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Tytuł:
Constitution and poetry
Autorzy:
Łętowska, Ewa
Powiązania:
https://bibliotekanauki.pl/articles/704544.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Constitution
poetry
civic rejection
constitutionalism
Opis:
This essay (given at the PENClub Polska) deals with the relationship between constitutional matters and poetry. The essay takes a closer look at the poetry of Adam Zagajewski, Marcin Świetlicki, Julian Tuwim and Adam Bieszek. “There is nothing on us in the Constitution” – Marcin Świetlicki angrily declaims the bitterness of civil rejection in the poem “Under the volcano”. However, the poet is not right. The Constitution sometimes means more than it says directly. If it is silent about something, that does not always amount to rejection, as Świetlicki claims. The two first parts of the essay explain why the poet could have made such a mistake as to his presence in the Constitution. The third part expounds the change that is taking place in Poland: the rejection of the foundations of the Constitution without changing its text.
Źródło:
Nauka; 2017, 4
1231-8515
Pojawia się w:
Nauka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Effect of Volume Ratio of Heat Rejection Process on Performance of an Atkinson Cycle
Autorzy:
Ebrahimi, R.
Powiązania:
https://bibliotekanauki.pl/articles/1030546.pdf
Data publikacji:
2018-01
Wydawca:
Polska Akademia Nauk. Instytut Fizyki PAN
Tematy:
Atkinson cycle
heat rejection process
Opis:
The objective of this study is to analyze the effect of volume ratio of heat rejection process on the performance of dual cycle. Using finite-time thermodynamics, the relations between the volume ratio of heat rejection, the thermal efficiency, the power output, the heat transfer losses, the friction power and the compression ratio for an air standard Atkinson cycle have been derived. In the model, the nonlinear relation between the specific heats of working fluid and its temperature, the frictional loss and heat leakage loss are considered. The results show that the power output and the thermal efficiency first increase with the increase of volume ratio of heat rejection process and then start to decrease. The optimum value of the volume ratio of heat rejection which maximizes the power output is higher than that which maximizes the thermal efficiency, while the optimum value of the compression ratio which maximizes the power output is lower than that which maximizes the thermal efficiency. The results obtained in the present study provide guidance to the performance evaluation and improvement for practical internal combustion engines.
Źródło:
Acta Physica Polonica A; 2018, 133, 1; 201-205
0587-4246
1898-794X
Pojawia się w:
Acta Physica Polonica A
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
„Inny” w klasie szkolnej
The “other” in the classroom
Autorzy:
Muszyńska, Ewa
Powiązania:
https://bibliotekanauki.pl/articles/920297.pdf
Data publikacji:
2015-06-15
Wydawca:
Uniwersytet im. Adama Mickiewicza w Poznaniu
Tematy:
difference
rejection
education
systemic approach
Opis:
The article features a description and an analysis of the ‘other’ in the classroom – i.e. a student who differs (significantly) from their peers through, for example, a distinct personality trait, behavior, looks, background or religion. It also demonstrates how a classroom and the ‘other’, function in terms of their mutual dependencies. Finally, the article discusses effective educational methods designed for a classroom, where the ‘other’ is present.
Źródło:
Interdyscyplinarne Konteksty Pedagogiki Specjalnej; 2015, 9; 9-25
2300-391X
Pojawia się w:
Interdyscyplinarne Konteksty Pedagogiki Specjalnej
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
How Polish adolescents cope with peer exclusion
Autorzy:
Małgorzata, Gamian-Wilk,
Maria, Szecówka-Nowak,
Powiązania:
https://bibliotekanauki.pl/articles/896729.pdf
Data publikacji:
2020-07-09
Wydawca:
Akademia Pedagogiki Specjalnej im. Marii Grzegorzewskiej. Wydawnictwo APS
Tematy:
ostracism
exclusion
rejection
coping strategies
adolescents
Opis:
From time to time media reports frighten us about the events, which have similar, tragic scenarios – a student with a gun in their hand enters the school and his or her classmates, colleagues, teachers. The results of analyzes of fifteen school shootings in the United States, show that peer ostracism, intimidation, and love rejection, are the main determinants of these tragic events and experiencing social ostracism explained 87% of these cases (Leary et al., 2003). Ostracism hurts in the literal sense and mercilessly strikes the basic psychological needs. Consequently, the pain often leads to outbursts of irrational, socially unacceptable behavior (Williams, 2007). It is necessary, therefore, to focus on the consequences of being rejected by peers. This article raises the issue of youth coping strategies with ostracism.
