基于XCl64CS 單片機的混合動力汽車電池管理系統(tǒng)硬件設(shè)計J

1、目次TOC o 1-5 h z基于擴展卡爾曼濾波的汽車質(zhì)心側(cè)偏角估計（摘要鏈接）2 HYPERLINK l bookmark10 燃料電池城市客車側(cè)面碰撞有限元分析（摘要鏈接）3 HYPERLINK l bookmark20 大重合度汽車變速器齒輪的接觸應(yīng)力與噪聲分析（摘要鏈接）4 HYPERLINK l bookmark8 重型載貨汽車高流量低噪聲冷卻風扇的研究（摘要鏈接）5 HYPERLINK l bookmark38 基于XC164CS單片機的混合動力汽車電池管理系統(tǒng)硬件設(shè)計（摘要鏈接）6 HYPERLINK l bookmark44 汽車交叉臂式玻璃升降器設(shè)計要點討論（摘要鏈接）7 H

2、YPERLINK l bookmark50 某罐裝車虛擬樣車的建立與動態(tài)參數(shù)仿真研究（摘要鏈接）8 HYPERLINK l bookmark60 汽車前保險杠造型特征的構(gòu)建及評價（摘要鏈接）9 HYPERLINK l bookmark68 景逸汽車動力總成懸置支架的優(yōu)化設(shè)計（摘要鏈接）10 HYPERLINK l bookmark76 生物柴油的噴油正時調(diào)整特性（摘要鏈接）11 HYPERLINK l bookmark84 SUV白車身靜態(tài)剛度試驗研究（摘要鏈接）12兩軸道路車輛重心位置測定方法及數(shù)據(jù)處理（摘要鏈接）13 HYPERLINK l bookmark98 制動器慣性臺架電模擬慣量的

3、研究（摘要鏈接）14基于包容盒的變速器虛擬裝配干涉檢查方法（摘要鏈接）15國外重型汽車少片變截面鋼板彈簧材料及噴丸強化性能的研究（摘要鏈接）16汽車技術(shù)雜志2009年第4期摘要基于擴展卡爾曼濾波的汽車質(zhì)心側(cè)偏角估計郭孔輝付皓丁海濤(吉林大學汽車動態(tài)模擬國家重點試驗室)【摘要】基于二自由度汽車動力學模型和輪胎模型，運用擴展卡爾曼濾波方法建立了汽車質(zhì)心側(cè)偏角估計器。利用汽車動力學仿真平臺，通過仿真對比了線性輪胎模型和非線性輪胎模型的質(zhì)心側(cè)偏角估計結(jié)果。仿真結(jié)果表明，輪胎模型對于質(zhì)心側(cè)偏角估計精度至關(guān)重要,而采用非線性輪胎模型能顯著提高質(zhì)心側(cè)偏角估計精度，估計結(jié)果能滿足ESC控制的要求主題詞：穩(wěn)定性

4、控制系統(tǒng)質(zhì)心側(cè)偏角估計器擴展卡爾曼濾波EstimationofCGSideslipAngleBasedonExtendedKalmanFilterGuoKonghui；FuHao；DingHaitao(StateKeyLaboratoryofAutomobileDynamicSimulation,JilinUniversity,)【Abstract】Basedonthe2-DOFvehicledynamicmodelandtiremodel,avehiclecgsideslipangleestimatorisbuiltwiththeextendedKalmanfilter.Theestimat

5、edcgsideslipanglesforlineartiremodelandnon-lineartiremodeliscomparedbysimulationonavehicledynamicssimulationplatform.Thesimulationresultsshowthatthetiremodelplaysanimportantroleinaccuracyofsideslipangleestimation,whichisimprovedgreatlybyusingthenonlineartiremodelestimationmethodandtheestimationresul

6、tscanmeettherequirementsofelectronicstabilitycontrol.Keywords：StabilityControlSystem;CGSideslipAngle;Estimator;ExtendedKalmanFilter燃料電池城市客車側(cè)面碰撞有限元分析鄒俊桂良進范子杰(清華大學汽車安全與節(jié)能國家重點實驗室)【摘要】在參考汽車側(cè)面碰撞試驗國家標準GB200712006和歐盟ECER95法規(guī)基礎(chǔ)上，建立了以殼單元為主的整車有限元模型、移動變形壁障有限元模型和主要車載設(shè)備安裝空間模型。采用LS-DYNA軟件對燃料電池城市客車右側(cè)中部、左側(cè)中部和左側(cè)后部3個

