Wheel slip control with torque blending using linear and nonlinear model predictive control

Modern hybrid electric vehicles employ electric braking to recuperate energy during deceleration. However, currently anti-lock braking system (ABS) functionality is delivered solely by friction brakes. Hence regenerative braking is typically deactivated at a low deceleration threshold in case high slip develops at the wheels and ABS activation is required. If blending of friction and electric braking can be achieved during ABS events, there would be no need to impose conservative thresholds for deactivation of regenerative braking and the recuperation capacity of the vehicle would increase significantly. In addition, electric actuators are typically significantly faster responding and would deliver better control of wheel slip than friction brakes. In this work we present a control strategy for ABS on a fully electric vehicle with each wheel independently driven by an electric machine and friction brake independently applied at each wheel. In particular we develop linear and nonlinear model predictive control strategies for optimal performance and enforcement of critical control and state constraints. The capability for real-time implementation of these controllers is assessed and their performance is validated in high fidelity simulation.     

New methodology for fast prediction of wheel wear evolution

In railway applications wear prediction in the wheel–rail interface is a fundamental matter in order to study problems such as wheel lifespan and the evolution of vehicle dynamic characteristic with time. However, one of the principal drawbacks of the existing methodologies for calculating the wear evolution is the computational cost. This paper proposes a new wear prediction methodology with a reduced computational cost. This methodology is based on two main steps: the first one is the substitution of the calculations over the whole network by the calculation of the contact conditions in certain characteristic point from whose result the wheel wear evolution can be inferred. The second one is the substitution of the dynamic calculation (time integration calculations) by the quasi-static calculation (the solution of the quasi-static situation of a vehicle at a certain point which is the same that neglecting the acceleration terms in the dynamic equations). These simplifications allow a significant reduction of computational cost to be obtained while maintaining an acceptable level of accuracy (error order of 5–10%). Several case studies are analysed along the paper with the objective of assessing the proposed methodology. The results obtained in the case studies allow concluding that the proposed methodology is valid for an arbitrary vehicle running through an arbitrary track layout.     

Semi-active control of tracked vehicle suspension incorporating magnetorheological dampers

In past years, the application of magnetorheological (MR) and electrorheological dampers in vehicle suspension has been widely studied, mainly for the purpose of vibration control. This paper presents theoretical study to identify an appropriate semi-active control method for MR-tracked vehicle suspension. Three representative control algorithms are simulated including the skyhook, hybrid and fuzzy-hybrid controllers. A seven degrees-of-freedom tracked vehicle suspension model incorporating MR dampers has been adopted for comparison between the performance of the three controllers. The model differential equations are derived based on Newton's second law of motion and the proposed control methods are developed. The performance of each control method under bump and sinusoidal road profiles for different vehicle speeds is simulated and compared with the performance of the conventional suspension system in time and frequency domains. The results show that the performance of tracked vehicle suspension with MR dampers is substantially improved. Moreover, the fuzzy-hybrid controller offers an excellent integrated performance in reducing the body accelerations as well as wheel bounce responses compared with the classical skyhook and hybrid controllers.     

A fast implementation of MPC-based motion cueing algorithms for mid-size road vehicle motion simulators

The use of dynamic driving simulators is constantly increasing in the automotive community, with applications ranging from vehicle development to rehab and driver training. The effectiveness of such devices is related to their capabilities of well reproducing the driving sensations, hence it is crucial that the motion control strategies generate both realistic and feasible inputs to the platform. Such strategies are called motion cueing algorithms (MCAs). In recent years several MCAs based on model predictive control (MPC) techniques have been proposed. The main drawback associated with the use of MPC is its computational burden, that may limit their application to high performance dynamic simulators. In the paper, a fast, real-time implementation of an MPC-based MCA for 9 DOF, high performance platform is proposed. Effectiveness of the approach in managing the available working area is illustrated by presenting experimental results from an implementation on a real device with a 200?Hz control frequency.     

