included within the protection domain of the application.
Claims (7)
1. a kind of suspension type monorail traffic track beam routing inspection trolley control device, including routing inspection trolley body, control device and company
Connect guide rail, it is characterised in that：The control device is fixed on routing inspection trolley body interior, and routing inspection trolley body upper part passes through connection
Guide rail is slidably connected with track girder, and the control device includes wireless control system and is connected with wireless control system wireless
Charge coil, the Wireless charging coil, which includes some transmitting coils, some repeating coils and receiving coil, receiving coil, to be fixed
In routing inspection trolley body inside upper part.
A kind of 2. suspension type monorail traffic track beam routing inspection trolley control device according to claim 1, it is characterised in that：
The repeating coil and transmitting coil are each attached to track girder bottom, and the turn ratio of transmitting coil and repeating coil is 5:3.
A kind of 3. suspension type monorail traffic track beam routing inspection trolley control method, it is characterised in that：Comprise the following steps：
Step 1, establish lagrangian dynamics model：By horizontal displacement, vertical displacement and speed of the routing inspection trolley in motion
Lagrange's equation is established, and thus obtains the total kinetic energy of routing inspection trolley；
Step 2, nonlinear equation linearisation：Routing inspection trolley model in step 1 is subjected to linearisation abbreviation, and determines inspection
The governing equation of dolly；
Step 3, establish fuzzy control model：The governing equation of routing inspection trolley in step 2, establish Fuzzy Control molding
Type, determine the input variable, output variable and membership function of fuzzy control model；
Step 4, Xie Mo are solved：Carry out fuzzy reasoning by the fuzzy control program in step 3 and solve mould to solve.
A kind of 4. suspension type monorail traffic track beam routing inspection trolley control method according to claim 3, it is characterised in that：
Lagrangian model described in step 1 is modeled using vector dynamic behavior.
A kind of 5. suspension type monorail traffic track beam routing inspection trolley control method according to claim 3, it is characterised in that：
The foundation rule that fuzzy control model is established described in step 3 is by the driving force of routing inspection trolley, pivot angle, upward slope shake and bend
The variable of inspection is subject to abstract generalization, summarizes and emulates its validity, and then draws corresponding fuzzy language set.
A kind of 6. suspension type monorail traffic track beam routing inspection trolley control method according to claim 3, it is characterised in that：
It is gravity model appoach that mould method is solved described in step 4, takes some relevant variable parameters for representing point as membership function.
A kind of 7. suspension type monorail traffic track beam routing inspection trolley control method according to claim 6, it is characterised in that：
It is described to represent the point a little surrounded as membership function curve and axis of abscissas in the center of gravity of area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711109569.1A CN107825984A (en) | 2017-11-11 | 2017-11-11 | A kind of suspension type monorail traffic track beam routing inspection trolley control device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711109569.1A CN107825984A (en) | 2017-11-11 | 2017-11-11 | A kind of suspension type monorail traffic track beam routing inspection trolley control device and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107825984A true CN107825984A (en) | 2018-03-23 |
Family
ID=61654157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711109569.1A Pending CN107825984A (en) | 2017-11-11 | 2017-11-11 | A kind of suspension type monorail traffic track beam routing inspection trolley control device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107825984A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352321A (en) * | 2021-05-12 | 2021-09-07 | 中核工程咨询有限公司 | Inspection robot control method and device and inspection robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102891538A (en) * | 2012-09-20 | 2013-01-23 | 中国科学院自动化研究所 | Line patrol robot wireless charging system |
| CN104007762A (en) * | 2014-05-28 | 2014-08-27 | 国家电网公司 | Navigation method of electric power inspection robot |