7、相對較為危險位置的側(cè)面碰撞進行了數(shù)值模擬，計算得到了側(cè)面碰撞對燃料電池城市客車主要車載設(shè)備的加速度沖擊。模擬結(jié)果表明，通過加裝碰撞防護裝置和增加底架的橫向強度，燃料電池城市客車側(cè)撞安全性可以得到較好保證。關(guān)鍵詞：燃料電池城市客車;側(cè)撞安全性;有限元分析FiniteElementAnalysisontheSide-impactSafetyofFuelCellCityBusZouJun,GuiLiangjin,FanZijie(TsinghuaUniversity,StateKeyLaboratoryofAutomotiveSafetyandEnergy)【Abstract】Basedonnati

8、onalstandardGB200712006andregulationECER95,thecompletevehiclefiniteelementmodel,movableanddeformablebarrierfiniteelementmodel,assemblyspacemodelformainon-boardequipmentwereestablishedinthepaper.Threedangerousside-impactsituationsforfuelcellcitybus(FCCB)weresimulatedbyusingsoftwareLS-DYNA,theaccelera

9、tionimpactofmainon-boardequipmentofFCCBinside-impactwerealsogotten.Theresultsofsimulationsshowedthattheside-impactsafetyoftheFCCBcouldbewellguaranteedbyaddingcollisionpreventiondevicesandincreasingtransversestrengthoftheunderframe.Keywords：FuelCellCityBus;side-impactsafety;finiteelementanalysis大重合度汽

10、車變速器齒輪的接觸應(yīng)力與噪聲分析李杰張磊趙旗(吉林大學汽車動態(tài)模擬國家重點實驗室)【摘要】根據(jù)齒輪重合度計算公式提出了增加齒頂高系數(shù)和減小壓力角的齒輪降噪設(shè)計方案，建立了相應(yīng)的大重合度齒輪接觸有限元模型。通過對大重合度齒輪接觸應(yīng)力和運轉(zhuǎn)噪聲的研究發(fā)現(xiàn)，大重合度齒輪不僅性能可靠，而且傳動平穩(wěn)、噪聲更低，宜在汽車變速器齒輪設(shè)計中推廣應(yīng)用。主題詞：變速器齒輪大重合度噪聲接觸應(yīng)力AnalysisonContactStressandNoiseofAutomobileTransmissionGearswithHighContactRatioLiJie,ZhangLei,ZhaoQi(StateKeyLab

11、oratoryofAutomobileDynamicSimulation,JilinUniversity)【Abstract】Accordingtothecalculatingformulaofgearcontactratio,lownoisegeardesignprojectthatincreasedaddendumcoefficientanddecreasedpressureanglewasputforward,andthegearcontactfiniteelementmodelwithhighcontactratiowasalsoestablished.Throughthestudyo

12、fcontactstressandnoiseofgearswithhighcontactratio,itwasfoundthatnotonlytheperformanceofgearswasreliable,butalsothedrivewassmoothandthenoisewaslower,anditshouldbeappliedtothedesignoftransmissiongears.Keywords:Transmission,Gear,HighContactRatio,Noise,ContactStress重型載貨汽車高流量低噪聲冷卻風扇的研究l=J董效彬1袁兆成1盧炳武2王吉2軋

13、浩2馬家義1(1.吉林大學；2.中國第一汽車集團公司技術(shù)中心)【摘要】運用商業(yè)軟件FLUENT,基于N-S方程和標準k-&湍流模型的CFD技術(shù),采用SIMPLE算法，對冷卻風扇進行了流場仿真計算和氣動噪聲數(shù)值預(yù)估。仿真結(jié)果與試驗結(jié)果吻合較好，驗證了流場仿真算法的可靠性。研究不同翼型截面得到了改進風扇模型。計算結(jié)果表明，改進方案1的質(zhì)量流量比原型風扇提高了4.4%4.8%，噪聲降低了2.44.6dB(A)；改進方案2的質(zhì)量流量提高了7.8%9.2%，噪聲降低了0.51.7dB(A)。關(guān)鍵詞：重型商用車冷卻風扇噪聲流量ResearchonHighFlowRate&LowNoiseCoolingFa

