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    梁忠超

    • 副教授 博士生导师 硕士生导师
    • 教师拼音名称:Liang Zhongchao
    • 电子邮箱:
    • 职务:车辆工程研究所书记/副所长
    • 学历:博士研究生毕业
    • 办公地点:新机械楼235
    • 性别:男
    • 学位:博士
    • 在职信息:在职
    • 毕业院校:哈尔滨工业大学

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    研究领域

    • [1] 复杂系统的智能控制(大数据模型,深度强化学习理论等)

      主要应用:考虑复杂工业系统中难建模、长时滞等问题,基于历史数据信息引入大数据模型,结合深度强化学习理论构建最优控制策略。

      [2] 多机器人/物流车的多任务最优分配策略研究(深度强化学习理论等)

      主要应用:自动化仓储系统的任务分配与调度等,考虑多任务的动态新增与取消、电池充电里程约束与自充电规划、全局多路径选择等。另外,在JG作战场景下,基于知识库构建,实现已有专家经验与未知场景识别结合的快速反应策略。

      [3] 多机器人的协同搬运与协同感知研究(图论,非线性系统理论,地面力学理论等)

      主要应用:多机器人协同搬运,使用多个带有机械臂的移动平台,协同搬运物体,实现复杂场景下的物体搬运与姿态精准控制;多月球车的月面联合巡视探测与松软月壤信息联合感知等,分布式感知并构建未知区域内的月壤分布规律。

      [4] 无人驾驶车辆的智能驾驶控制与感知研究(非线性系统理论等)

      主要应用:针对无人驾驶车辆/AGV的智能导航与控制任务,实施SLAMRTKIMU等传感器的信息融合,进一步实现复杂条件下的轨迹跟踪控制等。


      场景1:多车/车联网-跟驰控制

             

      场景2:多机器人编队控制——视野约束




    学术成果

    • 一、SCI论文(一作与通讯):

      [19] Zhongchao Liang, Zhongnan Wang, Jing Zhao*, Pak Kin Wong, Zhixin Yang, and Zhengtao Ding. Fixed-time prescribed performance path-following control for autonomous vehicle with complete unknown parameters. IEEE Transactions on Industrial Electronics, Aug. 2023, 70(8): 8426-8436. (JCR-Q1, IF=8.162)

      [18] Zhongchao Liang, Zhongnan Wang, Jing Zhao*, Pak Kin Wong, Zhixin Yang, and Zhengtao Ding. Fixed-time and fault-tolerant path following control for autonomous vehicles with unknown parameters subject to prescribed performance. IEEE Transactions on Systems, Man, and Cybernetics: Systems, Apr. 2023, 4(53): 2363-2373. (JCR-Q1, IF=11.471)

      [17] Zhongchao Liang, Zhongnan Wang, Zhao Jing*, and Xiaoguang Ma. Fast finite-time path following control for autonomous vehicle via complete model-free approach. IEEE Transactions on Industrial Informatics, Mar. 2023, 19(3): 2836-2846. (JCR-Q1, IF=11.648)

      [16] Jing Zhao, Yang Xiao, Zhongchao Liang*, Pak Kin Wong, Zhengchao Xie, Xiaoguang Ma. Adaptive event-triggered interval type-2 t-s fuzzy control for lateral dynamic stabilization of aevs with intermittent measurements and actuator failure. IEEE Transactions on Transportation Electrification, Jan. 2023, 9(1): 254-265. (JCR-Q1, IF=6.519)

      [15] Jing Zhao, Xiaowei Wang, Taiyou Liu, Zhongchao Liang*, Xingqi Hua, Yongfu Wang. Hierarchical control for cornering stability of dual-motor RWD vehicles with electronic differential system using PSO optimized SOSMC method. Advanced Engineering Informatics, Oct. 2021, early access, DOI: 10.1016/j.aei.2021.101413. (JCR-Q1, IF=7.862)

      [14] Jing Zhao, Xiaowei Wang, Zhongchao Liang*, Wenfeng Li, Xianbo Wang, Pak Kin Wong. Adaptive event-based robust passive fault tolerant control for nonlinear lateral stability of autonomous electric vehicles with asynchronous constraints. ISA Transactions, Aug. 2022, 127: 310-323. (JCR-Q1, IF=5.991)

      [13] Zhongchao Liang, Yidi Chen, Jing Zhao*. Real-time parameter updating and path-following control for autonomous vehicles on slope roads. International Journal of Control Automation and Systems, Jul. 2022, 20(7): 2178-2190. (JCR-Q2, IF=2.964)

      [12] Zhongchao Liang, Jing Zhao, Bo Liu, Yongfu Wang, and Zhengtao Ding. Velocity-based path following control for autonomous vehicles to avoid exceeding road friction limits using sliding mode method, IEEE Transactions on Intelligent Transportation Systems, Mar. 2022, 23(3): 1947-1958. (JCR-Q1, IF=9.551, ESI高被引)

      [11] Zhongchao Liang, Jing Zhao*, Zhen Dong, Yongfu Wang, and Zhengtao Ding. Torque vectoring and rear-wheel-steering control for vehicle’s uncertain slips on soft and slope terrain using sliding mode algorithm.IEEE Transactions on Vehicular Technology, Apr. 2020, 69(4): 3805-3815. (JCR-Q1, IF=5.978)

      [10] Zhongchao Liang, Jie Chen*, Yongfu Wang. Equivalent acceleration imitation for single wheel of manned lunar rover by varying torque on earth. IEEE/ASME Transactions on Mechatronics, Feb. 2020, 25(1): 282-293. (JCR-Q1, IF=5.303)

