小汽车的英文是什么

小汽车的英文是什么（精选11篇）

1.小汽车的英文是什么 篇一

So you got a new shirt.You wear it around.But when it comes time to wash it, you haven’t a clue how toclean it.Everyone just tells you to follow the directions on the tag, but then you find some puzzling hieroglyphics (难懂的文字或符号) .

Now let’s go over what each of these little characters means.

This symbol indicates which wash temperature you should use—if you canwash it at all.For a quick guide:30 is wash on cold, 40 is warm, and 60 ishot.

You may also see dots in lieu of (替代) numbers.One dot equals cold, two is warm, and three is hot.Should you be in Canada, you might encounterclothes with six dots.That means you can basically boil them.

A triangle refers to bleach (漂白) .A plain triangle—like the one to theright—means any bleach can be used, including chlorine-based bleach (含氯漂白剂) .One with lines dividing it means only oxygen-based, non-chlorine bleach-es should be used.

Everything you need to know about drying is indicated by this square.Ifthe square has a circle in it, that means the article of clothing is dryer-safe.If it’s just a square then you need to line dry (挂干) it.Like with washing, the number of dots indicates how much heat the article in question can toler-ate.Three dots means that some like it hot, and one dot means it should berelatively cool.

Although it looks like a bent paperclip, this is the symbol for ironing.Like with everything else, more dots indicate higher heat tolerance.

2.为什么是“汽车+互联网”？ 篇二

7月1日，北京77剧场，一家崇尚“极客”精神的车联网科技公司——飞驰镁物向各界人士隆重端出他们盛夏的果实——新一代车联网理念暨飞驰镁物品牌理念——“智能汽车即服务”以及旗下汽车共享服务品牌“Soda”。与上个世纪的大工业化时代不同，移动互联时代重新让“人”回归了主导地位，显而易见，这一时期的各种服务最终都是围绕“人”展开的。“智能汽车即服务”（Smart x Vehicle as a Service）这一理念就是面向车和人两个对象。飞驰镁物创始人兼CEO王强在发布会现场进一步解释说，对车来讲，相当于给车装载了远程大脑从而实现其智能化，这是“智能即服务”，对人来讲，把车的属性上升到一种位移公共服务，为人提供一种随时随地使用的出行服务，这就是“汽车即服务”。综合来说，就是“智能汽车即服务”。未来作为公共出行服务的汽车一定是面向未来的智能汽车，智能和共享是相辅相成而非简单叠加关系。

听起来非常不错的理念，把钢铁外壳的冰冷汽车变得更柔性和人性化。飞驰镁物又凭借什么实现这一点？

据了解，在业务方向上，飞驰镁物有传统车联网和汽车共享两个业务方向。眼下最主要的，是针对整车企业的车联网方面的服务。

但是目前在国内，车联网的用户渗透率也就在10%上下，用户黏性也不高。对整个产业链而言，应用碎片化，缺乏统一、有影响力的标准等问题仍然十分突出。前装市场更像一座又一座封闭的围城，无门而逡巡难进。后装市场由于几乎涵盖了消费者买车后所需要的一切服务，周期长，市场潜力大，是当前这一阶段更易切入的入口。因而各类企业前仆后继，竞争异常激烈。对于一家成立仅半年多的新公司，如何在这个“前后为难”的领域立身并找到自己的突破口？

突破前装困局

在王强的理解中，车联网的真正终端就是整车，已经不仅限于当年提到的“第四块屏”。要想争取到更大的发展空间，与整车企进行合作，进入他们的前装市场才是更好的选择。

据了解，飞驰镁物正是将前装TSP作为核心优势，为整车厂商提供整套的车联网解决方案和咨询服务，通过以云计算、大数据、社交网络为基础的云服务（CLOUDMove）和汽车情商（DREAMove）两大核心产品平台，为整车企业提供符合移动互联网用户交互体验的车联网产品。而且，有消息称，今年6月份，飞驰镁物在“创青春？微软一汽奔腾汽车创新与未来城市应用大赛”决赛现场已经同一汽轿车股份有限公司达成合作协议，未来将在一汽奔腾的部分车型上装载该公司的车联网服务系统。

一家新兴的科技公司就这样扣开了车企前装市场的门？他们的敲门砖又是什么？

首先，自然是由其核心技术产品组成的一个完整系统。据介绍，作为飞驰镁物车联网业务的核心产品之一，CLOUDMove是一款完全自主研发的联网汽车架构平台，旨在打造终极汽车互联网平台，帮助汽车更好地融入互联网。