14、nofHeavyDutyCommercialVehicleDongXiaobin1,YuanZhaocheng1,LuBingwu2,WangJi2,YaHao2,MaJiayi1(1.JilinUniversity,2.FAWGroupCorporationR&DCenter)【Abstract】Flowfieldemulationcomputationandaerodynamicnoisevaluepre-estimationofcoolingfanarecarriedoutwithCFDtechniquebasedonN-Sequationandstandardk-sturbulence

15、modelandSIMPLEalgorithmincommercialsoftwareFLUENT.Theemulationresultsandtestresultsareapproximatelyidentical,thereforeverifyingtheauthenticityofflowfieldemulationalgorithm.Animprovedfanmodelisobtainedbystudyingdifferentaerofoilsections.Thecomputationresultsshowthatcomparedwiththepreviousfan,themassf

16、lowofthemodifiedplan1increasesby4.4%to4.8%,whereasnoisedropsby2.4to4.6dB(A);themassflowofthemodifiedplan2increasesby7.8to92%,noisedropsby0.5to1.7dB(A).Keywords:Heavydutycommercialvehicle,Coolingfan,Aerodynamicsnoise,Flowmass基于XC164CS單片機的混合動力汽車電池管理系統(tǒng)硬件設(shè)計吳志紅吳庚澤朱元魏學哲王佳元(同濟大學)【摘要】介紹了以Infineon公司16位高性能單片機

17、XC164CS為控制核心、針對混合動力汽車鎳氫動力電池組的電池管理系統(tǒng)。分別對構(gòu)成電池管理系統(tǒng)的微控單元模塊、檢測模塊、驅(qū)動模塊及通訊模塊進行了說明，從硬件設(shè)計角度進行了分析。該管理系統(tǒng)可以實現(xiàn)動力電池組充、放電智能化控制，能夠?qū)崟r檢測電池組的電壓、電流、溫度等信號，并能根據(jù)這些信號通過SOC算法估算電池組剩余電量。關(guān)鍵詞：混合動力汽車、電池管理系統(tǒng)、硬件設(shè)計HardwareDesignofHybridVehicleBatteryManagementSystemBasedonXC164CSSCMWuZhihongWuGengzeZhuYuanWeiXuezheWangJiayuan(Tongj

18、iUniversity)【Abstract】Inthispaper,abatterymanagementsystem(BMS)basedonInfineonMCUXC164CSandbattery-packofhybridvehiclewasintroduced.Withanemphasisonhardwaredesign,MCUmodule,measurementmodule,drivemoduleandcommunicationmoduleoftheBMSareanalyzed.Thismanagementsystemcanchargeanddischargethebattery-pack

19、intelligentlyandmeasurevoltage,currentandtemperaturesignalsetcofthebattery-packinarealtimemanner,moreovertheresidualcapabilityofbattery-packcanbeestimatedwithalgorithmSOC.Keywords:HybridVehicle,BatteryManagementSystem,HardwareDesign汽車交叉臂式玻璃升降器設(shè)計要點討論莫建偉韋樂俠（柳州五菱汽車聯(lián)合發(fā)展有限公司）【摘要】通過對玻璃實際運行軌跡與門框高度進行結(jié)構(gòu)分析、求出

20、適當?shù)纳灯骼硐牍ぷ髌矫?、確定升降器厚度與安裝基準面、布置升降器中位線和主臂旋轉(zhuǎn)中心及選擇升降器大小、布置升降器支撐中心區(qū)與玻璃重心線、布置小齒輪中心（升降器手柄軸中心）位置等，闡述了汽車玻璃升降器與整車匹配的設(shè)計要點。關(guān)鍵詞：玻璃升降器交叉臂式設(shè)計StudyonKeyPointsofCross-ArmGlassLifterDesignMoJianwei,WeiLexia(LiuzhouWulingAutomobileJointDevelopmentCo.,Ltd.)【Abstract】Basedonthestructuralanalysisofactualglassmovingtrackan

21、ddoorframeheight,theproperworkingsurfaceofglasslifterisobtained,thethicknessandinstallingreferenceplaneisdetermined.Thelayoutofliftermedianlineandthemain-armspincenter,theselectionoflifersize,thelayoutofsupportingcentralareaandglassgravityline,aswellasthelayoutofsmallgearcenterlocation(lifterhandlea

