基于模型预测控制的智能车轨迹跟踪控制研究

为了完成智能车的轨迹跟踪,提出一种基于模型预测控制的轨迹跟踪方法,利用将运动学模型这个非线性系统线性化的方案,来获得必须的线性时变系统,采取模型预测控制的三要素来设计控制器。并且基于MPC在控制过程中能增加多种约束的优点,建立基于车辆运动学模型的约束做轨迹跟踪仿真实验,最后,基于山东理工大学智能车平台上GPS提供的定位信息,在校园中采集路线并对前提规划好的的轨迹进行实车验证。实验结果表明:基于MPC算法所设计的控制器能快速且稳定地跟踪期望轨迹。     

交通建设项目资金监管模式探讨

文章通过对交通建设项目资金的特点分析,提出实施资金集中监管核算模式,实现对项目建设资金的全方位、全过程监控,盘活存量资金,提高建设资金的使用效率和效益,节约建设成本。     

公路基本建设项目设计阶段工程造价控制

公路工程造价控制,是工程项目管理的重要内容。文章分析了在公路基本建设项目设计阶段控制工程造价的重要性,阐述了设计阶段工程造价控制的必要条件,提出了对公路基本建设项目工程造价进行有效控制的措施。     

地铁暗挖隧道二次衬砌施工质量控制浅析

文章根据深圳轨道交通二期工程安托山站—侨香站暗挖区间的二次衬砌施工经验,分析了地铁暗挖隧道二次衬砌施工质量的影响因素以及二次衬砌施工过程中容易发生的质量问题,并提出了具体的控制措施。通过经验总结,使地铁施工的管理、质量控制、施工通病防治上升一个台阶。     

浅埋偏压段隧道洞口地表沉降变形控制分析

文章对岜肯隧道浅埋偏压段洞口施工中出现的塌方及初衬开裂情况进行客观分析,结合施工实际提出了地表加固及平衡土体偏压措施,有效地控制了地表变形及隧道沉降开裂,保证了隧道施工安全、顺利进行。     

基于三点模型的柴油机热工参数预测

准确预测热工参数劣化趋势是对柴油机实施预测维修的前提。已有预测技术均视不同时段信息所具有的建模价值相等,忽略了近期信息比远期信息更能反映设备当前运行态势这一客观事实,导致预测模型难以准确描述柴油机热工参数的真实变化规律。针对该问题,提出一种基于三点模型的柴油机热工参数预测方法,并采用新陈代谢法同步更新建模数据,以提高建模数据的利用效率及预测精度。与灰色系统GM(1,1)模型预测精度的对比结果表明,三点模型能够有效处理不同时段信息在反映设备运行态势能力上的差异,得到更为准确的预测结果。     

可变截面涡轮增压瞬态性能仿真研究

为研究可变截面涡轮喷嘴开度对发动机的性能影响,建立GT-power和MATLB/Simulink联合仿真模型。采用GT-power软件建立的TBD234V12可变截面涡轮增压柴油机仿真模型研究发动机稳态性能,联合MATLB/Simulink软件建立的可变截面涡轮增压柴油机控制模型,对发动机瞬态性能进行仿真计算。结果表明:在发动机瞬态工况下,可变截面涡轮增压系统可以明显改善常规增压柴油机的动力性、经济性和动态响应特性,并且有效降低增压柴油机的时滞性,涡轮迟滞时间的降幅约为30%。     

带扰动观测器的船舶轨迹跟踪自适应动态面滑模控制

针对遭受未知外部环境扰动的三自由度全驱动船舶轨迹跟踪控制问题,设计一种带扰动观测器的自适应动态面滑模控制方法。该方法构造扰动观测器估计未知扰动,并对控制量进行前馈补偿,采用σ修正泄漏项的自适应律估计扰动观测误差的界以提高控制精度,结合动态面技术解决传统反演法的微分爆炸问题,并选取李雅普诺夫函数证明该控制器可保证闭环系统内所有信号的一致最终有界性。基于一艘供给船舶进行仿真试验,结果表明,所设计的控制器输出合理有效且跟踪精度高,在工程实际中具有一定的参考价值。     

Analysis on the Effects of Overloading on the Mechanical Properties of Tunnel Structures in the Silty Ground --A Case Study of Sutong River-crossing GIL Utility Tunnel北大核心CSCD

Based on the Sutong GIL utility tunnel project, which is constructed by the shield machine under the river, and as for the overloading problem at the river bank slope during operating period, the refined threedimensional finite element model was established to study the deformation and cracking characteristics of the tunnel segment structure under different forms of overloading. The evolution laws of section convergence, joint opening and structural stress were analyzed, and the structure damage mechanisms were revealed under conditions of large area loading and local loading. The surface-surcharge control standard was proposed. For the big diameter shield tunneling crossing the silty clay, the research results show that: (1) the deformation failure process is divided into three stages under large area loading condition, taking the design load and compressive yield of rebars inside haunch as the critical points respectively. The first stage is characterized by the elastic stress, the second stage is in plastic state with fracture, and the third stage is accelerating deformation and instability stage. The vertical convergence is 110.5 mm with no opening of joints when rebars are yielded; (2)the deformation failure process under local loading condition is also divided into elasticity, plasticity and instability stages, taking the design load and tensile yield of rebars outside haunch as the critical points respectively. The vertical convergence is 152.6 mm with joint opening of 4.36 mm; (3) the early-warning values of additional stress on the ground under conditions of large area loading and local loading are 110 kPa and 70 kPa respectively. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.     

Soil Body Deformation Caused by Construction of a Double-Line Shield Tunnel with Multiple Factors北大核心CSCD

Considering the influence of many factors (soil loss, frontal additional thrust, the friction force of the shield shell and the additional grouting force), a method for improving the uniform soil body movement model is pro-posed, and a mechanical calculation model is established to study the calculation method for soil body deformation caused by double-line parallel shield driving. Based on the Mindlin solutions of elastic mechanics, the theoretical solutions for soil body deformations caused by the last three factors are calculated; considering the uniform soil body movement model, the theoretical solutions for soil body deformations caused by soil loss are calculated, then the to-tal theoretical solutions for soil body deformations under multiple factors are obtained by means of superposition. The vertical surface settlement, vertical horizontal displacement, and vertical displacements of the soil body at different depths of Hangzhou Metro Line 1 are calculated to analyze the variation laws. Meanwhile the influential factors for horizontal displacement variation are studied. The research shows that with a change of depth, the settlement of the soil body changes within the scope of 10 to 13 m in the horizontal direction near where the maximum settlement occurs;the direction of the horizontal displacement of the soil body changes with a change of the positional relationship be-tween the calculation points and the tunnel; and with an increase of interval J for the two tunnels, the horizontal dis-placement of the soil body of a deep double-line tunnel decreases while the displacement near the surface changes slightly. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.