Źródło:
Psychologia Wychowawcza; 2020, 59(17); 25-40
0033-2860
Pojawia się w:
Psychologia Wychowawcza
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust L2 consensus of high-order swarm systems with time-varying delays
Autorzy:
Xi, J
Yao, Z
Liu, G.
Zhong, Y.
Powiązania:
https://bibliotekanauki.pl/articles/205770.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
consensus
swarm system
uncertainty
time delay
disturbance rejection
Opis:
Consensus problems for high-order continuous-time swarm systems in directed networks with time delays, uncertainties and external disturbances are investigated. Firstly, the state space of a swarm system is decomposed into a consensus subspace (CS) and a complement consensus space (CCS). A necessary and sufficient condition for the system with time delays and uncertainties to achieve consensus is presented based on the state projection on CCS, and an explicit expression of the consensus function is shown on the basis of the state projection on CS. Then, a sufficient condition for the system to achieve consensus with a desired L2 performance is given. Finally, numerical simulations are shown to demonstrate theoretical results.
Źródło:
Control and Cybernetics; 2014, 43, 1; 59-77
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The Effect of Mineral Salt on Reactive Dye Removal from Aqueous Solutions by Ultrafiltration
Autorzy:
Ahmed, Arif Eftekhar
Majewska-Nowak, Katarzyna
Grzegorzek, Martyna
Szymanek, Igor
Powiązania:
https://bibliotekanauki.pl/articles/2202134.pdf
Data publikacji:
2022
Wydawca:
Polskie Towarzystwo Inżynierii Ekologicznej
Tematy:
reactive dye
ultrafiltration
dye rejection
flux
mineral salts
Opis:
The effect of mineral salt on the reactive dye removal was evaluated by using flat ultrafiltration (UF) membranes made of polyethersulfone (PES) and regenerated cellulose (C). Five reactive dyes varied in molecular weight (Reactive Orange 16, Remazol Brilliant Blue R, Reactive Orange 20, Reactive Black 5, Reactive Read 120) were used in the UF experiments. The applied membranes were characterized by the cut-off value equal to 10 kDa. The ultrafiltration process was performed in a dead-end mode under the transmembrane pressure of 0.2 MPa. Dye concentration in model solutions was equal to 100 mg/dm3. Two various mineral salts (NaCl and Na2SO4) were chosen to simulate the composition of dye-house baths. The concentration of monovalent and divalent salt in model dye solutions amounted to 1–2 g/dm3. Transport and separation properties of the UF membranes towards reactive dyes and mineral salts were evaluated. It was found that the separation efficiency of all tested dyes was dependent on the mineral salt presence. The effect of mineral salt on dye retention was more pronounced for membrane made of regenerated cellulose (C) than for polyethersulfone membrane (PES). In the case of the C membrane the dye retention coefficients varied in the wide range – from 55 to 83%, whereas for PES membrane the degree of dye separation was less diverse and amounted to 81–96%. The presence of mineral salt in water and dye solutions generally worsen the membrane permeability due to osmotic pressure increase as well as enhancing adsorptive fouling of dye particles in membrane matrix.
