用柔性多体动力学方法预测悬架对汽车转向特性的影响系数

利用柔性多体动力学方法建立了基于ADAMS软件平台的麦弗逊式独立悬架动力学仿真分析模型。并根据所建立的模型，对某轿车麦弗逊式前独立悬架的力变形特性进行了仿真和试验对比分析。通过仿真计算出了决定汽车不足转向度相关参数的相关系数。     

采用多体系统动力学的平衡悬架牵引车平顺性研究

采用多体系统动力学理论及相应软件ADAMS，对具有平衡悬架的3轴牵引车平顺性进行研究。建立了其多体系统动力学模型，并经过二次开发形成一套能够进行参数化自动建模的软件系统。对仿真模型进行时域、频域的仿真分析，并研究平衡悬架的一些主要设计参数对平顺性的影响。     

麦弗逊悬架转向机构优化设计

运用多刚体系统动力学中 R- W方法进行机构运动计算 ,编制了汽车麦弗逊悬架转向机构优化设计通用程序。优化模型中把麦弗逊悬架系统和转向机构作为一个整体系统进行运动分析 ,考虑了车轮跳动对转向误差的影响 ,并根据转向过程中的实际要求计入两个权重函数 ,使转向误差分布更合理     

两足机器人步态综合研究进展

把两足机器人步态综合方法分为参考轨迹法和自然动力学法两大技术流派.根据参考轨迹获得方法的不同,参考轨迹法又分为步行数据法、中枢模式发生器法和动力学模型法.自然动力学法也可分为被动动力学法和虚拟模型法.在总结两大流派研究进展的基础上,分析了它们各自的优势和不足,指出了今后工作的重点,即参考轨迹法需要提高步行效率和轨迹的生成速度,而自然动力学法需要增加功能.最后分析了强制学习技术在步态综合中应用的适应性和多自由度造成的组合爆炸问题.     

独立轮电驱动车辆主动操纵稳定控制研究

提出了采用变增益参考模型的滑模跟踪控制策略,以横摆角速度和侧滑速度为控制对象,独立控制左右轮驱动力产生直接横摆力矩,提高了车辆在极限工况下的操纵稳定性,并改善了车辆固有的转向特性。改进的滑模控制算法减小了系统抖振并具有较强的鲁棒性。     

内河钢质船舶完工总纵强度的校核

《钢质内河船舶建造规范》(2009)引入了用理论计算方法对船舶总纵强度进行校核,船舶空船重量及空船重量沿船长方向分布的变化对船舶总纵强度的影响在所难免。通过对多艘不同类型船舶的完工总纵强度核算,笔者统计发现由空船重量及其沿船长分布的变化在一定范围内引起的各种应力仍能满足规范要求的。     

直线电机轨道交通系统车辆-板式轨道垂向耦合动力学模型的研究

以广州直线电机轨道交通系统板式轨道结构为例, 结合有限元理论以及直线电机的特点,建立了直线电机运载系统下的垂向耦合动力模型(包括车辆系统模型、轮轨关系模型、钢轨模型、板式轨道模型等)及其振动微分方程,并通过动力仿真试验,分析该系统的动力特性以及验证该系统的耦合动力模型。     

发动机运转噪声的动力学分析及试验研究

建立了活塞系统工作过程的动力学方程和油膜润滑方程,并根据实测的解放CA6102汽油机的气缸压力对活塞二阶运动进行了计算。通过分析不同情况下活塞的无量纲横向位移和无量纲横向加速度随曲轴转角的变化关系,得出了影响发动机运转噪声的实质性因素。     

Improving the robustness of an MPC-based obstacle avoidance algorithm to parametric uncertainty using worst-case scenarios

Previous work by the authors focused on obstacle avoidance in large, high-speed autonomous ground vehicles within unknown and unstructured environments. This work resulted in a nonlinear model predictive control based algorithm that simultaneously optimises both the speed and steering commands. The algorithm can exploit the dynamic limits of the vehicle to navigate it to a target position as quickly as possible without compromising safety. In the algorithm, a model of the vehicle is used explicitly to predict and optimise future actions, but in practice the model parameter values are not known exactly. Thus, in this paper, the robustness of the algorithm to parametric uncertainty is evaluated. It is first demonstrated that using nominal parameter values in the algorithm leads to safety issues in 24% of the evaluated scenarios with the considered parametric uncertainty distributions. To improve the algorithm's robustness, a novel double-worst-case formulation is developed that simultaneously accounts for the robust satisfaction of the two safety requirements of high-speed obstacle avoidance: collision-free and no-wheel-lift-off. Results from simulations with stratified random scenarios and worst-case scenarios show that the double-worst-case formulation renders the algorithm robust to all uncertainty realisations tested. The trade-off between robustness and the task completion performance is also quantified.     

Progressive collapse analysis of ship hull girders subjected to extreme cyclic bending

This paper introduces a novel analytical method to predict the buckling collapse behaviour of a ship hull girder subjected to several cycles of extreme load. This follows the general principles of the established simplified progressive collapse method with an extended capability to re-formulate the load-shortening curve of structural components to account for cyclic degradation. The method provides a framework for assessing residual hull girder strength following a complex series of unusually extreme load events where the wave induced bending moment rises close to, or even surpasses, the monotonic ultimate strength. These load events may be sequential, such as might be caused by a series of storm waves, or they may occur as a collection of discrete events occurring over a longer period. The extreme cyclic bending amplifies the distortion and residual stress initially induced by fabrication in the flanges of the girder, which results in a deterioration of the residual ultimate strength. Validation is firstly completed through a comparison with previously published experimental work and secondly via comparison with numerical simulation on four ship-type box girders using the nonlinear finite element method.