飞驰镁物联合创始人兼CTO杨磊对CLOUDMove做了详细的分享：CLOUDMove主要基于公有云基础架构，来实现汽车与多种移动终端设备对驾驶联网在线服务的无缝访问体验。同时，CLOUDMove是一款开箱即用的车联网产品，可真正对整车企业提供快速、便捷的一站式服务，包括业务运营支持系统在内的基础能力，并预集成了优秀的互联网内容和第三方服务。

智能汽车的实现将由汽车智商和汽车情商两部分组成，而汽车情商正是目前汽车产品缺乏的核心技术。飞驰镁物联合创始人兼副总裁田淼表示，DREAMove将成为智能汽车的“大脑”，通过创新科技与网脑思维的结合，使汽车的情商得到质变的提升，真正做到主动保护、帮助驾驶者。在本次发布会上亮相的iMove即是在DREAMove平台基础上得以研发的。DREAMove同样是飞驰镁物车联网业务的核心产品之一。

最能体现飞驰镁物“真正懂车企”特别是懂中国车企的则是其GEARMove专业咨询实施服务这一产品。据介绍，这一服务正是为对TSP理解有限的中国车企客户打造，有助于车企的车联网项目真正落地。

按照王强的想法，飞驰镁物的车联网服务平台对整车企业存在的价值就在于，车企需要引入很多自身并不熟悉的外部资源提升车辆智能化，飞驰镁物就是这中间的桥梁，把互联网中的好资源、内容，按照车企在车载终端需要的格式和要求，整理出他们所需要的产品和数据，通过一种安全的沟通渠道进行供应。而这些工作，恰恰是车企特别是目前的中国车企需要但不擅长的。

其次，所有产品和服务都由“懂车企”的“人”来提供，飞驰镁物打入车联网前装市场的另一张王牌就是其核心团队。据王强介绍，飞驰镁物的主要8位创始成员大多是做前装车联网服务出身，目前已经帮助20多家车企的车联网项目在中国落地。以王强本人为例，资料显示，他曾是微软大中华区汽车与物联网首席架构师，在此之前还参与过通用安吉星OnStar的中国区落地以及观致逸云的设计研发。其他创始团队成员也分别在车联网、软件研发、整车企业、企业咨询、服务运营等不同领域有10余年的经验。

“做车联网中的劳斯莱斯”只是前期的基础一步，等到时机成熟时，“我们将要实现造车的终极梦想。”王强在发布会现场满怀激情地表示。由此不难理解飞驰镁物与其他纯粹的互联网公司的思维不同：不认为互联网会颠覆传统车企，对传统车企在车联网领域的角色和需求的认识也更为深入。正如樊高增表示的：“未来的车联网一定是和汽车紧密融合在一起的车联网，更多的是‘汽车+互联网’，而不是‘互联网+汽车’”，“我们更倾向于前装业务，根本不能脱离主机车厂，前装市场才是飞驰镁物的目标市场。”

TSP

Telematics Service Provider的简写，它在服务提供者，在汽车、车载设备制造商、网络运营商、与内容提供商中间起到连接作用。在车载电脑系统产业链中居于核心地位。目前能够从TSP切入车联网的国内公司数量很少。

3.回报的英文是什么 篇三

回报的英文例句：

1. My skill in such matters might redound to my advantage.

我在这种事情上的技能可能会对我有所帮助。

2. Her efforts will redound to the general good.

他的努力将使他受益匪浅.

3. This will redound to his credit.

这将提高他的名气.

4. His actions redound on his parents.

他的行动回报了他的父母.

5. His praises redound upon himself.

他称赞人,人也称赞他.

6. This work will redound to his credit.

这项工作将有助于提高他的声望.

7. Your academic achievements will redound to the fame of the research institution.

你的学术成就将有助于提高这个研究所的声誉.

8. Your achievement will redound to the good name of the whole school.

你的成就将为整个学校增光.

9. Your practical jokes will redound on you / your own head one day.

你那些恶作剧总有一天会使你自食其果.

10. Any help you can give us will redound to your credit.

你所能给我们的任何帮助都会提高你的声誉.

11. The sins of the fathers do not redound to the children.

父罪不及子.

12. I believe the measure would redound to our mutual benefit and reputation.

我相信这项措施将有助于我们共同的利益和名誉.

13. His dishonesty will redound on him.

他骗人定会被人骗.

14. Any help you can give us will redound to your own good name.

你所能给我们的任何帮助都会提高你自己的声誉.

15. His achievement will redound the good name of the whole school.

4.耳朵的英文是什么 篇四

阿波罗当场把他那对不辨雅俗的耳朵变成了一对驴耳朵。

Apollo promptly transformed his depraved pair of ears into those of an ass.

她用一只耳朵听报纸，另一只耳朵专注与杂志。

She devotes one ear to the paper and the other to the magazine.