Źródło:
Journal of Ecological Engineering; 2022, 23, 10; 239--247
2299-8993
Pojawia się w:
Journal of Ecological Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Associations between value priorities and attitudes toward science
Autorzy:
Maciuszek, Józef
Polak, Mateusz
Zajas, Aleksandra
Stasiuk, Katarzyna
Powiązania:
https://bibliotekanauki.pl/articles/2128967.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
climate change
values
anti-science
vaccine rejection
creationism
Opis:
The paper investigates the relations between Schwartz’s values and beliefs which may reflect skepticism toward science – specifically vaccine rejection, climate change denial and creationism. Recent research on the causes of anti-science indicates that they may be motivational, pertaining to ideologies, worldviews, and one’s moral codes. Therefore, we postulated that value priority hierarchies hierarchies may be predictors of anti-science. Results (N = 509) indicated that Conservation metatype values were positively associated with anti-science, while Self-Transcendence and Openness to change metatypes were connected with support for science. We also found significant differences in value profiles between participants with lower vs. higher anti-scientific beliefs. We discuss the possible motivational underpinnings of these results.
Źródło:
Polish Psychological Bulletin; 2020, 51, 4; 237-243
0079-2993
Pojawia się w:
Polish Psychological Bulletin
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Revisiting minority stress theory to understand psychological distress among Czech sexual minorities
Autorzy:
Pitoňák, Michal
Csajbók, Zsófia
Powiązania:
https://bibliotekanauki.pl/articles/29433573.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Kardynała Stefana Wyszyńskiego w Warszawie
Tematy:
minority stress
sexual orientation
psychological distress
mediation
rejection sensitivity
Opis:
Minority stress theory explains psychological vulnerability in sexual minorities; however, data is scarce in the Central and Eastern European region. Combining the minority stress model with the Psychological Mediation Framework, we tested a theoretically developed path model. Participants were 1452 (Mage = 24.9 years) Czech sexual-minority individuals (38.7% gay, 27.1% lesbian, 18.7% bisexual women). The model explained 55.5% of the variance of psychological distress in the overall sample, representing a total effect of 9.75% (p < .001) increase in measurement units by the modeled associations. Within the subsamples, the associations were similar between harassment and rejection, stigma awareness, and rejection sensitivity, as well as emotional dysregulation, rumination, and psychological distress. However, internalized homonegativity was a stronger factor of psychological well-being in gay men and lesbian women than in bisexual women. Bisexual women may have experienced less social support and more emotional dysregulation due to more concealment and rejection sensitivity, respectively. While we confirmed that the minority stress model applies to the Czech context and explained well psychological distress in sexual minorities, our data highlights notable differences between bisexual women who reported highest rates of distress compared to gay men and lesbian women.
Źródło:
Studia Psychologica; 2022, 22, 1; 5-22
1642-2473
Pojawia się w:
Studia Psychologica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An expert discussion on male and female experiences of conversion to Islam – socio-pedagogical implications in the European context
Autorzy:
Katarzyna, Gorak-Sosnowska,
Gabriela, Bartoszewicz, Monika
Powiązania:
https://bibliotekanauki.pl/articles/890367.pdf
Data publikacji:
2018-07-25
Wydawca:
Akademia Pedagogiki Specjalnej im. Marii Grzegorzewskiej. Wydawnictwo APS
Tematy:
Islam
conversion
bias
social 'othering'
prison
rejection
religion
Europe
Opis:
This paper is a non-conventional academic paper based on a live discussion organized by the Polish expert on Saudi women’s issues, Professor Anna Odrowaz-Coates (2015, 2016), which took place in The Maria Grzegorzewska University in Warsaw, in June 2018. Two participating experts are known for their conflicting points of view on issues of security and integration of Muslims in Europe. In this exchange of viewpoints, they focussed on the issue of conversion to Islam in Poland and the UK, drawing upon multiple field research experiences they encountered. The main points of reference deal with the conversion of British prisoners whilst in prison and that of Polish women of diverse backgrounds. The impact of new media on the formation of public opinion, dissemination of faith and radicalization is also considered. The expert debate makes a significant contribution towards the socio-cultural and political discussion on culture clash versus coherence, integration and stability in a European context. It also concerns the use of new communication technology for the preservation of peace, radicalization and the elevation of moral panic
Źródło:
International Journal of Pedagogy, Innovation and New Technologies; 2018, 5(1); 44-49
2392-0092
Pojawia się w:
International Journal of Pedagogy, Innovation and New Technologies
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Active Disturbance Rejection Control of a 2DOF manipulator with significant modeling uncertainty
Autorzy:
Przybyła, M.
