Design of safety-oriented control allocation strategies for overactuated electric vehicles

The new vehicle platforms for electric vehicles (EVs) that are becoming available are characterised by actuator redundancy, which makes it possible to jointly optimise different aspects of the vehicle motion. To do this, high-level control objectives are first specified and solved with appropriate control strategies. Then, the resulting virtual control action must be translated into actual actuator commands by a control allocation layer that takes care of computing the forces to be applied at the wheels. This step, in general, is quite demanding as far as computational complexity is considered. In this work, a safety-oriented approach to this problem is proposed. Specifically, a four-wheel steer EV with four in-wheel motors is considered, and the high-level motion controller is designed within a sliding mode framework with conditional integrators. For distributing the forces among the tyres, two control allocation approaches are investigated. The first, based on the extension of the cascading generalised inverse method, is computationally efficient but shows some limitations in dealing with unfeasible force values. To solve the problem, a second allocation algorithm is proposed, which relies on the linearisation of the tyre–road friction constraints. Extensive tests, carried out in the CarSim simulation environment, demonstrate the effectiveness of the proposed approach.     

客车底盘纵梁数控冲孔生产线

简要介绍客车底盘纵梁数控冲孔生产线的发展历史与现状；着重介绍SPU12—32-4型汽车U型纵梁三面数控冲孔生产线和SPTB120—10型纵梁数控平板冲孔生产线的特点。     

轻型两栖汽车可升降底盘机构设计与控制方案仿真

为实现某轻型两栖汽车在不切断驱动力的前提下底盘可升降和车轮可提升,采用了平衡肘肘内动力传动技术。利用无刷直流电机带动蜗轮蜗杆副,驱动平衡肘旋转,通过控制平衡肘的位置实现底盘高度可调和车轮的提升;而发动机驱动力通过平衡肘肘内的链条传动传至车轮。采用数字PID控制方法,实现了平衡肘的位置控制。借助Matlab／Simulink对执行机构进行了仿真,仿真结果表明,利用无刷直流电机驱动能够实现平衡肘的快速转动,进而实现底盘的升降和车轮的提升。     

Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres

There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination of models, optimisation criteria, and optimisation tools to get useful results for the above purposes. Here, a platform for investigation of these aspects is developed based on a state-of-the-art optimisation tool together with adoption of existing vehicle chassis and tyre models. A minimum-time optimisation criterion is chosen for the purpose of gaining an insight into at-the-limit manoeuvres, with the overall aim of finding improved fundamental principles for future active safety systems. The proposed method to trajectory generation is evaluated in time-manoeuvres using vehicle models established in the literature. We determine the optimal control solutions for three manoeuvres using tyre and chassis models of different complexities. The results are extensively analysed and discussed. Our main conclusion is that the tyre model has a fundamental influence on the resulting control inputs. Also, for some combinations of chassis and tyre models, inherently different behaviour is obtained. However, certain variables important in vehicle safety-systems, such as the yaw moment and the body-slip angle, are similar for several of the considered model configurations in aggressive manoeuvring situations.     

ANSYS在东风EQ140汽车车架刚度分析中的应用

应用ANSYS软件,完成了东风EQ140型汽车车架的刚度分析过程。通过建模、加载、解算及后处理等一系列步骤获得车架的扭转变形及应力,揭示出车架横梁在后桥支撑点存在扭转变形最大的问题,为车架的优化设计提供了重要依据。     

客车底盘制动系储气筒容积的计算与选择

结合SX6124GK93L型客车底盘设计,介绍客车底盘制动系储气筒容积的计算与选择。     

12m前置出口客车JS6120GC底盘设计

介绍12m前置出口客车JS6120GC底盘的布置、性能参数及结构特点,分析和解决设计中遇到的问题。     

Vehicle control synthesis using phase portraits of planar dynamics

ABSTRACT

Phase portraits provide control system designers strong graphical insight into nonlinear system dynamics. These plots readily display vehicle stability properties and map equilibrium point locations and movement to changing parameters and system inputs. This paper extends the usage of phase portraits in vehicle dynamics to control synthesis by illustrating the relationship between the boundaries of stable vehicle operation and the state derivative isoclines in the yaw rate–sideslip phase plane. Closed-loop phase portraits demonstrate the potential for augmenting a vehicle's open-loop dynamics through steering and braking. The paper concludes by applying phase portrait analysis to an envelope control algorithm for yaw stability and a sliding surface controller for stabilising a saddle point equilibrium in drifting.     

中国标准动车组部件及车体合成组装技术

以中国标准动车组车体的生产制造为基础,系统论述动车组底架、侧墙、车顶、端墙、司机室等5大部件组装及车体总装技术的要求和注意事项。总结近10年的车体组装技术操作要领,展示铝合金车体制造从引进、消化、吸收及再创新的最新成果,进而为铝合金车体制造标准化的形成奠定基础。     

使用UG NX4.0三维软件设计客车车架

客车车架是客车底盘的重要组成部分,通常是用二维软件设计,有一定的局限性。本文介绍使用UG NX4.0三维软件对车架进行设计。