她把我拉到一旁，凑着我耳朵悄悄说话。

She drew me aside and whispered in my ear.

潜水前他用耳塞堵住了他的耳朵。

He stuffed up his ears with earplugs before diving.

当他们开始议论到他时，他竖起了耳朵。

When they began to talk about him he pricked his ears.

这条狗忽然把耳朵竖起来。

The dog cocked its ears suddenly.

他用手指塞住耳朵。

He stuffed his fingers into his ears.

“不行，”他贴着她的耳朵小声说。

“No, ” he whispered in her ear.

我修理她的像他们的头发向后地横过她的在和明亮的毛毯马戏团中做和在她的耳朵后面的一朵花.

I fixed her hair like they do in the circus with the bright blanket across her backand a flower behind her ear.

那上去后就对着它的耳朵大喊。

Then go up and shout in its ear.

他的耳朵还在我衣兜里呢。

I have his ear in my pocket.

对着它的耳朵说，然后。

Say it in his ear, then.

然后我再检查一下你的耳朵和喉咙。

Then, I need to check your ears and throat.

是谁给了我耳朵?

Who gave me the ears?

飞机上他的耳朵在痛。该怎麽办?

His ears are hurting. What should I do?

“知识通过我的耳朵传到我的大脑，并非通过手指传到我的大脑，”她说。

“Knowledge goes from my ears to my brain, not from my finger to my brain, ” shesays.

不要把边缘卷起来，这样会更加突出你的耳朵。

Do not roll the brim as this will highlight the ears.

工作人员：是的，你可以把这个软膏涂在他们的耳朵和嘴唇上用来保护。

Clerk: Yes, you can apply this ointment on their ears and lips for protection.

这一阶段，你的眼睛和耳朵应当同时工作。

Your eyes and ears should work equally at this stage.

她立刻把它贴在了耳朵上。

It flashed to her ear.

作为语音程序员，一个主要的目标应该是让用户通过语音与计算机的交互更简单 —尤其是对那些除了用语音和耳朵之外别无选择的人。

As voice programmers, a primary objective should be to make it simpler for usersto interact by voice—particularly for those who have no choice but to use voiceand ears.

这就是为什么我们有着两只耳朵而只有一张嘴巴的道理，我们可能要多听少讲。

5.凳子的英文是什么 篇五

A folding or small desk stool at which worshipers kneel to pray, especially one on which the British sovereign kneels at the time of coronation.

我叔父给他穷困的邻居做了一张桌子和几只凳子。

My uncle carpenter a table and a few stool for his needy neighbor.

这只狐狸需要一个凳子来够到他的葡萄。

The fox needs a stool to reach his grapes.

连凳子都都跟他一样高。

The stool was as tall as he was.

矮子打傻大个儿的光不用凳子。意指人的能力大小不决定于个子大小。

A short man needs no stool to give a great lubber a box on the ear.

小狗跳过了这条小凳子。

The little dog jumped over the short stool.

6.我是老板（英文） 篇六

A boss was complaining in a staff meeting the other daythat he wasn’t getting any respect.Later that morning he went toa local sign shop and bought a small sign that read, “I’m theBoss”.He then taped it to his office door.

Later that day when he returned from lunch, he found thatsomeone had taped a note to the sign that said:“Your wife called, and she wants her sign back!”

7.什么颜色的汽车最安全 篇七

其实黑色最怕脏 不少人都认为黑色会更耐脏更干净。其实，由于洗車和日常驾驶时难免会对车身带来摩擦和擦碰，黑色车漆就很容易显现一条条小划痕，在阳光的照射下尤其明显；尤其是对于内陆地区来说，黑色其实最怕尘和土，落在漆面上会显得非常明显，给人雾蒙蒙、脏兮兮的感觉。颜色较浅的车身就可以避免这种问题，比如白色和银色都会显得很整洁，长久如新。

汽车安全和颜色有关 汽车行车安全性不仅受车况、驾驶操作等因素的影响，还受到车身颜色的视认性影响。据相关调查数据显示，黑色汽车在白天与黑夜的事故率均高居榜首。在白天，黑色汽车比最安全的白色汽车事故率高12%，在黎明前和黄昏后则高47%，暗色车型看起来觉得小一些、远一些和模糊一些。除黑色外，相对不安全的汽车色依次为灰色、蓝色和红色，而相对安全的汽车色依次为白色、金色、黄色、银色。

颜色关乎未来保值率 除了品牌与车型对二手车保值率有着密切影响，车身颜色和保值率也有很大关系。一般情况下，银色、黑色、白色三种颜色的汽车相对最为保值，这主要是因为这三种颜色受众群体最高。而对于一些个性颜色，您就得谨慎选择了。比如粉色和绿色这类个性颜色，用户群体相对小一些，市场小导致整车价格稍低。摘自《华西都市报》

