铰接车辆转向侧翻过程仿真

建立了铰接式车辆转向侧翻过程的数学模型,根据铰接式车辆在转向侧翻过程中的一些重要特性,研究和分析了铰接车辆侧翻的影响参数,通过过程仿真,获得了实现铰按车辆安全转向的车速临界值.     

Active roll control for rollover prevention of heavy articulated vehicles with multiple-rollover-index minimisation

This paper presents the application of a nominal control design algorithm for rollover prevention of heavy articulated vehicles with active anti-roll-bar control. This proposed methodology is based on an extension of linear quadratic regulator control for ‘state derivative-induced (control coupled) output regulation’ problems. For heavy articulated vehicles with multiple axles, a performance index with multiple rollover indices is proposed. The proposed methodology allows us to compare the usefulness of various control configurations (i.e. actuators at different axles of the vehicle) based on the interaction of this control configuration with vehicle dynamics. Application of this methodology to a specific heavy articulated vehicle with a tractor semi-trailer shows that a single active anti-roll-bar system at the trailer unit gives better performance than multiple-axle actuators at tractor and trailer together with the single lane change manoeuvre as the external disturbance. Thus, the proposed methodology of this paper not only highlights the importance of the interactions between control and vehicle dynamics in rollover prevention problems but, in fact, proposes a novel technique to exploit the benefits of these interactions judiciously.     

Design and validation of a robust active trailer steering system for multi-trailer articulated heavy vehicles

ABSTRACT

Multi-trailer articulated heavy vehicles (MTAHVs) are increasingly used around the world due to their economic and environmental benefits. However, MTAHVs exhibit poor maneuverability and low lateral stability, which may lead to fatal traffic accidents. Given the safety risks, it is necessary to solve the steering and stability problems of MTAHVs before they are safely mass deployed on our roads. To this end, active trailer steering (ATS) based on the linear quadratic regulator (LQR) technique has been explored. The LQR-based ATS demonstrates improved maneuverability and enhanced lateral stability. In the ATS design, the vehicle and operating parameters are assumed constant. Thus, it is natural to question the robustness of the ATS in presence of vehicle and operating parameter uncertainties. To address the problem, this paper proposes a robust ATS system. The robust ATS controller is designed using a linear matrix inequality (LMI) based LQR method. In the design, both vehicle and steering actuator parameter uncertainties are considered; to enhance the robustness of the ATS, the weighting matrices of the proposed controller are optimized. The robust controller is applied to an A-Train Double, one type of MTAHV. The effectiveness of the robust ATS is demonstrated using numerical and hardware-in-the-loop real-time simulations.     

Directional performance issues in evaluation and design of articulated heavy vehicles

This review of the dynamics of heavy road-vehicle systems emphasizes directional performance. The review presents information on the following topics: why are articulated vehicles used; units, hitches, and combination vehicles; multiple axle suspensions and steering systems; important performance issues; models and simulation tools; and controlling directional performance. The concluding section summarizes the material presented and provides ideas regarding the application of vehicle system dynamics concepts in developing controllers for road trains.     

A study on single lane-change manoeuvres for determining rearward amplification of multi-trailer articulated heavy vehicles with active trailer steering systems

The Society of Automotive Engineers issued a test procedure, SAE-J2179, to determine the rearward amplification (RA) of multi-trailer articulated heavy vehicles (MTAHVs). Built upon the procedure, the International Organization for Standardization released the test manoeuvres, ISO-14791, for evaluating directional performance of MTAHVs. For the RA measures, ISO-14791 recommends two single lane-change manoeuvres: (1) an open-loop procedure with a single sine-wave steering input; and (2) a closed-loop manoeuvre with a single sine-wave lateral acceleration input. For an articulated vehicle with active trailer steering (ATS), the RA measure in lateral acceleration under the open-loop manoeuvre was not in good agreement with that under the closed-loop manoeuvre. This observation motivates the research on the applicability of the two manoeuvres for the RA measures of MTAHVs with ATS. It is reported that transient response under the open-loop manoeuvre often leads to asymmetric curve of tractor lateral acceleration [Winkler CB, Fancher PS, Bareket Z, Bogard S, Johnson G, Karamihas S, Mink C. Heavy vehicle size and weight – test procedures for minimum safety performance standards. Final technical report, NHTSA, US DOT, contract DTNH22-87-D-17174, University of Michigan Transportation Research Institute, Report No. UMTRI-92-13; 1992]. To explore the effect of the transient response, a multiple cycle sine-wave steering input (MCSSI) manoeuvre is proposed. Simulation demonstrates that the steady-state RA measures of an MTAHV with and without ATS under the MCSSI manoeuvre are in excellent agreement with those under the closed-loop manoeuvre. It is indicated that between the two manoeuvres by ISO-14791, the closed-loop manoeuvre is more applicable for determining the RA measures of MTAHVs with ATS.     