Kordasz, M.
Madoński, R.
Herman, P.
Sauer, P.
Powiązania:
https://bibliotekanauki.pl/articles/201605.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
active disturbance rejection control (ADRC)
2DOF manipulator
modeling uncertainty
Opis:
This paper presents a practical verification of an Active Disturbance Rejection Control (ADRC) method in governing a multidimensional system. The experiments were conducted on a two degrees of a freedom planar manipulator with only partial knowledge about the mathematical model of the plant. This multi input multi output system was controlled with a set of two, independent, single input single output ADRC controllers, each regulating one of the manipulator degree of freedom. Modeling uncertainty (nonlinearities, cross-coupling effects, etc.) and external disturbances were assumed to be a part of the disturbance, to be estimated with an observer and cancelled on-line in the control loop. The ADRC robustness was experimentally compared with the results obtained from using two decentralized, classic PID controllers. Both control methods were tested under various conditions, e.g. changing the inertial parameters of the plant. Significantly better results, in terms of parametric robustness, have been reported for the ADRC approach.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 509-520
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Wsparcie psychopedagogiczne uczniów z niepełnosprawnością doświadczających odrzucenia rówieśniczego w szkole ogólnodostępnej
Autorzy:
Żelazkowska, Mariola
Powiązania:
https://bibliotekanauki.pl/articles/1835563.pdf
Data publikacji:
2021-11-17
Wydawca:
Mazowiecka Uczelnia Publiczna w Płocku
Tematy:
niepełnosprawność
wsparcie
grupa rówieśnicza
odrzucenie
disability
support
peer group
rejection
Opis:
Dostęp do edukacji, możliwość samorealizacji, poczucie bezpieczeństwa, akceptacji przez środowisko rówieśnicze i przynależności do niego, a nade wszystko integracja z nim stanowią na etapie edukacji szkolnej ważne potrzeby życiowe młodego człowieka. Ich zaspokojenie daje możliwość wszechstronnej aktywności jednostki, przeciwdziała wykluczeniu. Dla dziecka rozpoczynającego naukę szkolną, zwłaszcza dziecka z niepełnosprawnością, zetknięcie się z grupą, klasą jest dużym przeżyciem. Wielokrotnie niepełnosprawność nie wpisuje się do tego, co młodzi ludzie nazywają normalnością. Czy negatywnepostrzeganie niepełnosprawności, powoduje stygmatyzację i marginalizowanie, wykluczenie z grupy rówieśniczej? W niniejszej publikacji autor odniesie siędo problemu odrzucenia rówieśniczego uczniów z niepełnosprawnością w szkole ogólnodostępnej. Nawiąże także do kwestii wsparcia psychopedagogicznego, które zapobiegałoby stygmatyzacji, marginalizacji, odrzuceniu przez rówieśników tej grupy uczniów.
Access to education, the possibility of self-fulfillment, a sense of security, acceptance by peer environment and belonging to it, and above all integration with it, constitute important life needs of a young person at the stage of school education. Satisfying them gives the possibility of an individual’s comprehensive activity and prevents exclusion. For a child starting school, especially a child with a disability, contact with a group or class is a great experience. Many times, disability does not fit in with what young people call normal. Does the negative perception of disability cause stigmatization and marginalization, exclusion from the peer group? In this publication, the author will refer to the problem of peer rejection of students with disabilities in mainstream schools. He will also refer to the issue of psycho-pedagogical support that would prevent stigmatization, marginalization and rejection by peers of this group of students.