8.“我想知道小汽车为什么会跑” 篇八

如果孩子这样做：

豆豆过生日，收到了很多礼物，他最喜欢爸爸买的一套玩具汽车。小汽车真好玩啊，不仅会发出声音，还会拐弯跑。豆豆带着小汽车玩到这个房间，玩到那个房间，真开心。

咦，怎么汽车不响了？妈妈走进房间，惊讶地叫了起来：“呀，豆豆，刚买的玩具汽车，你怎么就把它给拆了？”豆豆回答道：“妈妈，我想知道小汽车为什么会跑，就把它拆了。”

孩子的心理解读：

您的孩子可曾有过或者经常表现出类似的行为？您是否因为孩子把玩具摔碎、书本撕烂、闹钟弄坏而感到惊讶，甚至责怪孩子？相信不少父母为此类事情伤透了脑筋。

其实，诸如此类的破坏行为是儿童发展的必然结果。随着活动能力和独立性的逐渐增强，孩子认识事物的积极性和主动性也增强了。对于豆豆来说，他对汽车的认识已不再满足于听听汽车的声音，看着小汽车跑，还要探究小汽车跑的原因。为了找出答案，豆豆“不知深浅”地拆掉了新买的玩具汽车。

乍一看，把新买的、完好无损的玩具小汽车拆开是一种破坏性的行为，是不懂事的表现。但听了豆豆的解释，我们发现，这是一种有益的“破坏”，因为这是豆豆在“研究”小汽车，在思考和学习呢。在玩和拆汽车的过程中，豆豆不仅动用了手、眼、耳等感官，锻炼了大小肌肉的灵活性，还用头脑积极思考，提高了思考、推理、判断等能力。

妈妈可以这么做：

保护探索欲望。豆豆的破坏行为是为了满足好奇心，进行探索而出现。诸如此类的行为是一种有益的“破坏”，需要得到保护。如果家长经常粗暴地阻止孩子的探索行为，时间一久，孩子就会渐渐地失去好奇心，对周围环境不感兴趣，丧失了探索的动力。

提供探索材料。在日常生活中，家长可为孩子提供一些可动手操作的玩具，或者提供开放性的游戏材料。这些材料不局限于一两种玩法，可以让孩子自由发挥，变换玩法。另外，家长要留心观察孩子的活动，及时添加或者减少探索材料，维持孩子探索的兴趣。

和孩子一起探索。在豆豆研究小汽车时，家长可以参与其中。在一起拆卸的过程中，家长不仅能体会到孩子游戏时的快乐，还可以了解孩子的行为表现和遇到的困难，便于及时提供帮助和引导。比如，在孩子遇到困难时，鼓励他克服困难，或者提供解决问题的建议等。

鼓励孩子和同伴探索。如有可能，家长可以为孩子提供与同伴一起探索的机会。在探索的过程中，孩子们一起出主意、进行商议，他们的观点互相碰撞，也互相学习。孩子们共同协商解决问题，还可以让他们学会互助，养成忍让、宽容等良好品质。

9.2012年,中国汽车比什么 篇九

2 0 1 2年, 中国汽车依然困难重重, 国际经济、政治、战事、油价充满变数;通货膨胀、成本上涨、资金紧缺、库存积压等问题短期内难以扭转;外资、合资车企双重挤压。面对严峻考验, 自主品牌是抱怨命运不济, 还是韬光养晦、厚积薄发?参考吉利帝豪和长城腾翼, 还要看自己努力的方向和力度如何了。外因固然影响不小, 内因才是质变的根本。

汽车比技术、龙, 集各种动物于一身, 既有兽的野性也有神的灵性。2012的龙年, 绝非末日来临, 当是龙腾虎跃之时。我们期待2012年, 也许2013年、2014年, 中国汽车比的不再是产销量, 而是技术、质量、品牌和利润。当中国“智”造汽车开遍世界各地时, 汽车强国还仅是一个梦想吗?

期待2012年, 中国汽车比的不再是产销量, 而是技术、质量、品牌和利润。

10.这些是什么的英文 篇十

这就带来了一个问题，这些是什么，以及它们像不像UDFy-38135539?

It raises the question what are these other sources and are they like UDFy-38135539 or not?

这些是什么?你是怎样判断出他们吗?它是可能的改变?

What are these? How you detect them? Is it possible to change them?

你觉得你可以在考试的时候犯错误，看一看这之前写的东西,能告诉我这些是什么，我也不知道。

Now, you think you can make a mistake on your exam, take a look at this up here at tell me whatthat all is. I have no idea.

