下载文档原格式
7-zip的极限压缩算法
7-Zip 使用了一种名为LZMA 的压缩算法，这是一种非常高效的压缩算法，特别适合处理大型文件和数据流。
LZMA 算法具有极高的压缩比，尤其是在处理大量数据时。
以下是LZMA 算法的一些关键特性：
1.字典编码：LZMA 使用字典编码，这意味着它查找并存储重复的数
据块，而不是简单地存储每个字节。
这种方法能够显著减少重复数据的大小。
2.范围编码：与传统的熵编码方法不同，LZMA 使用范围编码来进一
步提高压缩效率。
范围编码能够更有效地表示数据中的概率分布，从而在压缩过程中实现更高的效率。
3.多线程支持：7-Zip 支持多线程压缩，这使得在多核处理器系统上能
够更快地完成压缩任务。
通过并行处理，可以显著提高压缩大型文件的性能。
4.高压缩比：LZMA 算法提供了非常高的压缩比，尤其是在处理大量
数据时。
这使得7-Zip 在许多场景下成为了一个非常有效的压缩工具。
5.解压缩速度：虽然LZMA 压缩算法相对较慢，但解压缩速度相对较
快。
这意味着当你需要快速访问压缩文件时，解压缩操作不会成为瓶颈。
6.可配置的压缩级别：7-Zip 允许用户选择不同的压缩级别，可以根据
需要平衡压缩时间和压缩比。
这为用户提供了更大的灵活性，可以根据需求选择最适合的压缩设置。
总的来说，7-Zip 的LZMA 算法是一种非常强大且高效的压缩算法，特别适用于处理大型文件和数据流。
其高效的字典编码、范围编码和多线程支持等特性使得它在许多场景下成为了首选的压缩工具。
煤的直接液化概述煤的液化是先进的洁净煤技术和煤转化技术之一，是用煤为原料以制取液体烃类为主要产品的技术。
煤液化分为“煤的直接液化”和“煤的间接液化”两大类，煤的直接液化是煤直接催化加氢转化成液体产物的技术．煤的间接演化是以煤基合成气（CO+H 2）为原料，在一定的温度和压力下，定向催化合成烃类燃料油和化工原料的工艺，包括煤气化制取合成气及其挣化、变换、催化合成以及产品分离和改质加工等过程。
通过煤炭液化，不仅可以生产汽油、柴油、LPG （液化石油气）、喷气燃料，还可以提取BTX （苯、甲苯、二甲苯），也可以生产制造各种烯烃及含氧有机化台物。
煤炭液化可以加工高硫煤，硫是煤直接液化的助催化剂，煤中硫在气化和液化过程中转化威H2S 再经分解可以得到元素硫产品．本篇专门介绍煤炭直接液化技术早在1913 年，德国化学家柏吉乌斯（Bergius）首先研究成功了煤的高压加氢制油技术，并获得了专利，为煤的直接液化奠定了基础。
煤炭直接加氢液化一般是在较高温度（400 C以上），高压（10MPa以上），氢气（或CO+H 2,C0+H20）、催化剂和溶剂作用下，将煤的分子进行裂解加氢，直接转化为液体油的加工过程。
煤和石油都是由古代生韧在特定的地质条件下，经过漫长的地质化学滴变而成的。
煤与石油主要都是由C、H、O 等元素组成。
煤和石油的根本区别就在于：煤的氢含量和H／C原子比比石油低，氧含量比石油高I 煤的相对分子质量大，有的甚至大干1000．而石油原油的相对分子质量在数十至数百之间，汽油的平均分子量约为110；煤的化学结构复杂，它的基本结构单元是以缩合芳环为主体的带有侧链和官能团的大分子，而石油则为烷烃、环烷烃和芳烃的混合物。
煤还含有相当数量的以细分散组分的形式存在的无机矿物质和吸附水，煤也含有数量不定的杂原子（氧，氮、硫）、碱金属和微量元素。
通过加氢，改变煤的分子结构和H/C 原子比，同时脱除杂原子，煤就可以液化变成油。
ZYNQ7000开发平台用户手册AX7Z035B开发板2 / 56芯驿电子科技（上海）有限公司文档版本控制目录文档版本控制 (2)一、开发板简介 (6)二、AC7Z035B核心板 (9)(一)简介 (9)(二)ZYNQ芯片 (10)(三)DDR3 DRAM (13)(四)QSPI Flash (19)(五)eMMC Flash (20)(六)时钟配置 (21)(七)LED灯 (24)(八)复位电路 (25)(九)电源 (25)(十)结构图 (27)(十一)连接器管脚定义 (28)三、扩展板 (37)(一)简介 (37)(二)USB转串口 (37)(三)千兆以太网接口 (38)(四)USB2.0 Host接口 (41)(五)HDMI输出接口 (42)(六)HDMI输入接口 (44)(七)光纤接口 (46)(八)PCIe插槽 (48)(九)SD卡槽 (49)(十)40针扩展口 (50)(十一)LED灯 (51)(十二)复位按键和用户按键 (52)(十三)JTAG调试口 (53)(十四)拨码开关配置 (54)3 / 564 / 56芯驿电子科技（上海）有限公司(十五) 电源 .............................................................................................................................. 54 (十六) 风扇 .............................................................................................................................. 55 (十七) 结构尺寸图 (56)5 / 56芯驿电子科技（上海）有限公司 基于XILINX ZYNQ7000开发平台的开发板（型号：AX7Z035B ）2019款正式发布了正式发布了，为了让您对此开发平台可以快速了解，我们编写了此用户手册。
SPECIFICATIONSNI USB-7845R OEMR Series for USB Multifunction RIO with Kintex-7 70T FPGA Français Deutsch日本語한국어简体中文/manualsThis document contains the specifications for the National InstrumentsUSB-7845R OEM device. Specifications are typical at 25 °C unless otherwise noted.Caution Using the NI USB-7845R OEM device in a manner not described in thisdocument may impair the protection the NI USB-7845R OEM device provides. Analog InputNumber of channels8 ............................................................................Input modes DIFF, NRSE, RSE (software-selectable; ............................................................................selection applies to all channels)Type of ADC Successive approximation register (SAR) ............................................................................Resolution16 bits ............................................................................Conversion time 2 µs ............................................................................Maximum sampling rate500 kS/s (per channel) ............................................................................Input impedancePowered on 1.25 GΩ ║ 2 pF....................................................................Powered off/overload 4.0 kΩ min....................................................................Input signal range±1 V, ±2 V, ±5 V, ±10 V (software-selectable) ............................................................................Input bias current±5 nA ............................................................................ ............................................................................Input offset current±5 nAInput coupling DC ............................................................................Overvoltage protection....................................................................Powered on±42 V maxPowered off±35 V max....................................................................Table 1. AI Operating Voltage Ranges Over TemperatureAI Absolute AccuracyAbsolute accuracy at full scale numbers is valid immediately following internal calibration and assumes the device is operating within 10 °C of the last external calibration. Accuracies listed are valid for up to one year from the device external calibration.Absolute accuracy at full scale on the analog input channels is determined using the following assumptions:•TempChangeFromLastExternalCal = 10 °C •TempChangeFromLastInternalCal = 1 °C•number_of_readings = 10,000•CoverageFactor = 3 σ1The minimum measurement voltage range is the largest voltage the NI USB-7845R OEM device is guaranteed to accurately measure.2| | NI USB-7845R OEM SpecificationsTable 2. AI Absolute Accuracy (Calibrated) (Continued)Table 3. AI Absolute Accuracy (Uncalibrated)Calculating Absolute AccuracyAbsoluteAccuracy=Reading⋅(GainError)+Range*(OffsetError)+NoiseUncertaintyGainError=ResidualGainError+GainTempco*(TempChangeFromLastInternalCal)+ReferenceTempco*(TempChangeFromLastExternalCal)OffsetError=ResidualOffsetError+OffsetTempco*(TempChangeFromLastInternalCal)+INL_ErrorNoiseUncertainty=Refer to the following equation for an example of calculating absolute accuracy.NI USB-7845R OEM Specifications| © National Instruments| 3Absolute accuracy at full scale on the analog input channels is determined using the following assumptions:•TempChangeFromLastExternalCal = 10 °C •TempChangeFromLastInternalCal = 1 °C•number_of_readings = 10,000•CoverageFactor = 3 σGainError=104.4ppm+20ppm*1+4ppm*10GainError=164.4ppmOffsetError=16.4ppm+4.18ppm*1+42.52ppmOffsetError=63.1ppmNoiseUncetainty=NoiseUncertainty=7.89µVAbsoluteAccuracy=10V*(GainError)+10V*(OffsetError)+NoiseUncertaintyAbsoluteAccuracy=2,283µVDC Transfer Characteristics ............................................................................INL Refer to the AI Accuracy TableDNL±0.4 LSB typ, ±0.9 LSB max ............................................................................No missing codes16 bits guaranteed ............................................................................CMRR, DC to 60 Hz-100 dB ............................................................................Dynamic CharacteristicsBandwidthSmall signal 1 MHz........................................................................................................................................Large signal500 kHz4| | NI USB-7845R OEM Specifications............................................................................Crosstalk-80 dB, DC to 100 kHzAnalog Output ............................................................................Output type Single-ended, voltage output ............................................................................Number of channels8 ............................................................................Resolution16 bits ............................................................................Update time 1.0 µs ............................................................................Maximum update rate 1 MS/sType of DAC Enhanced R-2R ............................................................................ ............................................................................Range±10 V ............................................................................Output coupling DCOutput impedance0.5 Ω............................................................................NI USB-7845R OEM Specifications| © National Instruments| 5............................................................................Minimum current drive±2.5 mAProtection Short circuit to ground ............................................................................Overvoltage protectionPowered on±15 V max....................................................................Powered off±10 V max....................................................................Power-on state User-configurable ............................................................................Power-on glitch-1 V for 1 µs ............................................................................Table 4. AO Operating Voltage Ranges for Over TemperatureAO Absolute AccuracyAbsolute accuracy at full scale numbers is valid immediately following internal calibration and assumes the device is operating within 10 °C of the last external calibration. Accuracies listed are valid for up to one year from the device external calibration.Absolute accuracy at full scale on the analog output channels is determined using the following assumptions:•TempChangeFromLastExternalCal = 10 °C •TempChangeFromLastInternalCal = 1 °C2The minimum measurement voltage range is the largest voltage the NI USB-7845R OEM device is guaranteed to accurately measure.6| | NI USB-7845R OEM SpecificationsTable 5. AO Absolute Accuracy (Calibrated) (Continued)Calculating Absolute AccuracyAbsoluteAccuracy=OutputValue*(GainError)+Range*(OffsetError)GainError=ResidualGainError+GainTempco*(TempChangeFromLastInternalCal)+ReferenceTempco*(TempChangeFromLastExternalCal)OffsetError=ResidualOffsetError+AOOffsetTempco*(TempChangeFromLastInternalCal)+INL_Error Refer to the following equation for an example of calculating absolute accuracy.Absolute accuracy at full scale on the analog output channels is determined using thefollowing assumptions:•TempChangeFromLastExternalCal = 10 °C•TempChangeFromLastInternalCal = 1 °CGainError=87.3ppm+12.6ppm*1+4ppm*10GainError=139.9ppmNI USB-7845R OEM Specifications| © National Instruments| 7OffsetError=41.1ppm+7.8ppm*1+61ppmOffsetError=109.9ppmAbsoluteAccuracy=10V*(GainError)+10V*(OffsetError)AbsoluteAccuracy=2,498µVDC Transfer CharacteristicsINL Refer to the AO Accuracy Table ............................................................................DNL±0.5 LSB typ, ±1 LSB max ............................................................................Monotonicity16 bits, guaranteed ............................................................................Dynamic CharacteristicsSlew rate-10 V/µs ............................................................................Noise250 µV rms, DC to 1 MHz ............................................................................Glitch energy at midscale transition±10 mV for 3 µs ............................................................................5V OutputOutput voltage 4.75 V to 5.1 V ............................................................................Output current0.5 A max ............................................................................Overvoltage protection±30 V ............................................................................ ............................................................................Overcurrent protection650 mA8| | NI USB-7845R OEM SpecificationsDigital I/OCompatibility LVTTL ............................................................................Logic family User-selectable ............................................................................Default software setting 3.3 V ............................................................................Maximum input 3.6 V ............................................................................NI USB-7845R OEM Specifications| © National Instruments| 9Table 10. Digital Output Logic Levels (Continued)Output currentSource 4.0 mA....................................................................Sink 4.0 mA....................................................................Input leakage current±15 µA max ............................................................................Input impedance50 kΩ typ, pull-down ............................................................................Power-on state Programmable, by line ............................................................................Protection±20 V, single line ............................................................................Digital I/O voltage switching time 2 ms max ............................................................................Note Refer to NI RIO Software Help for more information about switching times.Reconfigurable FPGAFPGA type Kintex-7 70T ............................................................................Number of flip-flops82,000 ............................................................................Number of LUTs41,000 ............................................................................Embedded block RAM4,860 kbits ............................................................................Number of DSP48 slices240 ............................................................................Timebase40, 80, 120, 160, or 200 MHz ............................................................................Timebase accuracy, onboard clock±100 ppm ............................................................................Calibration ............................................................................Recommended warm-up time15 minutesCalibration interval 1 year ............................................................................10| | NI USB-7845R OEM SpecificationsOnboard calibration referenceDC level3 5.000 V (±2 mV)....................................................................Temperature coefficient±4 ppm/°C max....................................................................Long-term stability±25 ppm/1,000 h....................................................................Note Refer to Calibration Certifications at /calibration to generate acalibration certificate for the NI USB-7845R OEM deviceBus Interface ............................................................................USB compatibility USB 2.0 Hi-Speed or Full-Speed4Data transfers DMA, interrupts, programmed I/O ............................................................................Number of DMA channels3 ............................................................................Power RequirementInput voltage9 V to 30 V ............................................................................Max power20 W ............................................................................ ............................................................................Overvoltage protection40 VNote You must use a UL Listed ITE power supply marked LPS with theNI USB-7845R OEM device.PhysicalNote If you need to clean the device, wipe it with a dry, clean towel.Dimensions (PCB)17.5 cm × 16.3 cm (6.9 in. × 6.4 in.) ............................................................................Weight183 g (6.45 oz) ............................................................................I/O connectors Analog- 1 × 50 pin box header, ............................................................................Digital- 3 × 34 pin box header3Actual value stored in Flash memory4Operating on a full-speed bus will result in lower performance and you might not be able to achieve maximum sampling/update rates.NI USB-7845R OEM Specifications| © National Instruments| 11Maximum Working VoltageMaximum working voltage refers to the signal voltage plus the common-mode voltage. Channel-to-earth±12 V, Measurement Category I ............................................................................Channel-to-channel±24 V, Measurement Category I ............................................................................Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage. MAINS is a hazardous live electrical supply system that powers equipment. This category is for measurements of voltages from specially protected secondary circuits. Such voltage measurements include signal levels, special equipment, limited-energy parts of equipment, circuits powered by regulated low-voltage sources, and electronics.Caution Do not use the NI USB-7845R OEM device for connection to signals inMeasurement Categories II, III, or IV.Note Measurement Categories CAT I and CAT O (Other) are equivalent. Thesetest and measurement circuits are not intended for direct connection to the MAINSbuilding installations of Measurement Categories CAT II, CAT III, or CAT IV. Environmental-40 °C to 70 °COperating temperature ............................................................................(IEC 60068-2-1, IEC 60068-2-2)Storage temperature-40 °C to 85 °C ............................................................................(IEC 60068-2-1, IEC 60068-2-2)10% to 90% RH, noncondensingOperating humidity ............................................................................(IEC 60068-2-56)Storage humidity (IEC 60068-2-56)5% to 95% RH, noncondensing ............................................................................ ............................................................................Pollution Degree2Maximum altitude2,000 m ............................................................................Indoor use only.Online Product CertificationTo obtain product certifications and the DoC for this product, visit /certification, search by model number or product line, and click the appropriate link in the Certification column.12| | NI USB-7845R OEM SpecificationsEnvironmental ManagementNI is committed to designing and manufacturing products in an environmentally responsible manner. NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers.For additional environmental information, refer to the Minimize Our Environmental Impact web page at /environment. This page contains the environmental regulations and directives with which NI complies, as well as other environmental information not included in this document.Waste Electrical and Electronic Equipment (WEEE)EU Customers At the end of the product life cycle, all products must be sent to aWEEE recycling center. For more information about WEEE recycling centers,National Instruments WEEE initiatives, and compliance withWEEE Directive 2002/96/EC on Waste Electrical and Electronic Equipment, visit/environment/weee.