Design and evaluation of sideslip angle observer for vehicle stability control

This paper presents a method for estimating the vehicle side slip angle, which is considered as a significant signal in determining the vehicle stability region in vehicle stability control systems. The proposed method combines the model-based method and kinematics-based method. Side forces of the front and rear axles are provided as a weighted sum of directly calculated values from a lateral acceleration sensor and a yaw rate sensor and from a tire model according to the nonlinear factor, which is defined to identify the degree of nonlinearity of the vehicle state. Then, the side forces are fed to the extended Kalman filter, which is designed based on the single-track vehicle model associated with a tire model. The cornering stiffness identifier is introduced to compensate for tire force nonlinearities. A fuzzy-logic procedure is implemented to determine the nonlinear factor from the input variables: yaw rate deviation from the reference value and lateral acceleration. The proposed observer is compared with a model-based method and kinematics-based method. An 8 DOF vehicle model and Dugoff tire model are employed to simulate the vehicle state in MATLAB/SIMULINK. The simulation results shows that the proposed method is more accurate than the model-based method and kinematics-based method when the vehicle is subjected to severe maneuvers under different road conditions.     

Requirement-based testing of an automotive ECU considering the behavior of the vehicle

HILS (Hardware In the Loop Simulation) and RBT (Requirement-Based Testing) are widely used to evaluate the performance and reliability of automotive ECUs (Electronic Control Units). The HILS method is used to predict the behavior of ECU-installed vehicles and to evaluate the performance of ECU controllers. RBT evaluates whether the embedded system satisfies the pre-defined requirements. In this study, the behavior of a vehicle is regarded as a system requirement, and an embedded system test procedure that evaluates the system requirement is proposed. In particular, a new method is introduced, which integrates HILS with RBT. Using the proposed method, the behavior of an articulated vehicle equipped with an AWS (All Wheel Steering) ECU is evaluated with RBT software.     

Drive control system design for stability and maneuverability of a 6WD/6WS vehicle

This paper describes a drive controller designed to improve the lateral vehicle stability and maneuverability of a 6-wheel drive / 6-wheel steering (6WD/6WS) vehicle. The drive controller consists of upper and lower level controllers. The upper level controller is based on sliding control theory and determines both front and middle steering angle, additional net yaw moment, and longitudinal net force according to the reference velocity and steering angle of a manual drive, remotely controlled, autonomous controller. The lower level controller takes the desired longitudinal net force, yaw moment, and tire force information as inputs and determines the additional front steering angle and distributed longitudinal tire force on each wheel. This controller is based on optimal distribution control and takes into consideration the friction circle related to the vertical tire force and friction coefficient acting on the road and tire. Distributed longitudinal/lateral tire forces are determined as proportion to the size of the friction circle according to changes in driving conditions. The response of the 6WD/6WS vehicle implemented with this drive controller has been evaluated via computer simulations conducted using the Matlab/Simulink dynamic model. Computer simulations of an open loop under turning conditions and a closed-loop driver model subjected to double lane change have been conducted to demonstrate the improved performance of the proposed drive controller over that of a conventional DYC.     

干密度对海相及河相软土邓肯-张模型参数的影响

通过三轴排水剪试验研究了海相及河相软土的工程特性,并将试验结果用邓肯-张模型进行整理分析,获得了海相及河相软土的邓肯-张模型参数随干密度的变化规律.试验结果表明,随着干密度增大,海相及河相软土的粘聚力和内部摩擦角都有增大的趋势,切线弹性模量和切线体积模量均随着干密度的增加而增大.     

沥青及其混合料老化性能的实验研究

对大庆70#和90#两种常用沥青进行室内老化试验,结果表明老化会使沥青及沥青混合料的各项性能出现下降趋势,而且不同种类沥青混合料的抗老化性能也有一定的差异。在道路工程建设中,要根据当地的环境条件和实际需要选用合适的沥青,以提高路面的使用寿命。     

降低沥青拌和设备燃油消耗的措施

从沥青拌和设备的使用、保养、维修、改造等各方面入手,采取各种措施降低燃油消耗,可达到节能降耗的目的。     

城市快速交通网络运行管理策略研究

将网络交通流模型、匝道控制模型、基于可变信息标志(variable message sign,VMS)的路径选择模型等整合为一体,建立了网络交通整合控制模型.与各种边界条件相结合,测试了匝道控制和路径诱导的控制效果.结果表明,无路径诱导有匝道控制策略的路网总时间消耗(total time spent,TTS)减少仅3%;有路径诱导无匝道控制策略的路网TTS减少20%,但入口匝道排队长度很不均衡,最大达300辆;有匝道控制有路径诱导策略的路网TTS减少20%,入口匝道排队长度比较均衡.     

三相坐标系下带非平衡负载的船舶电力系统的仿真与实验

船舶电力系统中存在着大量的非平衡负载,必将引起中性点电势的漂移,在传统的dq0坐标系下很难进行研究.在三相坐标系下各元件的数学模型中引入中性点电势,然后在三相坐标系中对典型的非平衡负载情况进行了仿真研究,并进行了实验分析.仿真与实验结果的比较证明,在三相坐标系下仿真分析带非平衡负载的船舶电力系统是准确可靠的.     

Fault detection of networked control systems with uncertain time-varying delay and quantization error

Problems related to fault detection of networked control systems (NCSs) with both uncertain timevarying delay and quantization error are studied in this paper. A novel model with the form of polytopic uncertainty is given to represent the influences of both the time-varying delay and the quantization error, and then the reference model based method is used to design the residual generator that is robust to both unknown network-induced delay and unknown inputs. A numerical example is also given to illustrate the merits of the presented method. The proposed method can be regarded as an extension of the authors’ former work, which can only deal with time-varying delay.     

空调客车动力性燃油经济性计算与参数的灵敏度分析

建立了燃气客车动力性、燃油经济性计算的数学模型,对于某款空调客车,用Matlab软件编制了汽车动力性与燃油经济性各评价指标的计算程序,获得了燃气客车的动力性和燃油经济性结果,同时与实际所测数据进行了比较。通过灵敏度计算分析了各参数对相应性能的影响程度,对于新车设计具有重要意义。