Steady-state steering of a tilting three-wheeled vehicle

The design of a narrow-track enclosed vehicle for urban transport was the subject of the CLEVER project. Due to its narrow track and requirement for car-like controls, an actively controlled tilting system was integrated into the chassis to allow for high lateral accelerations without rolling over. The cornering behaviour of this unique vehicle concept is investigated and compared with the ideal Ackermann response. The steer kinematics of this 1F1T (one front wheel, one wheel tilting) configuration are assessed through the use of a steady-state steering model, with attention focused on how steer parameters such as tilt axis height and inclination can be tuned to provide the required response. A prototype vehicle was designed and built and the results of experimental testing are presented to illustrate the real balancing performance of the combined steering and tilting approach used for the CLEVER vehicle. The experimental results follow the trends demonstrated in the model.     

转向机构的运动学分析

为RSSR和RSSP型空间机构及转向机构,导出了两连架杆的位移关系式和确定机构特殊位置的公式;给出了压力角、传动角的确切定义和计算式。提出了转向机构连架杆最大位移的概念和计算步骤以及转向机构运动学计算方法。     

基于动态窗口和绕墙走的自动垂直泊车轨迹规划

针对现有自动垂直泊车轨迹规划因需要轨迹数学模型而灵活性差和采用开环离线规划而无法动态调整路径的问题,提出一种基于动态窗口和绕墙走策略的垂直泊车轨迹规划方法.将轨迹规划问题解耦为与时间无关的路径规划和与时间相关的速度规划,并在分析车辆阿克曼转向特性的基础上,通过绕墙走策略实现无先验轨迹模型的路径规划.同时将绕墙走路径作为全局启发信息,用于驱动基于模型预测控制的动态窗口法进行速度规划,其反馈优化特点能够对路径进行局部动态调整.仿真实验结果表明,该方法能够在控制、定位精度0.2 m的情况下,安全有效地完成车辆垂直泊车,且能动态地对车辆路线进行局部调整.      

Forced Steering of Rail Vehicles: Stability and Curving Mechanics

A forced steering rail vehicle employs linkages between.the carbody and wheelsets to force a more radial wheelset alignment. It is shown that the curve negotiation capability of forced steering trucks is significantly improved over conventional and self steering radial trucks. Parametric curves are presented showing angle-of-attack and lateral flange force as a function of steering gain parameters and truck bending stiffness. It is also shown that the forced steering concept can produce kinematic instability and severely reduced critical speeds for low conicities and creep coefficients. Analytic expressions are derived that illustrate how these kinematic instabilities can be avoided.     

Forced Steering of Rail Vehicles: Stability and Curving Mechanics

SUMMARY

A forced steering rail vehicle employs linkages between.the carbody and wheelsets to force a more radial wheelset alignment. It is shown that the curve negotiation capability of forced steering trucks is significantly improved over conventional and self steering radial trucks. Parametric curves are presented showing angle-of-attack and lateral flange force as a function of steering gain parameters and truck bending stiffness. It is also shown that the forced steering concept can produce kinematic instability and severely reduced critical speeds for low conicities and creep coefficients. Analytic expressions are derived that illustrate how these kinematic instabilities can be avoided.     

桁梁桥气动导纳函数的试验研究

在介绍识别气动导纳函数的试验原理和试验方法的基础上,以坝陵河大桥和果子沟大桥为例进行了桁梁桥气动导纳函数的试验研究.对不同攻角、不同风速下的升力导纳、阻力导纳和升力矩导纳进行对比分析,概括了桁梁桥气动导纳函数的特点,并利用数值拟合技术,得到桁架结构断面气动导纳函数的经验拟合公式.基于该公式,对坝陵河大桥和果子沟大桥进行了抖振频域分析,并与风洞试验抖振响应测量结果做对比,表明计算值与试验值具有良好的一致性,证明了桁梁气动导纳识别方法的正确性和拟合公式的有效性.     

