Robust control and actuator dynamics compensation for railway vehicles

A robust controller is designed for active steering of a high speed train bogie with solid axle wheel sets to reduce track irregularity effects on the vehicle’s dynamics and improve stability and curving performance. A half-car railway vehicle model with seven degrees of freedom equipped with practical accelerometers and angular velocity sensors is considered for the H_∞ control design. The controller is robust against the wheel/rail contact parameter variations. Field measurement data are used as the track irregularities in simulations. The control force is applied to the vehicle model via ball-screw electromechanical actuators. To compensate the actuator dynamics, the time delay is identified online and is used in a second-order polynomial extrapolation carried out to predict and modify the control command to the actuator. The performance of the proposed controller and actuator dynamics compensation technique are examined on a one-car railway vehicle model with realistic structural parameters and nonlinear wheel and rail profiles. The results showed that for the case of nonlinear wheel and rail profiles significant improvements in the active control performance can be achieved using the proposed compensation technique.     

Computer Simulation of Thermal-Mechanical Processing

AlterationIntroductionThereisastrongini6ractionamongtemPetalrefield,strCssfield,andmicrosttuctutulaltOrationinm8terialsduringtheirhotworking[l'2].Especiallyduringthecoolingprocess,inwhichtemPeratorechangnsgreatly,intendionsbecomemorecomplexbecauseoftransformationoccurmnce.Duringthehotdeformation,thingswillaPpearsuchas:a.hotdeformation,relatedtostressfieId,changesessentiallytheshaPeofmaterialsandcausesthevariationofthecontactstatebetWeenthedieandsample,resultinginchangeofthethermalboundnyco…     

厚壁球壳的杂交／混合有限元分析

本文对８一节点四边形轴对称杂交／混合元ＡＸＨＭ１６进行了系列考核：（１）考查ＡＸＨＭ１６是否含有零能变形模式，以查明它的含秩状况；（２）通过受内压作用的厚壁球壳考题，观察ＡＸＨＭ１６的转轴不变性和其它性能表现。事实表明：ＡＸＨＭ１６满足单元合理足秩的必要条件和充分条件，不含零能变形模式，单刚合足秩。数值考核表明：ＡＸＨＭ１６具有很好的位移精度和应力精度，对坐标转轴的敏感程度并不明显，且在近乎相同的     

Crosswind Feedforward Control - A Measure to Improve Vehicle Crosswind Behaviour

The theory of crosswind feedforward control was explained using the example of a vehicle with active front-wheel steering. Beforehand, the calculation formulas and frequency responses of the transient crosswind force and of the wind yaw moment acting on the vehicle were derived using the example of a simple vehicle fluid model. The influence of the transiency of crosswind disturbance on the dynamic crosswind behaviour of a vehicle was then presented. The results of simulation confirmed the analyses carried out in the frequency domain for feedforward control with front, rear and all-wheel steering. With front-wheel steering, the influence of crosswind on one of the vehicle movement variables (lateral acceleration or yaw rate) could be almost completely compensated by dynamic feedforward control. With rear-wheel steering, it is only possible to compensate directly for the influence on the yawing rate. Due to the setting of the side force in the same direction as the lateral wind force at the start, active rear-wheel steering is not so successful as active front-wheel steering. Nevertheless, the crosswind behaviour of a vehicle can be considerably enhanced by feedforward control with rear-wheel steering. The best crosswind behaviour was obtained with active all-wheel steering: the vehicle hardly responds at all to crosswinds and remains on course despite heavy gusts of wind.     

Study of in-vehicle route guidance systems for improvement of right-side drivers in the Japanese traffic system

A country can adopt one of two standards for traffic flow — cars may travel on the left or right side of the road. When drivers who are accustomed to driving on the right side of the road drive on the left side, and vice versa, the mental workload is likely increased due to the driver’s unfamiliarity with a new language, the position of the driver’s seat, different driving directions, and other factors that differ from those of their home country. One method of doing this is to make sure that the in-vehicle route guidance information (RGI) is not overly complicated — thereby assisting drivers in improving their safety. Consequently, the aim of this study was to facilitate mobility and improve safety for natural right-side drivers driving temporarily in left-side traffic. In this study, driver behavior and workload — given various types of RGI — were evaluated in a driving simulator with a variety of prescribable test conditions. This research was composed of two experiments. In the first, various types of in-vehicle route guidance systems were tested and evaluated in terms of their characteristics and associated driver behaviors (while driving). In the second experiment, systemic factors and effectiveness were evaluated by two combined systems, arrow and map-type information, based on the results of the first experiment. In light of both experiments, the various types of route guidance systems were discussed in terms of their results. A navigation system was proposed to alleviate some of the secondary tasks such as route selection.     

欧洲跨境运输用司机台

就欧洲铁路跨境运输用司机台项目开发了能方便今后铁路跨境运输的司机台.该司机台的特点是改善了司机台的人机工程学、可单手操作牵引制动转换开关和使用了现代化的终端技术.在仿真运行中对具有功能的演示司机台进行了首批试验,获得大家的高度肯定.     

Simulation Approach to the Effect of the Ratio Changing Speed of a Metal V-Belt CVT on the Vehicle Response

In regard to the belt and pulley system of a metal V-belt CVT, the characteristics of the ratio changing speed is obtained by experiments. It is summarized in a practical and simple experimental equation. By using this equation a simulation model is developed to analyze the response of a vehicle with a metal V-belt CVT to a rapid pulley ratio change. The simulation results are in reasonable agreements with experimental results.     

新一代车辆标准化的综合性和前瞻性

俄罗斯正在研制新一代车辆并进行车辆检修制度的改革。本文提出标准化工作的前瞻性和综合性,要求车辆与其部件具有等寿命、装卸和调车机械应适应车辆的性能等,这样在铁路行业就会产生巨大的经济效益。     

自动驾驶如何重构汽车产业价值链

正关于自动驾驶发展进程的预测,业内普遍认同的观点是:自动驾驶汽车将在2025年前后开始呈现爆发式增长;到2035年,人类社会道路上行驶的车辆将有50%实现自动驾驶,届时自动驾驶整车及相关设备、应用的收入规模总计将超过5 000亿美元。1产品定位——从简单的交通工具转变为移动多用途空间无人驾驶首先转变的将是汽车产品自身的定位。在自动驾驶技术成为主流的时代,系统基本上     

Optimal traffic assignment to urban streets with air pollution consideration

Traffic assignment is usually determined solely on the basis of minimum travel time through the network. The present study on traffic assignment has taken into account not only traffic performance but also air quality over the street. A simple model of highway air pollution is developed by considering macroscopic material balance of polluted air mass over a segment of a highway that passes through an urban area, A new traffic assignment scheme has been developed based on the air pollution model. The optimal traffic assignment obtained by the new scheme is affected significantly by meteorological conditions.