Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion

In this paper, the nonlinear dynamic equations of motion of the three dimensional multibody tracked vehicle systems are developed, taking into consideration the degrees of freedom of the track chains. To avoid the solution of a system of differential and algebraic equations, the recursive kinematic equations of the vehicle are expressed in terms of the independent joint coordinates. In order to take advantage of sparse matrix algorithms, the independent differential equations of the three dimensional tracked vehicles are obtained using the velocity transformation method. The Newton-Euler equations of the vehicle components are defined and used to obtain a sparse matrix structure for the system dynamic equations which are represented in terms of a set of redundant coordinates and the joint forces. The acceleration solution obtained by solving this system of equations is used to define the independent joint accelerations. The use of the recursive equations eliminates the need of using the iterative Newton-Raphson algorithm currently used in the augmented multibody formulations. The numerical difficulties that result from the use of such augmented formulations in the dynamic simulations of complex tracked vehicles are demonstrated. In this investigation, the tracked vehicle system is assumed to consist of three kinematically decoupled subsystems. The first subsystem consists of the chassis, the rollers, the sprockets, and the idlers, while the second and third subsystems consist of the tracks which are modeled as closed kinematic chains that consist of rigid links connected by revolute joints. The singular configurations of the closed kinematic chains of the tracks are also avoided by using a penalty function approach that defines the constraint forces at selected secondary joints of the tracks. The kinematic relationships of the rollers, idlers, and sprockets are expressed in terms of the coordinates of the chassis and the independent joint degrees of freedom, while the kinematic equations of the track links of a track chain are expressed in terms of the coordinates of a selected base link on the chain as well as the independent joint degrees of freedom. Singularities of the transformations of the base bodies are avoided by using Euler parameters. The nonlinear three dimensional contact forces that describe the interaction between the vehicle components as well as the results of the numerical simulations are presented in the second part of this paper.     

An Optimal Self-Tuning Controller for an Active Suspension

An optimal self-tuning control algorithm is presented for vehicle suspension design. The controller, incorporating a weighting controller, state observer and parameter estimator, is designed according to linear optimal control (LQG) theory. Based on the updated estimates of vehicle parameters and states, and the adapted weighting parameters, the LQG controller provides the optimal set of gains over different operating conditions. The feasibility and effectiveness of the proposed self-tuning system was investigated and proved by simulation studies.     

采用排气循环技术改善车用柴油机NOx的排放特性

在增压中冷直喷式柴油机上，通过采用排气再循环（ＥＧＲ）的技术措施，分析研究了ＥＧＲ在不同条件下对柴油机ＮＯｘ的排放特性及其工作过程的影响，指出了ＥＧＲ抑制ＮＯｘ排放量的原理和具体效率。     

内燃机活塞-缸套-活塞环系统工作状态的识别方法

提出了一种基于证据理论方法的内燃机活塞—缸套—活塞环系统工作状态的识别方法。通过搭建试验台架,从实车试验中获取曲轴箱压力信号和机身振动加速度信号;提取试验特征值,组建模型样本和试验样本,并运用证据理论信息融合方法对内燃机的工作状态进行识别。研究结果表明:应用证据理论信息融合方法融合曲轴箱压力信号和机身振动加速度信号,进而识别活塞—缸套—活塞环系统的工作状态这一方法有效、可行。     

基于FWD检测结果旧路地基脱空状况的模糊评定

总结了利用FWD检测旧路基层脱空的方法,分析其各自的优缺点。在此基础上优化评价方法,引入模糊思想,提出一种新的地基脱空评价方法—模糊评定法,详细介绍模糊评定模型的建立方法和过程,并结合G325国道粤境开平段路面大修改善工程,探讨利用FWD检测结果现场模糊评定旧混凝土路面地基的脱空状态。工程实践表明,该方法取得了很好的实用效果,有效地指导了路面大修施工。     

机动车行驶速度检测系统的设计及其在高速公路交通管理中的应用

在目前先进的视频检测技术、车牌号码识别技术、无线通信网络技术、GPS授时技术、计算机技术等高新技术的基础上，对设计出适用于广东省现行高速公路实际的机动车行驶速度检测系统加以阐述，并对该系统与其他应用系统相结合，投入交通监控的应用情况加以介绍。     

大跨径连续刚构桥的温度效应分析

以魏家洲特大桥为例,按照我国公路桥涵设计规范、英国BS5400规范、新西兰规范确定不同的计算模式,对大跨径连续刚构桥进行温度效应分析,得出：温度应力在大跨径连续刚构桥整个桥梁设计中占有很大的比重,且采用不同的温度梯度计算模式,所得到的梁内温度应力值相差较大,甚至出现异号的温度应力.     

Wheel-rail contact models for vehicle system dynamics including multi-point contact

Advanced modelling of rail vehicle dynamics requires realistic solutions of contact problems for wheels and rails that are able to describe contact singularities, encountered for wheels and rails. The basic singularities demonstrate themselves as double and multiple contact patches. The solutions of the contact problems have to be known practically in each step of the numerical integration of the differential equations of the model. The existing fast, approximate methods of solution to achieve this goal have been outlined. One way to do this is to replace a multi-point contact by a set of ellipses. The other methods are based on so-called virtual penetration. They allow calculating the non-elliptical, multiple contact patches and creep forces online, during integration of the model. This allows nearly real-time simulations. The methods are valid and applicable for so-called quasi-Hertzian cases, when the contact conditions do not deviate much from the assumptions of the Hertz theory. It is believed that it is worthwhile to use them in other cases too.     

Fuzzy-logic applied to yaw moment control for vehicle stability

In this paper, we propose a new yaw moment control based on fuzzy logic to improve vehicle handling and stability. The advantages of fuzzy methods are their simplicity and their good performance in controlling non-linear systems. The developed controller generates the suitable yaw moment which is obtained from the difference of the brake forces between the front wheels so that the vehicle follows the target values of the yaw rate and the sideslip angle. The simulation results show the effectiveness of the proposed control method when the vehicle is subjected to different cornering steering manoeuvres such as change line and J-turn under different driving conditions (dry road and snow-covered).     

Study on dynamic characteristics of vehicle gearbox under multi-boundary conditions

With the development of vehicle gearbox to high-power-density and high-speed, how to predict and optimize the dynamic characteristics of vehicle gearbox becomes increasingly prominent. Aiming at the vehicle gearbox, this paper comprehensively and deeply studies the dynamic characteristics under the multi-boundary conditions. The generation mechanism of the multi-source excitations triggering the gearbox vibration is analyzed firstly. The vibration transfer path of the gearbox is explored. Secondly, the engine excitation, the gear meshing excitation and the bearing support load are numerically calculated. According to the finite element method, a fluid-solid coupling finite element model of the gearbox body is established to predict the gearbox dynamic responses based on the Galerkin method and the Hamiltonian variational principle. Finally, the effects of the excitation condition, oil height and reinforcement forms on the vibration responses of the gearbox body are thoroughly studied by simulation. The analysis indicates that it not only helps to modify and improve the method of forecasting the gearbox dynamic response, and also provides the theoretical and technical guidance for the gearbox design and optimization.