电子信息产品污染控制管理办法（中国RoHS）中国客户National Instruments符合中国电子信息产品中限制使用某些有害物质指令(RoHS)。
捷安特7系列配置ATX730尺寸 XS,S,M,L颜色新年红，消光深蓝车架 GIANT ALUXX 车架 A6061铝合金一体管式设计 1800克前叉 SR XCM 铝合金避震前叉 2600克车把 GIANT 铝合金 31.8 竖杆 GIANT 铝合金座垫杆 GIANT 铝合金座垫 GIANT 运动座垫变速把手 SHIMANO ST-EF51前变速器 SHIMANO FD-M310后变速器 SHIMANO RD-M360 24速刹车 GIANT DA3双边作动机械碟刹大齿盘 ACERA 22/32/42 铝合金曲柄大齿盘花鼓 GIANT滚珠花鼓轮胎正新26X1.9 27TPI山地车轮胎售价 2098RMB车辆定位：娱乐初阶ATX730采用ALUXX A6061 专用铝合金技术，使用捷安特热塑一体成型技术，将ALUXX铝合金推向极限。
整车13.8KG，XCM铝合金前叉坚固可靠，可调节软硬，轻松回弹，SHIMANO变速精准无比。
DA3碟刹比肩SRAM BB5和SHIMANO M375。
整车性价比很高，尤其是骚红色特别养眼。
13款ATX730相对于以前的ATX740和ATX730来说，同价位这个配置提升了不少。
ATX750尺寸 XS,S,M,L颜色亮黑，亮白车架 GIANT ALUXX 车架 A6061铝合金一体管式设计 1800克前叉 TWINS-3 ML0 铝合金机械锁死避震前叉 2550克GIANT 铝合金 31.8 车首竖杆 GIANT 铝合金座垫杆 GIANT 铝合金座垫 SELLE ROYALSHIMANO ST-EF51 27速前变速器 SHIMANO FD-M390 27速后变速器 SHIMANO RD-M390 27速刹车 SHIMANO 375 机械碟刹大齿盘 ACERA铝合金锻造22/32/44 大齿盘GIANT 双层铝合金轮圈花鼓 GIANT滚珠花鼓轮胎正新26X1.9 27TPI售价 2498RMB车辆定位：娱乐入门车架和07款ATXPRO一个等级，相比09款10款来说提升了很多。
ZCR241NPPIIU1 ZCF241NPPIIU1关于本产品的安全注意事项冷藏箱2/service Support/34关于本产品的安全注意事项5..Temperature Ranges Low High 34°F42°F1°C6°C-6°F+4°F-21°C-16°C6.(Appearance may vary)78¼注水装置注水9有异味更换一次空智能冰箱APP使用一、智能控制设备准备工具：1. 一台无线路由器（符合802.11b/g协议），仅支持2.4GHz频段，记住无线路由器的名称和无线网络密码，路 由器名称请设置成英文字母或数字（不支持@、*、-等特殊字符）。
2. 安装好客户端软件的安卓或苹果手机一部。
说明：1. 智能冰箱必须接入无线网，才可以使用手机客户端软件。
2. 不建议把冰箱连接到公共WIFI网络中（如CMCC），如果连接到公共网络后，其它在此网络中的用户能够在 网络中搜索到您家中的冰箱，不利于保护您的隐私。
3. 冰箱需要放置在能接收无线路由器新号的位置。
如果冰箱未与无线路由器连接良好，手机客户端软件会出现离 线的提示信息，同时显示板上的WIFI指示灯也不亮。
4. 使用手机客户端可以调节冰箱运行状态，调整前请仔细阅读提示信息，避免误操作导致冰箱内食物损伤。
5. 本产品因不断研究改进，保留说明书中内同变更权利，具体更改内容以网站和手机端为准。
二、软件的下载及安装1. 扫描说明书封面的二维码，下载并安装手机客户端软件“海尔智家”APP。
本设备包含型号核准代码（分别）为：CMIIT ID：2015DP6120(M)、2017DP5606、2018DP7102的无 线电发射模。
2. 冰箱通电，进入配置模式:配置模式：冰箱通电，显示屏点亮时轻点【Wi-Fi CONNECT】按键， 蜂鸣器响一声，显示板上的Wi-Fi指 示灯开始闪烁，家电进入被搜索模式。
Model: #18777POWER TANK5. TO REMOVE BATTERY FOR DISPOSALTHIS RECHARGEABLE POWER TANK IS POWERED BY A SEALED LEAD-ACID BATTERY, ONE PC (12V 17 Ah/20 HR).- Make sure the PowerTank is in the “OFF” position before removing battery. (FIG. 21)- Make sure the PowerTank is disconnected from the charger which must be OFF from the electric supply. (FIG. 23)- Remove the spotlight by loosening the screw.- Face the PowerTank down and open into 2 halves by unscrewing screws counterclockwise. (FIG. 22)- Cut wires to remove battery.CAUTION: THERE MAY BE AN ELECTRIC SHOCK.6. TROUBLESHOOTING7. STARTING AID FOR MOTOR VEHICLES- The jumper cable with the battery clips is located on the rear of the unit. (Fig. 24)- Do not take the jumper cables out of the unit unless you need them.- The PowerTank can only be used as a starting aid when thevehicle’s battery is only partially discharged. Thus, only a limited capacity can be transferred into the vehicle’s battery. HOW TO USE THE PowerTank TO START A VEHICLE:- The ON/OFF switch can be set to”ON” or “OFF” position for the starting aid function.- Connect the POSITIVE pole (+) of the PowerTank to the POSITIVE pole (+) of the vehicle battery.- Connect the NEGATIVE pole (-) of the PowerTank to the NEGATIVE pole (-) of the vehicle battery.- Leave the PowerTank connected to the vehicle battery for around 20 minutes.