库尔森说：“艺术品市场已经变了，不再像原来那么专业，成了类似奢侈品零售的地方，你都不知道和你交易的这些是什么人。”

“The art market has changed,” Coulson says. “It has gone from professionals only to a kind ofluxury retailing where you have no idea who you are dealing with.

这些是什么?它们是娃娃。

What are these? They are dolls.

这些是什么?他们是机器人。

11.小汽车的英文是什么 篇十一

ECIPS system is a complex nonlinear dynamic system,with uncertainty(e.g.change of system parameters arising from factors like temperature&humidity changes,and aging),unmodeled dynamics(e.g.accurate systematic model is unavailable,or it is unable to make accurate models;then a simplified reduced-order model is chosen,to lead to the loss of some dynamic characteristics of the system),measurement noise(e.g.torque sensor and current sensor measurement noise)and interference(e.g.pavement high frequency excitation interference and unknown bounded disturbances)[3,4].And its operation involves many factors and the condition is complex and changeful,automotive steering has high controlling requirements for power condition,return condition and damping condition,so the traditional control strategy can not cover ECIPS system’s operating characteristics and its steering performance requirements for coordinating different conditions;on the other hand,the ECIPS,with complex environment and complex controlling process,is a hybrid control system including both discrete event and continuous dynamics,capable of dealing with external contingencies(e.g.the start and stop of ECIPS system’s operation arising from the changes in engine speed or the start and stop of the engine)[5],fault and monitoring(e.g.the start and stop of ECIPS system as a result of the occurrence and the elimination of the internal fault),dynamic change of the system(system error,state changes of subsystems,sensor and actuator’s failure,external disturbances and parameter variations and the control mode change due to the operation condition change,etc.)[6],rather than dealing with the traditional control problems(such as slow or timevarying parameters)[7].And the traditional control strategy can not reflect the coexistence of discrete event and continuous dynamics in ECIPS system,the discrete event’s effect on continuous dynamic behavior and the integration and transformation of various control modes.

ECIPS system,a hybrid dynamic system,including both discrete event and continuous dynamics,has the typical characteristics of hybrid control system[8].Since it is a complex dynamic system containing discrete event and continuous dynamics[9],according to the multi-state characteristics of ECIPS system and to coordinate the steering requirements under different conditions,this paper aims to establish dynamics model and vehicle steering dynamics model for ECIPS system,analyze motor performance and control structure,its system control structure,and the mixed characteristics to establish an ECIPS hybrid dynamics system controller[10].

1 Dynamic behavior of RE-EV ECIPS system

The structure and working principle of distributed electric drive vehicle ECIPS system are shown in figure1,and it is mainly composed of a vehicle speed sensor,a steering wheel torque sensor,a motor armature current sensor,a controller,a power driving circuit,a fault indicating lamp,a clutch and a direct current motor[11].

The ECIPS dynamic equation is established by the following.

and

Adopt the state variable,the input variable u1=[ThTmFδ]T,the output variable,the state space equation is established by

Where,Jsrepresents the inertia of steering-column shaft;Bsrepresents the damp coefficient of input column;θsrepresents the angle of input column;Threpresents the steering torque of the steering wheel;Tsenrepresents the reverse torque;Ksrepresents the rigidity coefficient;Jmrepresents the moment of inertia of the motor and clutch;Bmrepresents the damp coefficient of motor;θmrepresents the angle of motor;Tmrepresents the torque of motor;Kmrepresents the rigidity coefficient of the motor and reduction gear;G represents the ratio of worm wheel-worm reduction gear;xrrepresents the rack displacement;rprepresents the radius of steering column pinion;Fδrepresents the random force of road.

Adopt the state variable X2=[ωrβωpφ]T,the input variable U2=[δ]T,the output variable Y2=[ωrβωpφ]T,the state space equation is established by

Where,

and

Where,M represents the mass of the vehicle;Bsrepresents the mass of the chassis;IZand IXrepresent respectively the moment of inertia of z-axes and x-axes;ωrrepresents the yaw rate;IXZrepresents the product of inertia;Py1and Py2represent respectively the lateral force of the front wheer and the rear wheel;a and b represent respectively the distance between front wheel and rear wheel and center of the mass;Cφ1and Cφ2represent respectively the rolling angle stiffness of the front chassis and rear chassis;Dfand Drrepresent respectively the rolling angle damp of the front chassis and rear chassis;Efand Errepresent respectively the roll steering coefficient of the front chassis and rear chassis;2k1and 2k2represent respectively the effective lateral rigidity;2N1and 2N2represent respectively the return-to-center torque rigidity;h represents the lateral arm of the force;φrepresents the angle between the center of gravity and the absolute coordinate;u represents the vehicle speed;βrepresents the slip angle of the center of the gravity;ωprepresents the roll angel velocity.