| CN104181817A (en) * | 2014-09-12 | 2014-12-03 | 河海大学常州校区 | Novel two-wheeled self-balancing electric vehicle system controller designing method |
| CN204243858U (en) * | 2014-11-24 | 2015-04-01 | 贵阳供电局 | A kind of non-contact type wireless charging device and a kind of Intelligent Mobile Robot |
| CN104898665A (en) * | 2015-04-16 | 2015-09-09 | 山东建筑大学 | Method and device for programming track of tour inspection robot |
| KR101741637B1 (en) * | 2016-03-24 | 2017-05-30 | 한국해양과학기술원 | container x-ray inspection system |
-
2017
- 2017-11-11 CN CN201711109569.1A patent/CN107825984A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102891538A (en) * | 2012-09-20 | 2013-01-23 | 中国科学院自动化研究所 | Line patrol robot wireless charging system |
| CN104007762A (en) * | 2014-05-28 | 2014-08-27 | 国家电网公司 | Navigation method of electric power inspection robot |
| CN104181817A (en) * | 2014-09-12 | 2014-12-03 | 河海大学常州校区 | Novel two-wheeled self-balancing electric vehicle system controller designing method |
| CN204243858U (en) * | 2014-11-24 | 2015-04-01 | 贵阳供电局 | A kind of non-contact type wireless charging device and a kind of Intelligent Mobile Robot |
| CN104898665A (en) * | 2015-04-16 | 2015-09-09 | 山东建筑大学 | Method and device for programming track of tour inspection robot |
| KR101741637B1 (en) * | 2016-03-24 | 2017-05-30 | 한국해양과학기술원 | container x-ray inspection system |
Non-Patent Citations (1)
| Title |
|---|
| 陈静等: "基于自适应模糊的自平衡车行走控制", 《天津职业技术师范大学学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352321A (en) * | 2021-05-12 | 2021-09-07 | 中核工程咨询有限公司 | Inspection robot control method and device and inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Dai et al. | Optimal photovoltaic/battery energy storage/electric vehicle charging station design based on multi-agent particle swarm optimization algorithm | |
| Aymen et al. | A novel energy optimization approach for electrical vehicles in a smart city | |
| Yang et al. | Bus arrival time prediction using support vector machine with genetic algorithm | |
| CN101325004B (en) | Method for compensating real time traffic information data | |
| CN105329777B (en) | Fuzzy control method for lifting bridge crane system with persistent disturbances | |
| Keskin et al. | Energy-efficient train operation using nature-inspired algorithms | |
| Geiger et al. | Learning game-theoretic models of multiagent trajectories using implicit layers | |
| CN109934382A (en) | A kind of multistage subway freight transport network system and constructing method based on axis width formula layout | |
| CN109742779A (en) | A kind of distributed energy storage dispatching method and device | |
| Ma et al. | A multiobjective route robust optimization model and algorithm for hazmat transportation | |
| CN107825984A (en) | A kind of suspension type monorail traffic track beam routing inspection trolley control device and control method | |
| Jin et al. | Development of charging/discharging scheduling algorithm for economical and energy-efficient operation of multi-EV charging station | |
| Mayrink Jr et al. | Regenerative braking for energy recovering in diesel-electric freight trains: A technical and economic evaluation | |
| CN109543746A (en) | A kind of sensor network Events Fusion and decision-making technique based on node reliability | |
| Chavhan et al. | Design of Space Efficient Electric Vehicle Charging Infrastructure Integration Impact on Power Grid Network | |
| Liu et al. | Electric vehicle charging station location model considering charging choice behavior and range anxiety | |
| Zhou et al. | Ramp metering for a distant downstream bottleneck using reinforcement learning with value function approximation | |
| CN104772755B (en) | 3-PRS parallel institution velocity optimization method | |
| Yin et al. | Analysis of battery reduction for an improved opportunistic wireless-charged electric bus | |
| Li et al. | A time-dependent shared autonomous vehicle system design problem | |
| Nahum et al. | Multi-objective optimal allocation of wireless bus charging stations considering costs and the environmental impact | |
| Bao et al. | An approach for pricing of charging service fees in an electric vehicle public charging station based on prospect theory | |
| Anastasiadis et al. | On the selection of charging facility locations for EV-based ride-hailing services: A computational case study | |
| Pavlović et al. | HIL simulation of a tram regenerative braking system | |
| Shen et al. | A hybrid dispatch strategy based on the demand prediction of shared bicycles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180323 |