22、xiscenter)etcarecarriedout,finallythekeypointsforthematchingdesignbetweenglasslifterandcompletevehiclearediscussed.Keywords：GlassLifter;Cross-arm;Design汽車技術(shù)雜志2009年第4期摘要汽車技術(shù)雜志2009年第4期摘要某罐裝車虛擬樣車的建立與動態(tài)參數(shù)仿真研究隋海瑞黃博朱偉朱飛白(哈爾濱工業(yè)大學)【摘要】以某罐裝車型為研究對象，基于ADMAS/CAR定制了整車各部件動力學模型與模板，采用MSC.SimdesignerforCATIA定制了駕駛室模型

23、，并將各部件組裝為虛擬樣車。基于穩(wěn)態(tài)回轉(zhuǎn)等仿真試驗驗證了虛擬樣車的操縱穩(wěn)定性；結(jié)合實車路試結(jié)果對比了虛擬樣車與實車動態(tài)特性的一致性，并基于虛擬樣車研究了多種工況下車輛的行駛性能。主題詞：罐裝車虛擬樣機技術(shù)動態(tài)參數(shù)仿真VirtualPrototypingAndDynamicParametersSimulationofOneTankerSuiHairuiHuangBoZhuWeiZhuFeibai(HarbinInstituteofTechnology)【Abstract】Thedynamicsmodelandtemplateofpartsforatankerwereestablishedbase

24、donADAMS/CAR,andthecabmodelwasbuiltbyusingMSC.SimdesignerforCatia,thenthepartswereassembledintovirtualprototyping.Handlingandstabilityperformanceofthevirtualtankerwasvalidatedbasedonsteadystateturningperformancesimulation;consistencybetweenthevirtualprototypingandtruetankerwasvalidatedbyroadtest,and

25、thedrivingperformanceunderdifferentworkingconditionswerealsostudiedbasedonvirtualprototyping.Keywords:Tanker,Virtualprototyping,Dynamicparameters,Simulation汽車前保險杠造型特征的構(gòu)建及評價張金磊雷雨成(同濟大學)【摘要】把汽車保險杠造型特征分為主造型特征、過渡造型特征、附加造型特征及工程細節(jié)造型特征4類，分別描述了各個造型特征的建立方法、質(zhì)量檢驗方法和工藝評價方法。實踐結(jié)果證明，通過對造型特征的分類描述，不僅能詳細破解各造型特征的關(guān)鍵因素和

26、內(nèi)在聯(lián)系，還能用三維軟件UG快速獲得高品質(zhì)的3D數(shù)模。關(guān)鍵詞：前保險杠，造型特征，A級曲面EstablishmentandEvaluationofStylingFeatureforAutoFrontBumperZhangJinlei,LeiYucheng(TongjiUniversity)【Abstract】Thestylingfeaturesforautobumperweredividedintomainstyling,transientstyling,additionalstylinganddetailedstylingfeature,andtheestablishingmethod,qu

27、alitytestingmethodandtechniqueevaluationmethodfordifferentstylingfeatureswerealsointroducedinthispaper.Theresultsshowedthattheclassificationforstylingfeaturecouldrevealkeyfactorsandtheirinnerrelationshipfordifferentstylingfeatures,andhighquality3DmodelcanbeobtainedquicklybyusingsoftwareUG.Keywords：F

28、rontbumper,StylingFeature,Class-ASurface景逸汽車動力總成懸置支架的優(yōu)化設(shè)計唐因放（東風柳州汽車有限公司）【摘要】建立了景逸汽車原動力總成懸置支架幾何模型及有限元模型。模態(tài)分析結(jié)果表明，原支架設(shè)計的固有頻率為267Hz,與發(fā)動機工作轉(zhuǎn)速下的激勵頻率相接近，在接近共振轉(zhuǎn)速下會引起較大幅度的振動。對該懸置支架提出了4種優(yōu)化設(shè)計結(jié)構(gòu)方案，并根據(jù)分析結(jié)果選擇其中較好的方案。道路試驗結(jié)果表明，經(jīng)過優(yōu)化后的懸置支架可使整車振動和車內(nèi)噪聲明顯降低。關(guān)鍵詞：動力總成懸置支架優(yōu)化設(shè)計TheOptimizationDesignforthePowertrainMountingB

