Heave-Pitch-Roll Dynamics of Flexible Vehicle in Variable Velocity Run

Analysis for response statistics evaluation of a flexible vehicle travelling with variable velocity over nonhomogeneously profiled flexible track is presented with a heave-pitch-roll model. The vehicle body is idealised as a flexible member with variable cross-section, inertia, damping and stiffness distributions. The vehicle may also have variable section slender elastic attachments. Coupled dynamics with rigid body heave-pitch-roll modes and elastic bending-torsion modes of the vehicle body along with coupled bending-torsion modes of the attachments are considered. Equivalent linear suspension system characteristics are employed for developing the analysis. Numerical results are presented for an aircraft with tricycle landing gear arrangements and comparison is made with other models.     

Heave-Pitch-Roll Dynamics of Flexible Vehicle in Variable Velocity Run

Analysis for response statistics evaluation of a flexible vehicle travelling with variable velocity over nonhomogeneously profiled flexible track is presented with a heave-pitch-roll model. The vehicle body is idealised as a flexible member with variable cross-section, inertia, damping and stiffness distributions. The vehicle may also have variable section slender elastic attachments. Coupled dynamics with rigid body heave-pitch-roll modes and elastic bending-torsion modes of the vehicle body along with coupled bending-torsion modes of the attachments are considered. Equivalent linear suspension system characteristics are employed for developing the analysis. Numerical results are presented for an aircraft with tricycle landing gear arrangements and comparison is made with other models.     

湿滑条件下基于真实纹理道面的机轮着陆滑水行为解析

湿滑条件下的着陆滑跑是航空事故的高发区。为较为真实地反映湿滑条件下机轮的滑跑行为，需要建立包含真实道面纹理特征的滑跑模型。在提取真实道面形貌特征的基础上，通过解析湿滑条件下的机轮滑跑行为进一步反算其遵循的摩擦关系，以获得更加接近真实条件的摩擦模型；然后运用欧拉-拉格朗日（CEL）算法建立基于真实纹理形貌特征的道面-水膜-轮组的流固耦合模型，以摩擦因数、动水压力为分析指标来探讨速度、滑移率、水膜厚度以及道面类型对机轮滑水行为的作用规律，进而为提高飞机着陆的安全性提供理论参考。研究结果表明：A320型飞机着陆可能滑漂的危险区段为刚刚着陆阶段，随着速度的降低，道面支撑力会逐渐增大，而动水压力将逐渐减小；随着滑移率的增加，动水压力呈现出先减小后增大的趋势，当滑移率为0.15时，动水压力达到最小；关于水膜厚度的影响，水膜厚度小于3 mm时不会发生滑漂，而水膜厚度大于10 mm时极可能发生滑漂；当水膜厚度为7 mm时动水压力与飞机滑行速度、滑移率的相关性较大，可视为机轮发生滑漂的临界状态；最后，在其他条件一致的情况下，各道面类型的抗滑性排序为SMA > OGFC > AC > 平滑道面。因此，湿滑条件下，控制飞机着陆的初始速度和滑移率是减小航空事故、提高机场安全运行的有力保障。     

Aeroelastic Effects in Multibody Dynamics

To enable a realistic assessment of the aeroelastic phenomena of aircraft, a simultaneous application of computational fluid dynamics (CFD), computational structural mechanics and flight mechanics has to be performed. Each discipline has developed powerful specialized tools which have to be adapted for multidisciplinary applications. The combination of CFD and elastic multibody systems is well suited for the simulation of a range of aircraft applications, especially for aircraft ground dynamics. Approaches to a coupling of elastic multibody systems and computational fluid dynamics have been performed using close coupling, that is a modal approach, and loose coupling, that is by co-simulation. In the article the applied programs and the coupling methods are presented. Advantages and limits of using multibody simulation as compared to the direct use of FEA methods for the representation of structural dynamics are discussed. Results of coupled steady and unsteady simulations are presented. Finally, an approach to the aeroelastic trim problem is shown.     

Aeroelastic Effects in Multibody Dynamics

To enable a realistic assessment of the aeroelastic phenomena of aircraft, a simultaneous application of computational fluid dynamics (CFD), computational structural mechanics and flight mechanics has to be performed. Each discipline has developed powerful specialized tools which have to be adapted for multidisciplinary applications. The combination of CFD and elastic multibody systems is well suited for the simulation of a range of aircraft applications, especially for aircraft ground dynamics. Approaches to a coupling of elastic multibody systems and computational fluid dynamics have been performed using close coupling, that is a modal approach, and loose coupling, that is by co-simulation. In the article the applied programs and the coupling methods are presented. Advantages and limits of using multibody simulation as compared to the direct use of FEA methods for the representation of structural dynamics are discussed. Results of coupled steady and unsteady simulations are presented. Finally, an approach to the aeroelastic trim problem is shown.     

