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In order to meet the operation requirements of the Tianjin trunk line water conveyance box culvert of the South to North Water Transfer Project, a special multifunctional operation vehicle is developed and its high precision control is realized. Firstly, the structure and working mechanism of the multifunctional operation vehicle are described, and its kinematics models are established respectively. Secondly, a cross coupling synchronization control strategy is proposed to solve the problem of vehicle body attitude deviation caused by speed non-synchronization in dual motor independent control. Finally, the system model of multifunctional vehicle is built and the simulation analysis of cross coupling synchronization control is completed. The results of software simulation and system engineering application show that the proposed cross coupling synchronous control strategy can effectively improve the non-synchronization errors of double motors and improve the attitude control accuracy of the multifunctional vehicle for box culverts, and has strong engineering practicability and application popularization.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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