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.     

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.     

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

ＥＸＰＲＥＳＳＩＯＮＣＬＯＮＩＮＧＯＦＡＰＲＯＴＥＣＴＩＶＥＬＥＩＳＨＭＡＮＩＡＡＮＴＩＧＥＮＥ．Ｍｏｕｇｎｅａｕ，Ｆ．Ａｌｔａｒｓ，Ａ．Ｅ．Ｗａｋｉｌ，ＺｈｅｎｇＳｈｉｃｈｕｎ；Ｔ．Ｃｏｐｐｏｌａ，Ｚ．Ｗａｎｇ，Ｒ．Ｗａｌｄｍａｎｎ，Ｒ．Ｍ．Ｌｏｃ...     

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     

轨道交通的产学研新模式——麻省理工学院/波多黎各地铁项目简介

波多黎各于20世纪90年代初才开始发展城市轨道交通,但因为善于利用后发优势,通过产学研的结合,充分考虑了地铁工程的多学科特性,走出一条有波多黎各特色的道路,成为美国和国际公共交通领域技术交流的典范.主要介绍了其产学研的项目,它由负责地铁项目的政府主管部门、波多黎各大学和美国麻省理工学院共同组织实施,历经地铁前期规划、修建、调试、运营和政策分析等全部过程,共13年的时间.这种方式提高了工程的质量和施工效率,推动当地轨道交通辅助产业的发展,加快了新技术的应用及研究,培养了一大批轨道交通的规划运营人才,为拉丁美洲城市轨道交通建设提供了一个新模式.波多黎各的经验对于我国当前的城市轨道交通建设同样具有借鉴意义.     

模拟流体-弹性结构相互作用分析的ISPH-TLSPH耦合方法研究（英文）

A fully Lagrangian algorithm for numerical simulation of fluid-elastic structure interaction(FSI) problems is developed based on the Smoothed Particle Hydrodynamics(SPH) method. The developed method corresponds to incompressible fluid flows and elastic structures. Divergence-free(projection based) incompressible SPH(ISPH) is used for the fluid phase, while the equations of motion for structural dynamics are solved using Total Lagrangian SPH(TLSPH) method.The temporal pressure noise can occur at ...