飞机牵引滑行入港安全运动路径生成及其轨迹跟踪控制方法

针对飞机紧急降落后无法继续利用自身动力滑行入港场景，研究使用牵引车牵引其滑行入港的方式，考虑牵引滑入时机轮与机场跑道及滑行道边缘的安全净距，分别提出适用于机型-机场匹配时的牵引车-飞机系统的铰接点过中心线(HPOC)法和不匹配时的飞机主起落架几何中心过中心线(GCOC)法，并基于2种方法建立运动学模型，在净距及飞机前轮转角约束下对系统转弯滑行入港运动进行轨迹规划。基于GCOC法建立连续非线性系统的轨迹跟踪模型，通过线性二次调节器(LQR)对不同权重系数及存在初始偏差的轨迹跟踪问题进行了研究。结果表明:牵引车以HPOC法牵引飞机在与其机型不匹配的机场滑行入港时，机轮会发生碰撞危险；而采用GCOC法时其运动轨迹可以满足跑道及滑行道边缘的安全净距要求。在对系统进行轨迹跟踪控制时，当将飞机主起落架几何中心的横、纵坐标权重系数Q₁、Q₂及表示飞机姿态的角度权重系数Q₃均设为100，而表示牵引车姿态的角度权重系数Q₄设为0时，即:Q＝(100，100，100，0)，该方法可将实际牵引滑行入港轨迹与参考轨迹的偏差保持在0.05~0.1 m以内，且能够在10 s左右抑制系统状态变量误差，并使控制变量达到稳定；同时能够在12 s左右修正系统的初始偏差，相较于单机偏差修正的10 s，具有可接受的效果。      

进港飞机调度的精华自适应遗传算法设计

对进港飞机进行合理调度，是空中交通流量管理的一个重要研究内容。基于精华自适应遗传算法，实现了单跑道降落飞机调度问题的求解，在不违反飞机间隔要求的情况下合理安排飞机的降落次序，给出各飞机经过优化的着陆时间，减少总的延误成本。仿真结果表明，所提出的方法计算效率高，实用可行，明显优于FCFS算法。     

AMESim仿真软件在汽车机电技术中的应用

AMESim是一款专业的液压系统仿真软件,可进行液压系统、机电系统、伺服控制、热计算等多方面的仿真。文章介绍了AMESim软件基本仿真环境,及其在汽车机电、汽车发动机、自动驾驶等方面的应用。并对某型号的汽车发动机齿轮组进行了仿真模型的建立,通过转速输入控制,得到了齿轮组末端转速响应情况,可对发动机齿轮动力学进行预演仿真分析。将AMESim应用于汽车机电系统设计中,为其设计及优化提供仿真环境和设计参考。     

飞机降落冲击荷载作用下高铁隧道疲劳寿命及抗减振措施研究

为解决在上方飞机降落冲击荷载作用下高铁隧道衬砌结构抗减振问题，依托时速350 km成自高铁下穿天府机场东二跑道的区间隧道工程，通过数值模拟研究在上方飞机降落冲击荷载作用下高铁隧道衬砌结构的疲劳寿命以及相应的抗减振措施。研究表明： 1）B747-400型飞机在单次重着陆过程中，高铁隧道衬砌位移峰值为1.2 mm，附加第一主应力峰值为328 kPa，附加第三主应力峰值为417 kPa，均出现在拱顶位置处； 2）在长期飞机重着陆作用下，衬砌拱顶部位最早出现疲劳损伤，其次为边墙部位，疲劳寿命为88年，建议通过提升自身衬砌混凝土强度等级或设置减振层等方式加以改善； 3）采用提高衬砌结构混凝土强度等级的方法抗振效果显著，而采用泡沫混凝土减振层的方法则需设置一定厚度后才起作用，建议减振层厚度为0.5 m，弹性模量控制在0.7 GPa以上，方可达到隧道设计使用年限规定要求。     

汽车动力传动系实时动力学仿真模型

将动力传动系视为刚体系统,建立适用于开发型驾驶模拟器的动力传动系4自由度实时动力学仿真模型,输入驾驶员的点火开关信号、油门踏板信号、离合器踏板信号及挡位信号,在一定的传动系各部件及驱动轮的运动状态下,传动系模型可向整车动力学模型输出驱动轮上的驱动力矩,从而完成车辆的实时动力学仿真,并进一步向驾驶模拟器输送整车的实时运动状态。仿真与动力性试验的对比结果表明,该模型不但具有实时性,而且可通过整车模型使开发型驾驶模拟器为驾驶员提供逼真的整车运动响应。     

Locomotive dynamic performance under traction/braking conditions considering effect of gear transmissions