Źródło:
Społeczeństwo. Edukacja. Język; 2021, 14; 159-168
2353-1266
2449-7983
Pojawia się w:
Społeczeństwo. Edukacja. Język
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Effect of an acetonized pyrolysis oil recycled from spent-car tires on coal flotation performance
Autorzy:
Hasanizadeh, Iman
Khoshdast, Hamid
Rahmanian, Ahmad
Asgari, Kaveh
Hassanzadeh, Ahmad
Powiązania:
https://bibliotekanauki.pl/articles/24085875.pdf
Data publikacji:
2023
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
coal flotation
acetonized pyrolysis oil
ash rejection
experimental design
interaction effect
Opis:
In this paper, an extended Historical Data (HD) design was applied for evaluating the effect of an acetonized pyrolysis oil (PO) produced by pyrolysis of spent-car tires in coal. Experimental and statistical analyses were applied for examining the influence of some operating variables such as concentration of diesel oil (0, 10, and 20 L/t), pine oil (0.55, 0.1, and 1 L/t), and the pyrolysis oil (0, 10, and 20 L/t) as well as solid content of pulp (5, 10, and 15% (w/w)) on the yield and ash content of final concentrate. Fourier Transform Infrared Spectroscopy (FTIR) measurements showed that PO contained hydroxyl, aldehyde, aliphatic, and aromatic compounds. Based on the results of Analysis of Variance (ANOVA), the main effect of all variables, except concentration of pine oil, on the flotation responses were found significant. Batch flotation experimental results indicated that using pyrolysis oil resulted in a 2% increase in ash content and a 35% decrease of the yield, through a nonlinear trend. The curved behavior of flotation measures was due to the possible competitive adsorption between PO and diesel oil and nonselective interaction between pyrolysis oil and other reagents. The negative effect of PO on coal flotation efficiency was also ascribed to the interaction between hydrophilic groups in PO structure and the oxide nature of non-combustible materials of coal particles.
Źródło:
Physicochemical Problems of Mineral Processing; 2023, 59, 2; art. no. 163109
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
„Nienawidzę tej szkoły!” O odrzuceniu, niezrozumieniu i o tym, jak wiele zależy od człowieka
„I Hate That School!” On Rejection, Lack of Understanding and How Much Depends on One Person
Autorzy:
Kabzińska, Iwona
Powiązania:
https://bibliotekanauki.pl/articles/686659.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Łódzki. Wydawnictwo Uniwersytetu Łódzkiego
Tematy:
odrzucenie
szkoła
upokorzenie
inność/odmienność
nadwrażliwość
rejection
school
humiliation
dissimilarity
supersensitivity
Opis:
The story of Krzyś (Chris), which the author reconstructed based on talks with a friend, shows the situation of the “class clown”, the boy suspected of having ADHD whom the doctors were unable to diagnose explicitly for some years. Like many such “Others”, Chris experienced rejection by some of his teachers, peers and their parents and by some members of his own family. Early in life he knew the bitterness of loneliness, lack of understanding, aggression, fear of school, humiliation and helplessness. The story of Chris and his school problems shows how the attitudes of various persons in a school who deal with a child perceived as “different” can vary. How much depends on the particular person, on his or her receptiveness, ability to notice the problems and eagerness to help. The story is also a starting point for reflection on the model of the pupil – teacher relationship in a large school system as well as its alternatives; and more generally – on the functioning of schools in a socjety dominated by a culture of humiliation, hostility and rejection.
Historia Krzysia, odtworzona przez Autorkę na podstawie rozmów z jej koleżanką, pokazuje sytuację „klasowego głupka”. Chłopca z podejrzeniem ADHD, u którego przez kilka lat lekarze nie potrafili postawić jednoznacznej diagnozy. Jak wielu „Innych”, Krzyś doświadczył odrzucenia przez część nauczycieli, rówieśników i ich rodziców oraz niektórych członków rodziny. Wcześnie poznał smak samotności, niezrozumienia, agresji, lęku przed szkołą, upokorzenia, bezradności. Opowieść o Krzysiu i jego szkolnych problemach pokazuje, jak różne mogą być postawy osób związanych ze szkołą wobec dziecka postrzeganego jako „Inny”. Jak wiele zależy od człowieka i jego wrażliwości, umiejętności dostrzegania problemów i chęci spieszenia z pomocą. Opowieść ta jest też punktem wyjścia do refleksji nad modelem relacji uczeń – nauczyciel w szkole masowej i alternatywami dla niego, a także nad funkcjonowaniem szkół w społeczeństwie hołdującym kulturze upokarzania, wrogości i odrzucenia.