A fundamental investigation of tilt control systems for narrow commuter vehicles

One way of addressing traffic congestion is by efficiently utilizing the existing highway infrastructure. Narrow tilting vehicles that need a reduced width lane can be part of the solution if they can be designed to be safe, stable, and easy to operate. In this paper, a control system that stabilizes the tilt mode of such a vehicle without affecting the handling of the vehicle is proposed. This control system is a combination of two different types of control schemes known as steering tilt control (STC) and direct tilt control (DTC) systems. First, different existing variations of both STC and DTC systems are considered and their shortcomings analysed. Modified control schemes are then suggested to overcome the deficiencies. Then a new method of integrating these two control schemes that guarantees smooth switchover between the controllers as a function of vehicle velocity is proposed. The performance of the proposed STC, DTC, and integrated systems is evaluated by carrying out simulations for different operating conditions and some experimental work. The design of a second-generation narrow tilting vehicle on which the developed control system has been implemented is presented.     

A fundamental investigation of tilt control systems for narrow commuter vehicles

One way of addressing traffic congestion is by efficiently utilizing the existing highway infrastructure. Narrow tilting vehicles that need a reduced width lane can be part of the solution if they can be designed to be safe, stable, and easy to operate. In this paper, a control system that stabilizes the tilt mode of such a vehicle without affecting the handling of the vehicle is proposed. This control system is a combination of two different types of control schemes known as steering tilt control (STC) and direct tilt control (DTC) systems. First, different existing variations of both STC and DTC systems are considered and their shortcomings analysed. Modified control schemes are then suggested to overcome the deficiencies. Then a new method of integrating these two control schemes that guarantees smooth switchover between the controllers as a function of vehicle velocity is proposed. The performance of the proposed STC, DTC, and integrated systems is evaluated by carrying out simulations for different operating conditions and some experimental work. The design of a second-generation narrow tilting vehicle on which the developed control system has been implemented is presented.     

基于前景理论和TOPSIS的船舶航路选择决策方法

为使船舶航路选择决策能够体现决策者个体主观偏好特征,研究一种前景理论与逼近理想解(TOPSIS)相结合的决策方法.根据航路选择特征,定义航路选择决策的价值函数并构建前景价值矩阵,然后考虑船型差异,设置不同的参考点.应用TOPSIS的基本思路,通过各指标的属性值到正、负理想解的距离求出各航路选择方案相对接近度,考虑决策者对损失敏感程度的差异性,按照接近度对备选方案分别进行优劣排序.以某港口3条进出港航路方案为例进行分析,研究不同船型在不同损失敏感程度下的航路选择决策.研究结果表明,决策者不同的个体主观偏好下航路选择最优方案会呈现差异,说明决策者的主观偏好对其航路选择具有较大的影响.      

Conceptual design of economic hybrid vehicle system using clutchless geared smart transmission

Most hybrid vehicles employ the continuously variable transmission (CVT or eCVT) currently as their choice of the transmissions. Recently, an automated geared transmission (AGT) or dual clutch transmission (DCT) is being tried for some hybrid vehicles for the better fuel economy than the CVT hybrid. However, this AGT or DCT is using automated clutches which require the hydraulic power in addition to the slippage in the clutch plate invoking some energy loss as well as wear. Also, they require a motor with significant power to match to the engine power. The clutchless geared smart transmission (CGST) has no clutch and the clutch function is performed by a planetary gear system controlled by a motor-generator. The hybrid vehicles proposed here using CGST may have some merits in durability, fuel efficiency, and cost since they do not have clutches. The motor used for the clutch function can be also working for power merge with the engine in propelling the vehicle. The proposed hybrid system can be either mild hybrid or full hybrid by adopting a different capacity of battery with much smaller motor-generator due to the planetary gear system compared to the other type hybrid vehicles. In this study, the prospects of newly proposed CGST hybrid system are examined in practical aspects compared with AGT hybrid or DCT hybrid systems.     

