A Comparison of Various Computer Simulation Models for Predicting the Directional Responses of Articulated Vehicles

This paper presents the results of a comparative study of the predictions, made using computer simulation models of different levels of complexity, of the directional responses of commercial articulated vehicles in steady-state and lane-change maneuvers. The differences in the predictions obtained using various models are examined and are compared with available experimental data. The objective of this study is to compare the capabilities and limitations of various simulation models for predicting the directional behavior of articulated vehicles.     

Behavioral adjustments and equity effects of congestion pricing: Analysis of morning commutes during the Stockholm Trial

This paper assesses the horizontal and vertical equity effects of the Stockholm Trial with Congestion Pricing for morning commuters, in terms of both travel behavioral adjustments and welfare effects, as a result of the toll’s direct effects and the behavioral adjustments. We consider specifically two behavioral adjustments: mode choice and departure time choice. Initial car drivers crossing the toll cordon had a 15 percentage-points higher rate of switching to public transit as compared with those not crossing the cordon. We also find some evidence of peak spreading, in particular toward a later departure time, as a result of the charging scheme, but most people choose a departure time within 15 min both before and during the trial. In the welfare analysis, we found no clear pattern of increasing burden by either increasing income or decreasing income, and the increase in the Gini Coefficient was insignificant. We also found no significant difference in either the mode-switching behavior or the average welfare effect for women versus for men.     

Equilibria of bilateral taxi–customer searching and meeting on networks

This paper proposes an equilibrium model to characterize the bilateral searching and meeting between customers and taxis on road networks. A taxi driver searches or waits for a customer by considering both the expected searching or waiting time cost and ride revenue, and a customer seeks a taxi ride to minimize full trip price. We suppose that the bilateral taxi–customer searching and meeting occurs anywhere in residential and commercial zones or at prescribed taxi stands, such as an airport or a railway station. We propose a meeting function to spell out the search and meeting frictions that arise endogenously as a result of the distinct spatial feature of the area and the taxi–customer moving decisions. With the proposed meeting function and the assumptions underlying taxi–customer search behaviors, the stationary competitive equilibrium achieved at fixed fare prices is determined when the demand of the customers matches the supply of taxis or there is market clearing at the prevailing searching and waiting times in every meeting location. We establish the existence of such an equilibrium by virtue of Brouwer’s fixed-point theorem and demonstrate its principal operational characteristics with a numerical example.     

满堂支架法直腹板现浇箱梁横向抗推研究

满堂支架法作为一种成熟的施工技术手段,目前被大量应用于城市桥梁现浇主梁的施工项目中.具有施工方便、周转时间短和辅助设备少的优点.但对于直腹板现浇箱梁,尤其是主梁较窄的现浇箱梁,由于混凝土侧压力、倾倒混凝土产生的水平荷载以及振捣产生的水平荷载存在,使得腹板处支架存在较大的水平推力,导致整个结构处于危险状态.以某工程项目为依托,提出了两种解决方案,通过调整斜撑布置形式对结构受力状态进行改善.结果 表明,两种方案均可有效降低水平推力作用下造成结构局部应力集中的现象,有利于不利荷载均匀向整个支架结构传递.     

Model-based design of a variable nozzle turbocharger controller

Variable Nozzle Turbocharger (VNT) was invented to solve the problem of matching an ordinary turbocharger with an engine. VNT can harness exhaust energy more efficiently, enhance intake airflow response and reduce engine emissions, especially during transient operating conditions. The difficulty of VNT control lies in how to regulate the position of the nozzle at different engine working conditions. The control strategy designed in this study is a combination of a closed-loop feedback controller and an open-loop feed-forward controller. The gain-scheduled proportional-integral-derivative (PID) controller was implemented as the feedback controller to overcome the nonlinear characteristic. As it is difficult to tune the parameters of the gain-scheduled PID controller on an engine test bench, system identification was used to identify the plant model properties at different working points for a WP10 diesel engine on the test bench. The PID controller parameters were calculated based on the identified first-order-plus-dead-time (FOPDT) plant model. The joint simulation of the controller and the plant model was performed in Matlab/Simulink. The time-domain and frequency-domain performances of the entire system were evaluated. The designed VNT control system was verified with engine tests. The results indicated that the real boosting pressure traced the target boosting pressure well at different working conditions.     