Investigation into untripped rollover of light vehicles in the modified fishhook and the sine maneuvers. Part I: Vehicle modelling, roll and yaw instability

Vehicle rollovers may occur under steering-only maneuvers because of roll or yaw instability. In this paper, the modified fishhook and the sine maneuvers are used to investigate a vehicle's rollover resistance capability through simulation. A 9-degrees of freedom (DOF) vehicle model is first developed for the investigation. The vehicle model includes the roll, yaw, pitch, and bounce modes and passive independent suspensions. It is verified with the existing 3-DOF roll-yaw model. A rollover critical factor (RCF) quantifying a vehicle's rollover resistance capability is then constructed based on the static stability factor (SSF) and taking into account the influence of other key dynamic factors.

Simulation results show that the vehicle with certain parameters will rollover during the fishhook maneuver because of roll instability; however, the vehicle with increased suspension stiffness, which does not rollover during the fishhook maneuver, may exceed its rollover resistance limit because of yaw instability during the sine maneuver. Typically, rollover in the sine maneuver happens after several cycles.

It has been found that the proposed RCF well quantifies the rollover resistance capability of a vehicle for the two specified maneuvers. In general, the larger the RCF, the more kinetically stable is a vehicle. A vehicle becomes unstable when its RCF is less than zero. Detailed discussion on the effects of key vehicle system parameters and drive conditions on the RCF in the fishhook and the sine maneuver is presented in Part II of this study.     

Investigation into untripped rollover of light vehicles in the modified fishhook and the sine manoeuvres,part II: effects of vehicle inertia property,suspension and tyre characteristics

In this paper, as a continuation of part I of [N. Zhang, G.M. Dong, and H.P. Du, Investigation into untripped rollover of light vehicles in the modified fishhook and the sine manoeuvres, part I: vehicle modelling, roll and yaw instability, Veh. Syst. Dyn. 46 (2008), pp. 271–293], detailed parametric studies are conducted and compared between the fishhook and sine manoeuvres using the presented nine-degree-of-freedom vehicle model, in order to understand the rollover resistance capability of a light passenger vehicle with various parameters. First, effects of driving conditions are studied in the two manoeuvres. Secondly, effects of suspension characteristics are studied, in which the influence of suspension spring stiffness and shock absorber damping, anti-roll bar is discussed. Thirdly, effects of vehicle inertia properties, such as moment of inertia of vehicle sprung mass, sprung mass weight and location of centre of gravity, are investigated. Finally, effects of tyre characteristics are also investigated by altering the scaling factor λ _Fz0. An in-depth understanding has been gained on the significant effects of key system parameters on the kinetic performance of vehicles under the fishhook and the sine manoeuvres. Parametric studies show that the combination of step input (fishhook) and frequency input gives a clear indication of the vehicle dynamic stability during cornering.     

Fault detection of vehicle suspension system using wavelet analysis

This paper presents a method based on continuous wavelet transform to detect the faults of vehicle suspension systems. The Morlet wavelet functions are employed to approach the natural frequencies of the system and the frequency components of the signal with relative maximum energy. To evaluate our method, we use a full vehicle dynamic model which has been simulated in ADAMS/CAR and validated by laboratory test results. The suspension faults have been considered due to the damage of shock absorbers (dampers) and upper damper bushings (UDBs) and assumed as the decrease in damping force and loose joints, respectively. In this paper, the incapability of the spectral analysis by using fast Fourier transform in analysis of the signals is revealed through applying the inputs that include transient characteristics and then wavelet transform employed to achieve more proper results. A swept frequency is applied as an input to the wheels that simulates the road irregularities. After detection of faulty sections of the system using signal energy distribution, the defects of damper and UDBs are distinguished from each other through observing the changes of natural frequencies and corresponding energy amplitudes.     