      [9] Jie Chen, Zhongchao Liang*, Yanhe Zhu, Chong Liu, Lei Zhang, Lina Hao and Jie Zhao. Towards the exploitation of physical compliance in segmented and electrically actuated robotic legs: a review focused on elastic mechanisms. Sensors, Dec. 2019, 19(24): 5351. (JCR-Q1-发表年, IF=3.275)

      [8] Jie Chen, Zhongchao Liang*, Yanhe Zhu, Jie Zhao. Improving kinematic flexibility and walking performance of a six-legged robot by rationally designing leg morphology. Journal of Bionic Engineering, Jul. 2019, 16(4): 608-620. (JCR-Q1, IF=2.222)

      [7] Zhongchao Liang, Yongfu Wang, Gang Chen. Control for four-wheel independently driven electric vehicles to improve steering performance using H and Moore-Penrose theory. Proc IMechE, Part D: Journal of Automobile Engineering, May 2019, 233(6): 1466-1479. (JCR-Q3, IF=1.414)

      [6] Zhongchao Liang, Jie Chen, Yongfu Wang, Liang Ding, Haibo Gao, Zongquan Deng. Approach for imitation of manned lunar rover acceleration using prototype vehicle with imitation handling ratio on earth. IEEE Transactions on Vehicular Technology, Jul. 2018, 67(7): 5683-5694. (JCR-Q1, IF=5.339)

      [5] Zhongchao Liang, Yongfu Wang, Gang Chen. Mechanical model of a special wheel with metal mesh surface based on modifying stress in manned lunar exploration. Proc IMechE, Part G: Journal of Aerospace Engineering, Jun. 2017, 231(7): 1238-1247. (JCR-Q3, IF=1.038)

      [4] Zhongchao Liang, Haibo Gao, Liang Ding, Zongquan Deng. Approach to imitate maneuvering of lunar roving vehicle under lunar gravity using a terrestrial vehicle. Mechatronics, Sep. 2015, 30(9): 383-398. (JCR-Q1-发表年, IF=1.871)

      [3] Zhongchao Liang, Yongfu Wang, Gang Chen, Haibo Gao. A mechanical model for deformable and mesh pattern wheel of lunar roving vehicle. Advances in Space Research, Dec. 2015, 56(11): 2515-2526. (JCR-Q2, IF=1.409)

      [2] Zhongchao Liang, Haibo Gao, et al. Analysis of driving efficiency for LRVs wheels by forced-slip method. Advances in space research, Nov. 2014, 54(10): 2122-2130. (JCR-Q2, IF=1.358)

      [1] Haibo Gao, Zhongchao Liang*, Liang Ding, and Zongquan Deng. Approach for Vertical Loading Error Compensation for Wheel Test Bench of Lunar Rover Vehicle. Journal of the Chinese society of Mechanical Engineers, Dec. 2013, 64(6): 561-569. (JCR-Q4, IF=0.163)

       

      二、SCI非一作或通讯作者论文:

      [2] Zhen Dong, Zhongguo Li, Zhongchao Liang, Yiqiao Xu, Zhengtao Ding*. Distributed neural network enhanced power generation strategy of large-scale wind power plant for power expansion. Applied Energy, Dec. 2021, 303: 117622. (JRC-Q1, IF=11.446)

      [1] Zhongguo Li, Zhen Dong, Zhongchao Liang, Zhengtao Ding*. Surrogate-based distributed optimisation for expensive black-box functions, Automatica, Mar. 2021, 125: 109407. (JRC-Q1, IF=6.15)

       

      三、中文EI论文:

      [9] 陈杰, 梁忠超*, 刘冲, 赵杰. 面向崎岖地形的六足机器人运动能力分析. 东北大学学报(自然科学版), 2019, 40(6): 819-824.

      [8] 梁忠超, 张欢*, 赵晶, 王永富. 基于自适应MPC的无人驾驶车辆轨迹跟踪控制. 东北大学学报(自然科学版), 2020, 41(6): 835-840.

      [7] 梁忠超, 王永富*. 地面重力条件模拟月面载人月球车直线加速的驱动算法. 兵工学报. 2019, 40(3): 641-650.

      [6] 梁忠超, 王永富*, 金马, 高海波, 邓宗全. 载人月球车单轮月面直线加速行驶的模拟算法. 宇航学报, 2017, 38(7): 772-778.

      [5] 梁忠超, 王永富*, 高海波, 邓宗全. 基于应力修正的载人月球车车轮侧向力模型研究. 机械工程学报, 2017, 53(9): 14-21.

      [4] 梁忠超, 王永富, 刘振, 高海波*, 邓宗全. 重力不同引起的载人月球车操纵动力学差异分析. 哈尔滨工业大学学报, 2017, 49(1): 114-119.

      [3] 梁忠超, 王永富*, 高海波. 载人月球车曲率连续行驶轨迹的逆问题分析. 东北大学学报(自然科学版), 2016, 37(7): 984-989.

      [2] 梁忠超, 高海波, 闫冰, 刘振*, 丁亮, 邓宗全, 曲健俊. 载人月球车等效侧倾刚度和阻尼计算方法. 机械工程学报, 2015, 51(5): 1-13.

      [1] 高海波, 梁忠超*, 丁亮, 邓宗全, 曲健俊. 具有解耦功能的二维倾角模拟装置. 机械工程学报, 2012, 48(19): 1-9.

       

      四、专利:

      [2] 梁忠超, 张欢. 一种基于局部最优性的无人驾驶车辆动态轨迹规划方法. 发明专利, ZL 201910746277.1

      [1]高海波, 丁亮, 梁忠超, 邓宗全, 李楠, 刘振. 一种具有俯仰转动和侧倾转动的星球车实验土槽.发明专利, CN 201310081596.8.

       


    论文成果

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    科研项目

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