- After approximately 20 minutes, disconnect the jumper cable from the NEGATIVE pole (-) of the vehicle battery.- Then disconnect the jumper cable from the POSITIVE pole (+) of the vehicle battery.- This partial charge should be sufficient to start the vehicle.- The PowerTank needs to be recharged after using as a starting aid.WARNING:- The Fuse and Switch is no function on the connect ( + ) ( - ) pole, current flows directly from thebattery, Once the jumper cables are connected, NEVER allow the cables to touch together or be left on the same metal surface, this will result in short circuit and may start a fire.- NEVER ATTEMPT TO START THE VEHICLE WITH THE POWER TANK CONNECTED.8. SPECIFICATIONBatteries:One Pc. 12V/17Ah Rechargeable Sealed Lead-Acid Battery.Operation Temp.: 32 to 86°F / 0°C to 30°CDC 12V Output D.C. 12V/10A protect with 15A CIRCUIT BREAKER. Negative Ground. DC 3,6,9V Output D.C. 3,6,9V 1A output with 2 A FUSE Negative Ground. Weight: 20 lbs. / 9.1 kg. (Approx.)Dimension:355 H x 345 W x 132 D / 13.9” x 13.6” x 5.2” (Approx.)NOTE: THE MANUFACTURER IS NOT RESPONSIBLE FOR ANY RADIO OR TV INTERFERENCE CAUSED BY UNAUTHORIZED MODIFICATIONS TO THIS EQUIPMENT. SUCH MODIFICATIONS COULD VOID THE USER’S AUTHORITY TO OPERATE THE EQUIPMENT.1. NO LED INDICATOR (LOW or CHARGE) WHEN SWITCH IN ‘ON’ POSITION2. NO LED INDICATOR (FULL or CHARGE) WHEN RECHARGING.3. DC-12V OUTPUT DOESN’T WORK WHEN SWITCH IN ‘ON’ POSITION4. DC 3, 6, 9V OUTPUT DOESN’T WORK WHEN SWITCH IN ‘ON’ POSITIONCIRCUIT BREAKER BREAK THE CIRCUIT CIRCUIT BREAKER BREAK THE CIRCUIT CIRCUIT BREAKER BREAK THE CIRCUIT FUSE WAS BROKENRESET THE CIRCUIT BREAKERACCORDING TO THE INSTRUCTIONS RESET THE CIRCUIT BREAKERACCORDING TO THE INSTRUCTIONS RESET THE CIRCUIT BREAKERACCORDING TO THE INSTRUCTIONS REPLACE THE FUSE ACCORDING TO THE INSTRUCTIONSCopyright 2012 Celestron | All rights reserved.(Products or instructions may change without notice or obligation).This product is designed and intended for use by those 14 years of age and older.2835 Columbia Street | Torrance, CA 90503 | TEL (310) 328-9560 | FAX (310) 212-5835 | PROBLEMPOSSIBLE SOLUTION。
X s 二 HX c (i )七自由度整车模型及参数七自由度线性整车模型如图1.1所示。
图中各符号意义如下： M s 、冷、丨©――悬挂质量、悬挂质量的侧倾转动惯量和俯仰转动惯量； 口廿、m t2、m t3、m t4 ----------------- 非悬挂质量（分别为前左、前右、后左、后右，下同） k s i 、k s 2、k s 3、k s 4悬架刚度系数； k ti 、k t2、k t3、k t4 轮胎刚度；c s1、c s2、C s3、c s4 -------- 阻尼器阻尼系数；U i 、U 2、U 3、U 4 -------------- 作用于悬架的控制力；X ri 、X r2、X r3、X 「4 -------------- 地面扰动输入；X ti 、X t2、X t3、X t4 ---------------- 非簧载质量位移；X si 、X s2、X s3、X s4 ---------------- 悬挂质量与悬架连接处的位移； X c 、八 ——悬挂质量的垂直位移、侧倾角、俯仰角； l x f 、1“ 一一悬挂质量质心至前后车轴的距离； l ylf 、l ylr ――前后悬挂质量质心至左轮的距离。
令地面扰动输入向量W =[x ri X r2X r3 X r4]T 、车轮位置向量 X t 二[X ti X t2 X t3X t4】T 、悬挂质量运动向量 X c 二[X c r ' ]T 、悬架控制力向量 u =[U i U 2 U 3 U 4】T 、悬挂质量与悬架的四个连接点处的位置向量X t ^[X si X s2 X s3 X s4】T 、悬架动挠度向量 X st =[X sti X st4分别表示前左、前右、后左、后右悬架动挠度），易知，X st =X s -X t 。
根据悬架的特点和几何关系可以得出：X st2 X st3 X st4] ( X sti 、X st2、X st3 图i.i 七自由度整车模(4)根据牛顿第二定律，系统总的运动方程可表示为：M b X c —H T K S (HX C —xJ — H T C S (HX C —x t ) H T u M t x t = K s (HX C -x t ) C S (HX C -x t ) -u -K t (x t -w)K s — diag (k s1,k s2, k s3, k s4) ， C s = diag (C s1, c $2,c s3,c s4)， m t4)， K t 二 diag («1,&2 ,&3 ,k t4) K T 则上述运动微分方程可以表示为：M )? D )? K5? = E 1w E 2u式中'I 1 |1 ylf xf l ylf l xf ylr -l xr l ylr _lxr l 式中1 M t M 二 E _?T 1E ^!-u 选取状态向量-H K S S H H -H T K S 【 K s + 心 C ；H T C S H - H T C s 〔 ，D 一 I -C s H C s 则式(3.5) 二 A~ B 1w B 2u 的状态空间形式为: 0 I 1 ~ ■ 0 -■01]—M 』K _M ， 1 =]M ，~2「M 」E 2-X 式中 A = 式中M b = diag (M s , I _., I )， M t =diag(m t1,m t2,m t3, 令?- X c (3)。