29、racketofCarJOYEARTangYinfang(DongfengLiuzhouMotorCO.,LTD.)【Abstract】ThegeometrymodelandFEmodeloftheoriginalpowertrainmountingbracketforcarJoyearwerebuiltinthispaper.Modeanalysisresultsshowthattheinherentfrequencyoftheoriginalbracketwas267Hz,whichisveryclosetotheengineexcitingfrequency,andwillcausebi

30、gvibrationwhentheenginerotatingspeedreachtheresonancefrequency.Fourkindsofoptimizeddesignwereproposedandthebestonewasselectedaccordingtoanalysisresults.Roadtestresultsshowthattheoptimizedmountingbracketcanobviouslydecreasethecompletevehiclevibrationandcabinteriornoise.Keywords:Powertrain;Mounting;Br

31、acket;Optimizationdesign生物柴油的噴油正時調(diào)整特性潘江如張春化袁居安(長安大學)【摘要】在一臺四缸渦輪增壓柴油機上進行了不同噴油提前角時燃用生物柴油、生物柴油與柴油混合燃料和柴油的動力性、燃料經(jīng)濟性和排放特性對比試驗。結(jié)果表明，對于BD0和BDG25混合燃料，噴油提前角提前2時動力性最好；對于BD100燃料，原機的噴油正時動力性最好；隨噴油正時提前，3種燃料比能耗減小、碳煙排放減少、NOx排放增大；在高轉(zhuǎn)速時HC和CO排放基本不變。關(guān)鍵詞：生物柴油噴油正時調(diào)整特性Fuel-injectionTimingAdjustmentCharacteristicsofBiodies

32、elPanJiangru，ZhangChunhua，YuanJuan(ChanganUniversity)【Abstract】Comparativetestsonpowerperformance,fueleconomyandemissioncharacteristicarecarriedoutwithcombustiblebiodiesel,blendedfuelcomposedofbiodieselanddieselaswellasdieselona4-cylinderturbochargingdieselengineatdifferentfuelinjectionadvanceangle.

33、Thetestresultsshowthattheenginehastheoptimalpowerperformancewhenthefuelinjectionadvanceangleis2forBD0andBD25blendedfuel;whereastheenginehastheoptimalpowerperformanceatinjectiontimingforBD100fuel;withtheadvanceofinjectiontiming,specificenergyconsumptionofthethreetypesoffuelsdecreases,carbonsmokeemiss

34、iondecreases,whereasNOxemissionincreases;HCandCOemissionbasicallykeepunchangedathighenginespeed.Keywords:BiodieselInjectiontimingAdjustmentcharacteristicSUV白車身靜態(tài)剛度試驗研究邵建旺彭為靳曉雄高吉強王萬英（同濟大學）【摘要】針對某汽車公司引進的SUV汽車,建立了白車身剛度試驗測量系統(tǒng),利用該系統(tǒng)對SUV白車身的彎曲剛度和扭轉(zhuǎn)剛度進行了測試試驗，得到了SUV白車身在彎曲、扭轉(zhuǎn)工況下的剛度和關(guān)鍵部位的變形規(guī)律。試驗研究表明,該測量系統(tǒng)的固定及

35、加載方式合理,使得試驗結(jié)果重復性好；所述剛度測試方法適用于其它SUV汽車或轎車。主題詞：白車身靜態(tài)彎曲剛度扭轉(zhuǎn)剛度ExperimentalStudyonStaticStiffnessofSUVBIWShaoJianwang,PengWei,JinXiaoxiong,GaoJiqiang,WangWanying(TongjiUniversity)【Abstract】WiththeSUVlaunchedbyanautomaker,aBIWstiffnesstest&measurementsystemisestablished,withwhichbendingstiffnessandtorsiona

36、lstiffnessoftheSUVBIWweretested,throughwhichstiffnessandruleofdeformationofkeypartsofSUVBIWunderconditionofbendingandtorsionwereobtained.Thetestresultsshowthatthefixingandloadingmethodofthemeasurementsystemarerational,leadingtogoodreproducibilityoftestresults;theproposedstiffnesstestmethodisapplicab