Anti-jackknife reverse tracking control of articulated vehicles in the presence of actuator saturation

It is well known that backward motion control of an articulated vehicle is difficult because it is an open loop unstable system and such motion is also dangerous due to ‘jackknifing’. In this paper, an anti-jackknife reverse tracking control strategy for autonomous articulated vehicles is proposed based on the combined longitudinal and lateral control scheme. In the proposed lateral-longitudinal control scheme, the major task is to control the reverse heading of the trailer by automatic steering strategies that observe both the anti-jackknife condition and input limitations. The main contribution of this paper is the development of globally asymptotic anti-jackknife stabilising and tracking controls of heading angles with both state and input constraints considered a priori. The proposed control inherently has an anti-windup mechanism that prevents the hitch angle from going beyond any specified critical value to avoid jackknifing, during which time, the steering angle remains at its limit. Stability of the controller is theoretically proven via the Lyapunov argument. Effectiveness of the proposed approach is demonstrated by CarSim and Simulink joint simulations.     

On the achievable performance using variable geometry active secondary suspension systems in commercial vehicles

There is a need to further improve driver comfort in commercial vehicles. The variable geometry active suspension offers an interesting option to achieve this in an energy efficient way. However, the optimal control strategy and the overal performance potential remains unclear. The aim of this paper is to quantify the level of performance improvement that can theoretically be obtained by replacing a conventional air sprung cabin suspension design with a variable geometry active suspension. Furthermore, the difference between the use of a linear quadratic (LQ) optimal controller and a classic skyhook controller is investigated. Hereto, an elementary variable geometry actuator model and experimentally validated four degrees of freedom quarter truck model are adopted. The results show that the classic skyhook controller gives a relatively poor performance while a comfort increase of 17–28% can be obtained with the LQ optimal controller, depending on the chosen energy weighting. Furthermore, an additional 75% comfort increase and 77% energy cost reduction can be obtained, with respect to the fixed gain energy optimal controller, using condition-dependent control gains. So, it is concluded that the performance potential using condition-dependent controllers is huge, and that the use of the classic skyhook control strategy should, in general, be avoided when designing active secondary suspensions for commercial vehicles.     

基础设施项目投资风险灰色预测模型研究

应用挣值管理理论对基础设施项目实施阶段投资风险进行定量描述，应用灰色理论建立基础设施项目投资风险灰色预测模型，运用该模型可以对基础设施项目实施阶段的投资风险进行预测，为投资风险的预警提供依据。     

Evaluating the use of an urban consolidation centre and electric vehicles in central London

The paper focuses on the role that can be played by urban consolidation centres (UCCs) in reducing freight traffic and its environmental impacts in towns and cities. It is based on the before and after evaluation of a trial led by a major stationery and office supplies company in which urban freight deliveries in central London made from a depot in the suburbs using diesel vehicles were replaced with the use of an urban micro-consolidation centre located in the delivery area together with the use of electrically-assisted cargo tricycles and electric vans. The results show that the total distance travelled and the CO₂eq emissions per parcel delivered fell by 20% and 54% respectively as a result of this delivery system. However, the evaluation has also indicated that the distance travelled per parcel rose substantially in the City of London delivery area as a result of the electric vehicles having far smaller load limits in both weight and volume compared with diesel vans. But, at the same time, the trial system was able to virtually eliminate CO₂eq emissions per parcel delivered in the City of London. The trial proved successful from the company's perspective in transport, environmental and financial terms. The company therefore decided to continue the operation beyond the end of the trial with it being officially launched during 2010.     

基于灰色综合评价的物流中心选址方法

物流中心选址是物流系统优化的一个关键步骤,因此选择一种合适的方法进行评价就显得尤其重要。本文通过对影响物流中心选址影响因素的分析,构建了物流中心选址评价的指标体系,在此基础上,运用多层次灰色评价方法建立了物流中心选址多层次灰色评价模型。最后通过实例分析表明该模型能很好地处理物流中心选址问题,为决策者提供一种有效的优化工具。     

汽车碰撞预判系统关键技术分析

介绍了碰撞预判技术及其通用的系统设计方案,着重从该系统所用雷达系统的研发、新式被动安全装置的优化与应用以及系统集成3个方面详细分析了其中的关键技术,并指出了当前发展碰撞预判系统的时机与光明前景.     