Traction or braking operations are usually applied to trains or locomotives for acceleration, speed adjustment, and stopping. During these operations, gear transmission equipment plays a very significant role in the delivery of traction or electrical braking power. Failures of the gear transmissions are likely to cause power loses and even threaten the operation safety of the train. Its dynamic performance is closely related to the normal operation and service safety of the entire train, especially under some emergency braking conditions. In this paper, a locomotive–track coupled vertical–longitudinal dynamics model is employed with considering the dynamic action from the gear transmissions. This dynamics model enables the detailed analysis and more practical simulation on the characteristics of power transmission path, namely motor–gear transmission–wheelset–longitudinal motion of locomotive, especially for traction or braking conditions. Multi-excitation sources, such as time-varying mesh stiffness and nonlinear wheel–rail contact excitations, are considered in this study. This dynamics model is then validated by comparing the simulated results with the experimental test results under braking conditions. The calculated results indicate that involvement of gear transmission could reveal the load reduction of the wheelset due to transmitted forces. Vibrations of the wheelset and the motor are dominated by variation of the gear dynamic mesh forces in the low speed range and by rail geometric irregularity in the higher speed range. Rail vertical geometric irregularity could also cause wheelset longitudinal vibrations, and do modulations to the gear dynamic mesh forces. Besides, the hauling weight has little effect on the locomotive vibrations and the dynamic mesh forces of the gear transmissions for both traction and braking conditions under the same running speed.     

面向节油减排的平行多跑道混合运行机场停机位分配模型

针对因隔离平行运行模式与不合理跑道机位使用方案引起的航空器场面滑行排放过高的停机位分配问题，在传统停机位分配模型基础上，研究了多跑道运行模式对停机位分配方案的影响，基于空管机场2方协同运行与就近起降运行模式，研究了面向平行多跑道混合运行的停机位分配模型。通过引入航空器空中走向约束与航班接续约束，以减少采用航班横跨场面运行这个过长滑行距离的停机位分配方案。在此基础上，考虑不同机型发动机燃油流率对分配方案燃油消耗及碳排放的影响，以最小化燃油消耗为目标建立整数规划数学模型，并结合天津机场典型时段运行数据进行仿真验证。仿真结果表明:与原计划运行结果相比，优化策略的滑行距离与碳排放分别减少了11.9% 和13.3%，说明通过优化多跑道运行机场的停机位跑道使用方案可有效减少滑行距离与油耗，达到节油减排的目的。      

An Analysis of a Civil Aircraft Main Gear Shimmy Failure

A dynamical model is presented to analyse the stability of motion of the two-wheeled 'Fokker F.28-like' landing gear including tyres. The model is equally applicable to similar landing gears. The influence of the introduction of a specially designed torsional damper on the dynamical behaviour of the landing gear-tyre combination is investigated. Results of the stability calculations are supported by test results.     

Modelling,simulation and applications of longitudinal train dynamics

ABSTRACT

Significant developments in longitudinal train simulation and an overview of the approaches to train models and modelling vehicle force inputs are firstly presented. The most important modelling task, that of the wagon connection, consisting of energy absorption devices such as draft gears and buffers, draw gear stiffness, coupler slack and structural stiffness is then presented. Detailed attention is given to the modelling approaches for friction wedge damped and polymer draft gears. A significant issue in longitudinal train dynamics is the modelling and calculation of the input forces – the co-dimensional problem. The need to push traction performances higher has led to research and improvement in the accuracy of traction modelling which is discussed. A co-simulation method that combines longitudinal train simulation, locomotive traction control and locomotive vehicle dynamics is presented. The modelling of other forces, braking propulsion resistance, curve drag and grade forces are also discussed. As extensions to conventional longitudinal train dynamics, lateral forces and coupler impacts are examined in regards to interaction with wagon lateral and vertical dynamics. Various applications of longitudinal train dynamics are then presented. As an alternative to the tradition single wagon mass approach to longitudinal train dynamics, an example incorporating fully detailed wagon dynamics is presented for a crash analysis problem. Further applications of starting traction, air braking, distributed power, energy analysis and tippler operation are also presented.     

Track Induced Heave-Pitch Dynamics of Vehicles with Variable Section Flexible Attachments

Multi-wheeled vehicles travelling on a rough track are subjected to unequal inputs at different wheel locations and are set to oscillate in various combinations of possible modes. Elastic bending and torsional deformations may be critical in design for vehicles with slender flexible body and components. In the present study, an analytical approach has been developed to study the track induced heave-pitch dynamics of a linear vehicle model composed of lumped masses and slender, non uniform section elastic attachments in coupled bending-torsion modes. Exact modal solutions for the variable section beam member with general end conditions have been derived and utilised to develop the second order response statistics for the system. Results are presented for an aircraft model with tapered flexible wings during ground runs on a non homogeneously profiled track supported by elastic foundation.     