Geometric-based tyre vertical force estimation and stiffness parameterisation for automotive and unmanned vehicle applications

Advanced empirical, and physical-based tyre models have proven to be accurate for simulating tyre dynamics; however, these tyre models typically require expensive and intensive tyre parameterisation. Recent research into wheeled unmanned ground vehicles requiring vertical force analysis has shown good results using a simple linear spring model for the tyre which demonstrate the continued use for simple tyre models; however, parameterisation of the tyre still remains a challenge when load test equipment is not available. This paper presents a cost-effective tyre vertical stiffness parameterisation procedure using only measured tyre geometry and air pressure for applications where high-fidelity tyre models are unnecessary. Vertical forces calculated through an air volume optimisation approach are used to estimate tyre vertical stiffness. Nine tyres from the literature are compared to evaluate the performance of the vertical force estimation and stiffness parameterisation algorithms. Experimental results on a pair of ATV tyres are also presented.     

The measurement of accessibility: Some preliminary results

This paper presents an analysis of accessibility by private transport, using a Hansen type measure of accessibility. The data base is the 1962 London Travel Survey. The study is confined to car-owning households residing in inner London. A comparison of the patterns of accessibility associated with four measures of areal attractiveness - total employment, retail employment, households and population - is presented. The sensitivity of relative accessibilities to marginal changes in parameter values is analysed. Two aspects of the effect of the zoning system on the measurement of accessibility are investigated: the effects of zonal configuration and zonal aggregation. First, the implications of increasing the size of central area zones is analysed. Second, a comparison of patterns of accessibility calculated at the zonal and district levels is undertaken.[/p]     

Characterization and evolution of spatial density patterns in urban areas

This paper examines the spatial patterns of population density, household automobile ownership and other socio-demographic variables that affect urban travel, as a function of distance from the central city core. Spatial density functions provide a useful characterization of urban structure, and of its evolution when taken at different time intervals. Analysis of the data from four case cities (Austin, Atlanta, Dallas, Phoenix) for 1960, 1970 and 1980 reveals continuing overall dispersion away from the traditional central core, accompanied by the densification of formerly low-density suburbs. This presents implications for high congestion levels in the densifying suburban communities, comparable to those typically associated with the CBD. In addition, the analysis has captured the continuing growth of average household automobile ownership and revealed a distinct spatial pattern that seems to be robust across the case areas considered, as well as within radial corridors in the one case that was so analyzed (Austin).List of symbols Y gross population density in census tractt - X _t distance in miles from the center of tract to the CBD - parameter representing the central business district density - y density gradient parameter - X₀, X₁, X2, and X3 locations of the knots in a three segment division of the x-axis - D_i dummy variable defined for thei-th segment - ₁ normally distributed disturbance term,a _i,b _i,c _i,d _i,i = 1, 2, 3 — parameters to be estimated - A _t area of census tractt     

Impact Analysis of the Reduction Effect for Reducing Joint Position of Stick-slip Fault TunnelEI北大核心

Research purposes: Based on an engineering of traffic tunnel, anti-breaking model experiment of large-scale 1 :30 is carried out under fault dislocation. Reduction effect of three working conditions(working condition A of no reducing joint, B of staggered setting of reducing joint and dislocation surface, C of reducing joint set at dislocation position) is comparatively analyzed by analysis of contact pressure, lining strain and lining stress. The optimal location of reduction joint is explored. Research conclusions:(1)The reduction effect of different position of reducing joint is different, such as A相似文献   

EXPRESSION CLONING OF A PROTECTIVE LEISHMANIA ANTIGEN

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雌激素与盐敏感高血压的关系

目的　进一步探讨植物性雌激素和内源性雌激素对雌性自发性高血压鼠 (SHR)的盐敏感高血压反应的保护作用。方法　对三周龄雌性SHR行卵巢切除术 ,饲以 0 .1mol·L- 1 或 1 .4mol·L- 1 NaCl,含或不含植物性雌激素之食物。 1 0周龄时 ,腹主动脉内植入遥测传感器 ,用“计算机腹主动脉血压遥测系统”2 4h连续测量血压、心率及整体活动。静脉注射六甲双铵阻断交感神经系统活动后 ,记录动脉压和心率反应。结果　食用无论是否富含植物性雌激素的高盐食物 ,动脉血压都明显增高 ,不含植物性雌激素组更甚。交感神经系统活动阻断后 ,引起所有各组鼠夜间动脉压急剧降低。结论　食物中所含之植物性雌激素可降低雌性SHR的盐敏感高血压反应。交感神经系统兴奋性异常在高盐食物引起的血压增高中起重要作用