Development of a semi-empirical friction model in automotive driveshaft joints

High speed and sport utility vehicles with large joint articulation angle demand lower friction in automotive driveshaft joints to meet noise and vibration comfort levels. Thus a more thorough understanding of internal friction characteristics and mechanisms is required. In this paper, a friction model in automotive driveshaft joints was developed through the use of test data from an instrumented Constant Velocity (CV) joint friction apparatus with actual driveshaft assemblies. Experiments were conducted under different realistic operating conditions of oscillatory speeds, CV joint articulation angles, lubrication, and torque. The experimental data was used to develop a physics-based semi-empirical CV joint internal friction model as a function of different CV joint operating parameters. It was found that the proposed friction model captures the experimental results well. Also the friction model estimates the generated axial force (GAF) in tripod CV joints well, which is the main source of force that causes vehicle vibration problems.     

An optimal torque distribution control strategy for four-independent wheel drive electric vehicles

In this paper, an optimal torque distribution approach is proposed for electric vehicle equipped with four independent wheel motors to improve vehicle handling and stability performance. A novel objective function is formulated which works in a multifunctional way by considering the interference among different performance indices: forces and moment errors at the centre of gravity of the vehicle, actuator control efforts and tyre workload usage. To adapt different driving conditions, a weighting factors tuning scheme is designed to adjust the relative weight of each performance in the objective function. The effectiveness of the proposed optimal torque distribution is evaluated by simulations with CarSim and Matlab/Simulink. The simulation results under different driving scenarios indicate that the proposed control strategy can effectively improve the vehicle handling and stability even in slippery road conditions.     

New Optimal Power Management Strategy for Series Plug-In Hybrid Electric Vehicles

Recently Plug-in hybrid electric vehicles (PHEVs) have gained increasing attention due to their ability to reduce the fuel consumption and emissions. In this paper a new efficient power management strategy is proposed for a series PHEV. According to the battery state of charge (SOC) and vehicle power requirement, a new rule-based optimal power controller with four different operating modes is designed to improve the fuel economy of the vehicle. Furthermore, the teaching-learning based optimization (TLBO) method is employed to find the optimal engine power and battery power under the specified driving cycle while the fuel consumption is considered as the fitness function. In order to demonstrate the effectiveness of the proposed method, four different driving cycles with various numbers of driving distances for each driving cycle are selected for the simulation study. The performance of the proposed optimal power management strategy is compared with the rule-based power management method. The results verify that the proposed power management method could significantly improve the fuel economy of the series PHEV for different driving conditions.     

Two-port network based bilateral control of a steer-bywire system

Steer-by-wire (SBW) system which is characterized by variable steering feel, better active safety, unmanned drive, has been widely studied to realize a distinctive driving experience. Control strategy acts as a key part of SBW system to achieve the goals. In this paper, a control strategy by bilateral control structure for steer-by-wire system is proposed. To make SBW system has the same function of conventional steering systems, the controller is designed to realize desired tracking control and realistic road feel feedback. The control of position and torque for each actuator is taken as two ports for the control network. Based on different control loop, two kinds of bilateral control is investigated respectively. The hardwarein- the-loop experiment platform of SBW is developed by the reconfiguration of electric power steering system. The test results are compared to show the performance of different control loops.     

基于双参数法和加权残值法的锚拉抗滑桩内力分析

由于锚拉抗滑桩作为一种新型抗滑支挡结构,还没有一种规范的方法对其内力设计计算方法进行说明.于是基于双参数法和加权残值法原理,引入B样条函数作为试函数,提出了一种计算锚索抗滑桩全桩内力的新方法.该方法将锚拉力作用于桩顶,考虑各种桩底支承条件,针对受荷段和锚固段控制微分方程的不同,采用子域最小二乘配点加权残值法,得到了全桩内力计算的普遍计算程式,并编制了相应计算程序.同时此法可对全桩进行整体分析,无需对抗滑桩分滑动面上下两部分分别进行计算,也可考虑桩顶位移与锚索水平位移相协调.将本方法应用于2个工程实例的分析,并与传统的查表法和有限差分法进行比较,分析计算表明该法只需划分极为稀疏的网格就可达到很高的计算精度,而且计算所费时间极短,可大大提高计算效率.     