Models of Wheel Contact Dynamics: An Analytical Study on the In-Plane Transient Responses of a Brush Model

This paper deals with the dynamics of the contact between the pneumatic tyre and the ground, in particular with reference to braking manoeuvres of aircraft. The transient response of the braking force is analytically evaluated in terms of the transfer functions that link the variation of the braking force to the variation of physical inputs affecting the interaction between the tread and the ground, in the longitudinal plane. The proposed models have been formulated in order to account for the effects of different reference conditions of steady braking on gains, zeros and poles of such transfer functions.     

Models of Wheel Contact Dynamics: An Analytical Study on the In-Plane Transient Responses of a Brush Model

This paper deals with the dynamics of the contact between the pneumatic tyre and the ground, in particular with reference to braking manoeuvres of aircraft. The transient response of the braking force is analytically evaluated in terms of the transfer functions that link the variation of the braking force to the variation of physical inputs affecting the interaction between the tread and the ground, in the longitudinal plane. The proposed models have been formulated in order to account for the effects of different reference conditions of steady braking on gains, zeros and poles of such transfer functions.     

Design of a compact 18-speed epicyclic transmission for a personal mobility vehicle

This paper describes the design and shifting dynamics of a novel and small-sized transmission which composed of three epicyclic gear modules and a hub shaft in conjunction with several clutches. The proposed epicyclic gear train can be used in a personal mobility vehicle such as an electric utility vehicle and small car, etc. And it is distinguished from others for its small size, light weight, high efficiency, and wide speed range up to 18 gear steps. In this paper, its dynamic behavior is dealt with in order to ensure the automatic and robust shifts according to the shift commands, focused on the shift mechanism design. First the overall structure and operating principles of the transmission are described in detail. Based on the CAD data of whole components, a detailed multibody dynamic model is built using ADAMS software which can analyze the dynamic behavior of a mechanical system. Then numerical simulations are performed during the shift and whole operating period. From the simulation and experiment results, the overall performance and operating principles of the 18 speed epicyclic transmission are discussed and the design of shift device is optimized to ensure the robust shift finally.     

Simulation model of an electrohydraulic-actuated double-clutch transmission vehicle: modelling and system design

Automated and manual transmissions are the main link between engine and powertrain. The technical term when the transmission provides the desired torque during all possible driving conditions is denoted as powertrain matching. Recent developments in the last years show that double-clutch-transmissions (DCTs) are a reasonable compromise in terms of production costs, shifting quality, drivability and fuel efficiency. They have several advantages compared to other automatic transmissions (AT). Most DCTs nowadays consist of a hydraulic actuation control unit, which controls the clutches of the gearbox in order to induce a desired drivetrain torque into the driveline. The main functions of hydraulic systems are manifold: they initiate gear shifts, they provide sufficient oil for lubrication and they control the shift quality by suitably providing a desired oil flow or pressure for the clutch actuation. In this paper, a mathematical model of a passenger car equipped with a DCT is presented. The objective of this contribution is to get an increased understanding for the dynamics of the hydraulic circuit and its coupling to the vehicle drivetrain. The simulation model consists of a hydraulic and a mechanical domain: the hydraulic actuation circuit is described by nonlinear differential equations and includes the dynamics of the line pressure and the proportional valve, as well as the influence of the pressure reducing valve, pipe resistances and accumulator dynamics. The drivetrain with its gear ratios, moments of inertia, torsional stiffness of the rotating shafts and a simple longitudinal vehicle model represent the mechanical domain. The link between hydraulic and mechanical domain is given by the clutch, which combines hydraulic equations and Newton's laws. The presented mathematical model may not only be used as a simulation model for developing the transmission control software, it may also serve as a virtual layout for the design process phase. At the end of this contribution a parametric study shows the influence of the mechanical components, the accumulator and the temperature of the oil.     

A real-time multi-vehicle simulator for longitudinal controller design

This paper presents a new multi-vehicle simulator for platoon simulation. The main new feature of the developed simulator is a network structure for the real-time simulation of multiple vehicles, each with a detailed powertrain and engine model. It has a small initial delay, which is determined by the number of connected PCs, but the actual simulation is performed and displayed in real-time after this initial and one-time delay. Several longitudinal controllers, including a PID controller with gain scheduling, an adaptive controller, and a fuzzy controller, are also implemented in the simulator. Various system parameters can be modified interactively in the simulator screen, which is very useful for simulating a platoon of heterogeneous vehicles, in which vehicles with different dynamics and different longitudinal controllers may be involved. The simulator provides an excellent tool to develop vehicle longitudinal controllers and to study platoon behaviors. The developed simulator is also effective in testing the effects of nonlinearities neglected in the controller design phase, such as actuator delays and gear shifting schedule.