Źródło:
Nauki o Wychowaniu. Studia Interdyscyplinarne; 2017, 4, 1; 135-157
2450-4491
Pojawia się w:
Nauki o Wychowaniu. Studia Interdyscyplinarne
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
„Niebieskoocy” w naszej szkole – przezwyciężanie stereotypów drogą do tworzenia uczniom lepszych warunków rozwoju w klasie szkolnej
‘The Blue-Eyed’ in Our School – Overcoming Stereotypes as a Way to Create Better Classroom Development Conditions for Students
Autorzy:
Deptuła, Maria
Borisch, Szymon
Powiązania:
https://bibliotekanauki.pl/articles/915765.pdf
Data publikacji:
2020-01-19
Wydawca:
Uniwersytet im. Adama Mickiewicza w Poznaniu
Tematy:
peer rejection
stereotype threat
universal prevention
elective prevention
teacher-research cooperation
Opis:
The article outlines a universal and selective prevention program aiming at weakening the risk factors – child peer rejection and the emergence and prevalence of a low skills stereotype. It is based on the cooperation of researchers with pairs of faculty members teaching in the same 4th grade: the class host and a Polish, math or a foreign language teacher. The goal of this cooperation is to create better psychosocial development conditions in interactions with teachers and peers, diminishing the sense of helplessness during Polish and math classes, the risk of stereotypes and the school– and learning-re-lated stress. The results of the seven-month cooperation will be assessed through research conducted in 18 classes randomly assigned to the trial group (9 classes) and the control group (9 classes). The pretest, after-test and the measurement of results extended for a year after the conclusion of the program will include students with the after-test covering also teachers. The socio-economic status of students’ families will be the variable controlled for.
Źródło:
Studia Edukacyjne; 2017, 46; 153-168
1233-6688
Pojawia się w:
Studia Edukacyjne
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust trajectory tracking control for autonomous vehicle subject to velocity-varying and uncertain lateral disturbance
Autorzy:
Wang, Yuqiong
Gao, Song
Wang, Yuhai
Wang, Pengwei
Zhou, Yingchao
Xu, Yi
Powiązania:
https://bibliotekanauki.pl/articles/1833621.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
autonomous vehicle
path tracking
velocity tracking
active disturbance rejection control
robustness
Opis:
Autonomous vehicles are the most advanced intelligent vehicles and will play an important role in reducing traffic accidents, saving energy and reducing emission. Motion control for trajectory tracking is one of the core issues in the field of autonomous vehicle research. According to the characteristics of strong nonlinearity, uncertainty and changing longitudinal velocity for autonomous vehicles at high speed steering condition, the robust trajectory tracking control is studied. Firstly, the vehicle system models are established and the novel target longitudinal velocity planning is carried out. This velocity planning method can not only ensure that the autonomous vehicle operates in a strong nonlinear coupling state in bend, but also easy to be constructed. Then, taking the lateral location deviation minimizing to zero as the lateral control objective, a robust active disturbance rejection control path tracking controller is designed along with an extended state observer which can deal with the varying velocity and uncertain lateral disturbance effectively. Additionally, the feed for ward-feedback control method is adopted to control the total tire torque, which is distributed according to the steering characteristics of the vehicle for additional yaw moment to enhance vehicle handing stability. Finally, the robustness of the proposed controller is evaluated under velocity-varying condition and sudden lateral disturbance. The single-lane change maneuver and double-lane change maneuver under vary longitudinal velocity and different road adhesions are both simulated. The simulation results based on Matlab/Simulink show that the proposed controller can accurately observe the external disturbances and have good performance in trajectory tracking and handing stability. The maximum lateral error reduces by 0.18 meters compared with a vehicle that controlled by a feedback-feedforward path tracking controller in the single-lane change maneuver. The lateral deviation is still very small even in the double lane change case of abrupt curvature. It should be noted that our proposed control algorithm is simple and robust, thus provide great potential for engineering application.
Źródło:
Archives of Transport; 2021, 57, 1; 7-23
0866-9546
2300-8830
Pojawia się w:
Archives of Transport
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 70

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