37、letootherSUVsandpassengercars.Keywords:BIW;Static;Bendingstiffness;Torsionalstiffness方法及數(shù)據(jù)處理謝東明邱彬(中國汽車技術(shù)研究中心)【摘要】闡述了GB/T125382003兩軸道路車輛重心位置的測定中的試驗原理和試驗方法。在兩軸乘用車重心位置試驗的基礎(chǔ)上，分析了汽車重心高度測量過程中軸荷儀精度、阻滯作用和彈性元件形變對測量精度的影響，并提出了減小試驗誤差的建議。分析了標準中采用的計算公式和數(shù)據(jù)處理方法，得出了合理的曲線擬合方法，保證了測試結(jié)果的唯一性。主題詞:兩軸車輛重心位置測量誤差StudyonMeasur

38、ingMethodandDataProcessingAnalysisofCentreofGravityforTwo-axleVehicleXieDongming,QiuBin(ChinaAutomotiveTechnologyandResearchCenter)【Abstract】ThispaperexpatiatesonthetestprincipleandtestmethodsaboutGB/T12538-2003Roadvehicleswithtwoaxles-Determinationofcentreofgravity.Basedonthetestexperiencesonroadve

39、hicleswithtwoaxles,themainfactorsaffectingthemeasurementaccuracy,e.g.accuracyofaxle-loadinginstrument,retardation,deformationofelasticcomponentareanalyzed,andsuggestionsforreducingtesterrorareprovided.Andalso,accordingtotheanalysisoftheformulaanddataprocessingmethodsinthestandards,thepropermethodfor

40、curvefittingandtheexclusivetestresulthavebeenget.Keywords：Two-axleVehicle;CentreofGravity;MeasuringError制動器慣性臺架電模擬慣量的研究馬繼杰1吳博達1劉笑羽1程光明1孫景陽1王森林2（1.吉林大學;2.信義集團）【摘要】介紹了一種采用電動機進行能量補償實現(xiàn)慣量模擬的方法，給出了能量補償?shù)臄?shù)學模型。通過對飛輪的自由剎車曲線進行回歸分析，得出由風阻和軸承磨損等引起的系統(tǒng)損耗模型。在NT11制動器慣性臺架上設(shè)計了正交試驗，得出能量補償法中幾個關(guān)鍵因素（補償時間、補償起點、補償終點和補償結(jié)束條件）的

41、控制規(guī)律。討論了能量補償法存在的局限性，并給出了解決方案。主題詞：制動器臺架試驗電慣量能量補償ResearchonElectricInertiaSimulationinBrakeDynamometerMaJijie1,WuBoda1,LiuXiaoyu1,ChengGuangming1,SunJingyang1,WangSenlin2（1.JiLinUniversity;2.XinYiGroup）【Abstract】Anewmethodusingelectromotorsenergycompensationtorealizeinertiasimulationisintroducedandthe

42、mathematicalmodelofenergycompensationispresentedinthepaper.Themodelofsystemlosscausedbywindresistanceandbearingfrictionisestablishedbasedontheregressionanalysisofflywheelsfreebrakecurve.OrthogonalexperimentonbrakedynamometerNT11aredesignedtoobtainthecontrolruleofsomekeyfactorsofenergycompensationinc

43、ludingtime,startingpoint,endingpointandendingconditionofcompensation.Finally,thelimitationsaswellascorrespondingsolutionsarediscussed.Keywords:Brake;DynamometerTest;ElectricIinertia,EnergyCcompensation基于包容盒的變速器虛擬裝配干涉檢查方法周爾民（華東交通大學）【摘要】根據(jù)汽車變速器不同零部件類型，提出了3級精度包容盒相結(jié)合的快速定性干涉檢查算法：沿全局坐標系規(guī)整包容盒和包容球干涉檢查算法、方向包

44、容盒干涉檢查算法、規(guī)整包容盒再分割算法，并闡述了3種包容盒算法的特點和所適應(yīng)的變速器零部件類型。指出，將3種算法結(jié)合起來用于變速器零部件的干涉檢查，能在不過多增加計算量的情況下提高檢查精度。主題詞：變速器虛擬裝配干涉包容盒ThemethodofinterferencecheckofgearboxvirtualassemblybasedonboundingboxZhouErmin(EastChinaJiaotongUniversity)【Abstract】Thefastinterferencecheckingalgorithmcombinedwiththethree-levelprecisionboundingboxwasputforwardaccordingtodifferentpartsofgearbox,whichincludedglobalcoordinateregulat