灰色系统理论在湖盐线西双桥施工控制中的应用

该文结合工程实际,给出了施工控制体系的组成,运用MIDAS计算得到预拱度的理论计算值,结合施工过程中的实际检测值,以灰色系统的GM(1,1)模型为基础,建立了非常适合大跨径预应力连续梁挂篮施工控制的预测控制系统。成桥后表明,该方法取得了良好的结果。     

填石路基沉降特性研究在压实厚度确定中的应用

填石路基压实度检测时因填料粒径过大而存在一定误差,在施工时仅依据试验路压实度与碾压遍数关系来确定压实厚度这一方法并不严谨,也不能完全体现施工方案的经济性;通过引入灰色系统理论GM（1,1）和Verhulst模型对路基沉降速率和工后总沉降的预测来辅助确定压实厚度,使逻辑更为严密.通过在某高速公路中的应用发现,该方法数据获取便捷、计算简单易行且应用效果较好,具有一定的参考价值和工程推广意义.     

Integrated fault detection and diagnosis system for longitudinal control of an autonomous all-terrain vehicle (ATV)

This paper presents a fault detection and diagnosis (FDD) method to enhance the reliability and safety for longitudinal control of an autonomous all-terrain vehicle (ATV). An integrated approach using decentralized and centralized FDD is proposed to optimize the tradeoff between sensitivity and robustness. While the decentralized approach is suitable for detecting faults in actuators and sensors directly connected to a single processor, it is sensitive to noises and disturbances and thus may result in false alarms. On the other hand, the centralized approach is based on information communicated between multiple processors, and it detects and diagnoses faults through analyzing concurrent computations of multiple hardware modules. However, its performance is still limited to isolating faults specifically in terms of components in the single hardware. To incorporate the advantages of both FDD approaches, a two-layered structure integrating both decentralized and centralized FDD is proposed and allows us to perform more robust fault detection as well as more detailed fault isolation. Finally, the proposed method is validated experimentally via field tests of an ATV.     

A real-time impact detection and diagnosis system of catenary using measured strains by fibre Bragg grating sensors

This paper describes an impact detection system using strain signals based on fibre optic sensors(FBG) for the real-time monitoring of the catenary system. The proposed detection system consists of three subsystems: a measuring system, a data processing and analysis system, and a status display and data access system. Because the strain signals obey the normal distribution, to monitor the catenary system in real time, a novel method that combines mobile standard deviation with the mobile Pauta criterion is proposed to distinguish real impact from the strain signal background. The use of this adaptive judging method reduces the misjudgment rate of impacts and improves the impact recognition accuracy. These impacts can be identified by the data analysis system, which provides impact location and their causes using the features of the catenary system. This method can simplify the detection system compared with the traditional location method. An application to a commercial metro line system indicated that the impacts on the catenary system were main caused by overlaps, expansion joints or steady arms, and were verified by correspondence with the floor plan of the catenary and manual inspection results. These results verified the reliability and effectiveness of the proposed impact detection system.     

智能交通系统中的公交车辆调度方法研究

针对公交车辆调度现状及所处的运营环境 ,利用遗传算法 ( Genetic Algorithm,GA)的智能化特征 ,进行了公交车辆智能调度方法的研究。采用 GA的一点和二点交叉方式 ,确定了三种规模的不同调度方式。以北京 375路车运营线路为实例 ,得到了简洁的 GA公交车辆调度结果。仿真结果表明 ,该方法可有效地改善公交车辆运营调度优化效果 ,提高公交车辆的运营效率 ,为城市公交车辆智能化调度管理提供合理、有效的调度方法     

中国在用轻型汽油车排放现状调查与分析

对我国市场上133辆在用轻型汽油车进行了工况法和双怠速排放及市售燃油质量调查与分析,并提出了对在用车排放管理的几点建议。