2 Hybrid control dynamics of ECIPS system

ECIPS system,in accordance with different running conditions,provides different control algorithms,in order to get the control effect in line with actual situation.ECIPS system control structure is shown in figure 2.Within the scope of the working conditions,the whole system is divided into several intervals of working conditions;and in each interval,local model and controller structure are established,then the whole system is further analyzed to obtain control performance better than that of the single model and controller.

As shown above,ECIPS system has typical hybrid system characteristics[12].

The input signals of ECIPS system are mainly divided into three categories:the first category is“working input signal of steering torque Tsen,speed uvehicleand armature current of motor Im”,and this kind of signal functions as the input of ECIPS system control strategy,to output the appropriate motor armature voltage and control the rotation direction and output torque of the motor;and the signal is continuous analog signal.The second category is“switch input signal of uvehicle&Tsen,and engine speed uengine”,and this kind of signal functions as the start signal of ECIPS system,and it starts and works only when the above three meet certain conditions respectively;and this type of signal is a continuous analog signal,but in working process it is used as control signal,so it could function as the discrete control signal.The third category is“monitoring input signal of motor end voltage Vm&Im”,and this kind of signal functions as monitor signal of ECIPS system,when the two meet certain conditions,they will stop the work of ECIPS system;and this type of signal is a continuous analog signal,but in working process it is used as the control signal,so it could function as the discrete control signal.

The output signals of ECIPS system are mainly divided into two categories:the first category is“working output signal of Vm”,and this kind of signal functions as the output of ECIPS system’s control strategy(motor’s armature voltage),to control the motor’s rotation direction and output torque;and this type is continuous analog signal.The second category is“monitoring output signal of clutch control voltage Vtorqueand fault protection voltage Vfault”,and this kind of signal functions as monitoring signals of ECIPS system:Vtorquecontrols the clutch on and off,while Vfaultcontrols the operation of the motor when it is switched on and off,to protect the direction safeguard;this type of signal is a continuous analog signal,however,when working,it is used as a monitoring signal,thus plays the role of discrete control signal.As can be seen,ECIPS system not only has continuous working process,but is affected by discrete processes like switch input and control input,and it shows the switching-control dynamics behavior.

ECIPS system has a variety of different running conditions,any of whichcalled ECIPS control mode.There are four categories:power control mode,return control mode,damping control mode and pure mechanical steering mode(when ECIPS stops working,it is switched into the mode),and they are represented as M={m1,m2,m3,m4}correspondingly.

The discrete events of ECIPS hybrid control system refers to the occurringconditions of working condition during ECIPS’s operation,thereby shaping the driving situations’evolution driven by discrete events.ECIPS system’s discrete event is all kinds of control mode jump arising from its state parameters or operational evolution,each control mode are represented as following:

c1refers to Td<Td,0,means input torque of steer-ing wheel within the dead zone scope Td,0,and Td,0=1N·m;c2refers to┐c1,means input torque of steering wheel over the dead zone scope;c3refers to uengine>uengine,0,means the current engine speed higher than the limit value uengine,0,and uengine,0=100 r/min;c4refers to Vm>Vm,min,means motor armature voltage higher than the minimum threshold value Vm,min,and Vm,min=2V;c5refers to Im<Im,max,means motor armature current below the maximum threshold value,that is Im,max,and Im,max=45 A;c6refers to|Tsen,1+Tsen,2-5|<ε,means the difference between sum of main&auxiliary torque sensors and 5 V is satisfiedε=0.1 V;c7refers to Vtorque(on),means the clutch in a combination state;c8refers to c3∧c4∧c5∧c6∧c7,means"And"operation of e3~e7,that is e3~e7occur simultaneously;c9refers to┐(c3∧c4∧c5∧c6∧c7),means nand operation of e8,that is any one dosen’t occurred in e3~e7;c10refers to uvehicle<uvehicle,max,means the current speed lower than the damping control threshold value uvehicle,max,and uvehicle,max=80 km/h;c11refers to┐c10,means the current speed over than the damping control threshold value;c12refers to,means the steering wheel torque and speed in the same direction;c13refers to┐c12,means the steering wheel torque and speed in the reverse direction.

The escription of control mode are:c2∧c8∧c10∧c12refers to currently in assistance condition;c1∧c8∧c11refers to currently in damping condition;c2∧c8∧c13refers to currently in return-to-center condition;┐(c3∧c4∧c5∧c6∧c7)refers to currently in purely mechanical working[13].