Development of a navigation algorithm with dead reckoning for unmanned ground vehicles

A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS) units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS units.     

Modified lateral control of an autonomous vehicle by look-ahead and look-down sensing

This paper presents a modified lateral control method for an autonomous vehicle with both look-ahead and look-down sensing systems. To cope with sensor noise and modeling uncertainty in the lateral control of the vehicle, a modified LMI-based H lateral controller was proposed, which uses the look-ahead information of the lateral offset error measured at the front of vehicle and the look-down information of the vehicle yaw angle error between the reference lane and the centerline of the vehicle. To verify the safety and the performance of the lateral control, a scaled-down vehicle was developed, and the positioning of the vehicle was estimated with USAT. The proposed controller, which uses both look-ahead and look-down information, was tested for lane changing and reference lane tracking with both simulation and experiment. The simulation and experimental results show that the proposed controller has better tracking and handling performance compared with a controller that uses only the look-ahead information of the target heading angle error.     

Parameter identification for a LuGre model based on steady-state tire conditions

The purpose of this study was to effectively identify parameters for a LuGre friction model based on experimental measures. In earlier work related to this study (Yang et al., 2009), which was based on the characters of polygonal wear (Sueoka and Ryu, 1997), we showed a frictional vibration model for a mass on a moving belt. This model reflected lateral vibrations caused by velocity and toe-in angle. An important aspect of the present study is the improved friction model. A previous friction model, which divided the process into four parts, expressed the sable excited vibration well but failed to reflect the hysteresis loop change when vehicles accelerated or decelerated continuously. A LuGre friction model can solve this problem, but several model parameters must be obtained experimentally. We measured contact width and length of tires as vertical pressure changed; this provided a theoretical basis for apparent stiffness of a unit of tire tread. Based on tire data from Bakker E’s article in a SAE paper from 1987, we identified the Stribeck exponent and Stribeck velocity in LuGre. Then, the results were implemented in a vibration system that verified the rationality of the data.     

Damper modeling for dynamic simulation of a large bus with MR damper

In this study, a large bus is tested to measure its dynamic response by the single-lane change test and the rapid stop test. A full car model is established by ADAMS/Car for computer simulation. For multibody modeling of a large bus, user-defined templates are used in the simulation. Simulation results of the single-lane change test and the rapid braking test are compared to the results of the physical experiments, in which several sensors are installed to measure the vehicle’s responses. The results obtained from the simulation show good agreement with the tests’ results. A dynamic model for the MR(magnetic-rheological) damper is also developed by employing the Magic Formula model, which is widely used in the nonlinear modeling of a tire. Bump simulation of a full car with the MR damper is carried out to verify the performance of the MR damper. The comparison of the simulation results obtained with the MR damper model to the results obtained with the traditional passive damper model showed improved response of the vehicle with the MR damper.     

Effect of fuel stratification on initial flame development: Part 3-high swirl condition

This paper discusses the final investigation into the effect of fuel stratification on flame propagation. In previous works, the characteristics under the no port-generated swirl condition and the low-swirl condition were considered. For this purpose, the initial flame development and propagation were visualized under different axially stratified states in a modified optical single-cylinder SI engine. The images were captured by an intensified CCD camera through the quartz window mounted in the piston. Stratification was controlled by the combination of the port swirl ratio and injection timing. These were averaged and processed to characterize the flame propagation. The flame stability was estimated by the weighted average of flame area and luminosity. The stability was also evaluated through the standard deviation of flame area and propagation distance and through the mean absolute deviation of the propagation direction. The results show that the LML is expanded remarkably under the high-swirl cases up to the highest relative AFRs of 1.71 and 1.75 between 140 and 160CA. In addition, similar to the low-swirl condition, the flame-flow interaction determines the direction of flame propagation, and the governing roles of the two factors vary according to the swirl level; the flow is more important at the higher swirl conditions, and the flame is more important at the lower swirl condition. Finally, fast and stable flame propagation can be achieved under the preferably stratified condition, which is induced by the suitable combination of the high swirl and injection timing.