基于利用率和跑道占用时间的军用机场快速出口滑行道位置优化模型

现行快速出口滑行道位置确定模型常以最小跑道占用时间为唯一目标，主要应用对象为民用机场，未能有效解决多机种、多运行模式下的军用机场快速出口滑行道位置确定问题。针对这个缺陷，基于综合利用率和综合跑道占用时间这2个指标，建立了综合考虑双指标的军用机场快速出口滑行道位置优化模型。以某军用机场飞行区构型为背景，以4种飞机为对象，结合该机场2种年架次比，在不同飞机着陆滑跑距离分布概率密度函数基础上，计算了不同位置快速滑行道出口对应的利用率，在此基础上得到了快速出口滑行道综合利用率。针对利用率大于90%的快速出口滑行道，应用贪心算法迭代不同快速出口滑行道的跑道占用时间，并通过加权计算得到综合跑道占用时间。基于综合利用率和综合跑道占用时间，确定出了快速出口滑行道数量和位置，给出了建议的方案，并进一步分析了年架次比改变对快速出口滑行道位置的影响。结果表明:与仅以利用率或最小跑道占用时间为优化目标的2种传统模型相比，应用优化模型提出的快速出口滑行道设计方案，在2种年架次比下使跑道占用时间分别缩短18.42，34.82 s，效率分别提高34.2%，40.6%。      

车载动力电池液体冷却非线性优化方法研究

电动汽车动力电池散热需求会受到外部环境温度、风速和负载电流变化等因素的影响,如果不及时散热,动力电池的温度会迅速攀升,进而影响电动汽车的驾驶性和安全性。基于此提出一种锂离子电池非线性冷却优化方法。首先,通过对锂离子电池生热、散热机理分析,建立考虑传热系数随冷却液流速变化的锂离子电池集中热模型,通过电池特性测试试验确定电池内阻和熵热系数等热物性参数,并与AMESim模型对比,验证模型的有效性。然后,基于电池冷却系统非线性和易受负载电流变化影响的特征,提出一种考虑电池冷却系统的稳态特性以及参考变量前馈功能和闭环反馈消除静态误差机制的非线性冷却优化方法,并对其稳定性和鲁棒性进行研究。仿真结果表明:在NEDC-HWFET-US06组合工况下,非线性冷却优化方法调节下的电池温度与目标温度的最大偏差较PID方法减小了0.8 K,并且冷却过程的能耗降低了6.3%,具有更好的调节效果。     

融合深度反残差与注意力机制的山区高速公路事故严重程度预测模型

山区高速公路事故严重程度预测对保障交通安全具有重大意义.针对现有事故严重程度预测模型存在准确率低、泛化性差等问题,考虑到深度卷积神经网络可以高效处理图像问题,为此将事故影响因素图像化,提出一种融合深度反残差与注意力机制的山区高速公路事故严重程度预测模型.该模型首先采用相关性分析确定影响交通事故严重程度的因素,依据严重程...     

基于车用柴油机不平衡数据集的故障识别组合模型

基于车用柴油机的不平衡数据集,根据对应故障发生频次高与低,将模型建立对象分为样本丰富的大数据量故障与样本集不完备的小数据量故障两种。面向前者,基于XGBoost (Extreme Gradient Boosting)分类算法构建故障识别模型,面向后者,基于模糊神经网络构建故障识别模型,然后针对两类模型进行参数调节以获得最优效果,并分别建立评估机制。模型评估结果表明,该故障识别组合模型能够较为精确、全面地识别大多数故障种类,是一种对数据量要求不高且总识别率超过80%的多适应性识别模型算法,可作为汽车维保工作中的重要工具使用。     

岩溶隧道涌突水原因分析及治理技术探讨

对岩溶发育特征与涌突水的关系作了深入介绍并给出了判断标准,提出岩溶涌水与气温、降雨量和降雨强度、施工引起的应力分布等因素有关,通过数值模拟和理论分析阐述了岩溶突水的止水岩柱受拉破坏、裂隙剪切破坏、裂隙水力扩张、块体失稳破坏等突水机理,并对突水压力和突水量的估算和岩溶治理技术做了介绍。