ECIPS hybrid control system’s state trajectory,refers to the system’s running track under all working conditions and it ispiecewise and continuous.And the description of logical relationship between each control mode and the continuous dynamic of all models makes it possible to fully describe the dynamic behavior.

The contro lmode change is represented as a directed graph C={M,E},where M is a control mode set,E={e=(i,j):mi,mj∈M}is a set of control mode changes,and e=(i,j)C shows the change from control mode mito control mode mj.

The change of control mode is described as follows:at the initial moment t0,the control mode is mi;before the occurrence of discrete event e=(i,j)(before the time t1),the continuous dynamic behaviorshould be followed;at the moment t1,the discrete event e=(i,j)occurs,and the control mode jumps to mj,i.e.the occurrence of the event e=(i,j)leads to the control mode change from mito mj,and the continuous dynamic behavioris followed.

ECIPS hybrid control system,refers to a closedloop hybrid system obtained by the hybrid controller designed to meet the ECIPS hybrid system control objectives;it is a complex control system covering discrete event dynamic and continuous variable subsystems:the system state contains both discrete and continuous states,its evolution is driven together by the time and events,and the system dynamic behavior is described together by a set of motion equations based on continuous variables and discrete ones[14].

Considering the implementation of ECIPS hybrid control system,its implement model structure is shown in figure 3.

This structure is a Trinity structure consisting of a discrete decision-making layer,a continuous charged layer and an interface conversion layer between the two,and it could be represented as a fourteen-tuple,that is

Discrete decision-making layer is described by

It describes the occurrence of ECIPS hybrid control system’s discrete event,recognition of control pattern and choice of control strategy.ΣM={m1,m2,m3,m4}is a finite control mode set of ECIPS hybrid control system;ΣE={e1,e2,…,eM}is a finite discrete event set;ΣS={s1,s2,s3}is a finite control strategy set of ECIPS hybrid control system and against different control modes,flexible PID control strategy,Fuzzy-PID control strategy and Bang-Bang-PID are adopted respectively;XS(tk)∈Rsis a monitoring parameter space of vehicle ECIPS system,XSis an s-dimensional discrete monitoring parameter sequence space through the monitoring parameter converter,and xs(tk)is the corresponding discrete monitoring parameter sequence;XP(tk)∈Rlis a l-dimensional sequence space composed of PWM duty cycle of each bridge-arm of H-Bridge and produced by control strategy;and xp(tk)is the corresponding sequence of each bridge-arm’s PWM duty cycle,i.e.xp(tk)=[pLH(tk),pLL(tk),pRH(tk),pRL(tk)]is the sequence made of PWM duty cycle of up left bridge-arm,of down left bridge-arm,of up right bridge-arm and that of up down bridge-arm of the corresponding H-Bridge;ECIPS system control strategy is implemented in essence for the H-Bridge power driver circuit design,namely,the control strategy implementation plan.

ε,according to the monitoring parameter sequence XS(tk),through the discrete event analyzer,control pattern recognizer and control strategy generator,generates the corresponding control strategy,i.e.

Underε,monitoring parameter sequence xs(tk)generates the corresponding control strategy si,represented as

λ,according to the strategy,generates the corresponding sequence made of each bridge-arm’s PWM duty cycle,i.e.

Underλ,the control strategyΣSgenerates the corresponding sequence composed of each bridge-arm’s PWM duty cycle xp(tk)represented as

The continuous charged layer C'=(XE,YE,UE,XS,g)describes the evolution of continuous state variables.XE∈Rnis an n-dimensional state space of continuous dynamic,and xe(t)∈XEis the corresponding state vector,that is

It is the system state parameter vector,and they refers to the output torque of ESP torque sensor,vehicle current speed,engine speed,motor speed,steering angle,steering wheel angular velocity,motor armature voltage and motor armature current component respectively;UE∈Rris an r-dimensional control input space of continuous dynamic,ue(t)∈UEis the corresponding input variable,UE=(Um,Uv),um(t)∈Umis a motor control input vector,and uv(t)∈Uvis an ECIPS system input vector,that is

It is the continuous state input vector of ECIPS system.

The ECIPS motor input vector is

It refers to the output torque oftorque sensor,vehicle current speed,steering angle and steering wheel angular velocity component respectively.

is an ECIPS system input vector,and they refers to the motor output torque,the driver’s output torque and pavement random force component respectively;XS∈Rsis an s-dimensional ECIPS system monitoring parameter space,i.e.xs(t)=xe(t)∪ue(t)∪ye(t)is a monitoring parameter vector of ECIPS hybrid control system,and it serves as the set collection of all the above parameter vectors;xs(tk)=[Tm(tk),Th(tk),Fδ(tk)]is the corresponding discrete monitoring parameter sequence;YE∈Rtis a t-dimensional output space of ECIPS system,and ye(t)∈YEis the corresponding output vector,i.e.

is the output vector of ECIPS system;is the output vector of ECIPS system,and they refers to the restoring torque of torsion bar,motor output torque,input shaft rotation speed,motor angular velocity and rack displacement component respectively;[ωr(t),β(t),ωp(t),φ(t)]R4is vehicle system output vector,and they refers to the vehicle yaw velocity,vehicle sideslip angle,body roll angle speed and body roll angle component respectively.

g is a continuous state change mapping,and it describes the dynamic behavior of continuous system,i.e.

The dynamic behavior is represented as

Interface conversion layer I'=(ρ,ξ)describes the information extraction process,and completes the expression and processing of two kinds of dynamic behavior-response relationship signals;it is the key to the entire system in design,while it is also the bottleneck.ρconverts the monitoring parameter vector of continuous vehicle ECIPS system XSto the discrete monitoring parameter vector sequence XS(tk)to serve as a signal converter,converting analog continuous signal to discrete digital sequence signal,i.e.

ξ makes the sequence composed of each bridgearm’s PWM duty cycle go through four bridge-arms of H-Bridge,then the signal is driven and amplified,and the sequence is converted into the analog continuous input voltage signal of the motor;andξserves as not only a converter to convert discrete digital signals to continuous analog signal,but a power-driven amplifier,i.e.

3 Switching control of ecips system

Based above,switching-control of ECIPS hybrid system including assistance condition,return-to-center condition and damping condition is designed shown in figure 4.And flexible PID control strategy,fuzzy-PID control strategy and Bang-Bang-PID controlstrategy are designed for assistance condition,return-to-center condition and damping condition respectively[15].

The pylon course slalom test is executed as the lane changes in high or middle speed and low steering angle condition[11],the switching-control stateflow is established by figure 5.

Some parameters are listed by the flowing,Mass of vehicle M is 900 kg,Total mass Msis 1 330 kg,Distance between front wheel and center of the mass a is1 360 mm,Distance between rear wheel and center of the mass b is 1 355 mm,Moment of inertia of z-axes Izis 1 591.2 kg·m2,Moment of inertia of x-axes Ixis293 k·gm2,Front wheel lateral rigidity 2k1is 35 000N/rad,Rear wheel lateral rigidity 2k2is 35 000 N/rad,Heeling lever h is 0.5 m,Torque coefficient of motor CTis 0.02 N·m/A,EMF constant of motor Kbis 0.02 V·s/rad,Transmission ratio G is 16.5,Restiance of motor R is 0.1Ω,Inductance of motor L is0.01 H,Moment of inertia of steering wheel Jsis0.001 2 kg·m2,Damp coefficient of steering wheel Bsis 0.261 N·ms/rad,Rigidity coefficient of column Ksis 90 N·m/rad,Pinpion radius rpis 0.007 8 m,Moment of inertia of motor Jmis 0.000 47 kg·m2,Damp coefficient of motor Bmis 0.003 34 N·ms/rad,Rigidity coefficient of motor output axis Kmis 90 N·m/rad.

The simulation speeds are 25 km/h and 45 km/h respectively and the simulation results are shown in figure 6 and table 1.

At 20 km/h speed condition,the peak vaule and standard deviation of steering torque are 6.79 Nm and3.35 N·m under no control condition,and 3.96N·m and 1.95 Nm under Switching-control condition.The steering portability is improved 41.68%and41.79%respectively.At 40 km/h speed condition,the peak vaule and standard deviation of steering torque are 5.11 N·m and 2.25 N·m under no control condition,and 3.53 Nm and 1.56 Nm under hybrid condition.The steering portability is improved30.92%and 30.67%respectively.

4 Conclusions

Electric vehicle industry becomes one of the national strategic emergingindustries while ECIPS system is one of the key components of electric automobile in its design and assembly.And the system is controllerswitching hybrid dynamic behavior,including both discrete and continuous dynamic;study of the system's structure,function and behavior features as well as specialized tools and methods,enables us to fully characterize the ECIPS system dynamic behavior and operation characteristics,to provide a new way for solving the complex ECIPS control problem.

ECIPS hybrid system model structure reflects the system’s operating characteristics,provides premise for the design of ECIPS hybrid control system and its implementation;and it can not only effectively can help to solve the problem that the separate use of neither continuous variable dynamic system nor discrete variable dynamic system can well reveal the insufficient dynamic behavior,but provide effective method for solving the complicated problems concerning the switch of ECIPS system controller.