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.     

既有线32 m下承式钢板梁加固方案的车-桥动力仿真分析

为配合沪宁线250 km·h-1提速改造工程,运用车桥耦合振动方法,从车辆和桥梁动力响应角度,对一挠跨比、跨中梁体横向振幅及横向加速度均超过<铁路桥检规>通常值的32 m下承式钢板梁进行加固方案比选.车-桥仿真计算结果表明:加强主梁可以明显提高桥梁的竖向刚度和横向刚度,降低车辆的轮重减载率和车体垂向加速度;增加横向连接系措施可以降低桥梁横向振动加速度;当车速超过220 km·h-1时,可降低车辆的脱轨系数;2种桥梁加固措施几乎不改变车体横向加速度;同时采取加强主梁和增加横向连接系的不同加固方案的效果相差不大.加固后的现场试验表明,该桥的竖向刚度提高明显,比加固前提高约50%,桥梁和车辆的动力响应也均满足相关规定,能够保证提速条件下列车运营的安全性、舒适性和平稳性.     

现代城市桥梁之于海河

该文以天津海河旧桥改造与新建城市桥梁为代表,介绍了现代城市桥梁的主要特征,并论述了在同时满足功能和环境要求的前提下桥梁在设计和施工方面的创新点,最后结合海河城市桥梁建设的经验,对城市桥梁的主要特点进行梳理和总结。     

临时路径发生器学引的UUV跟踪控制(英文)

A path following control algorithm for an unmanned underwater vehicle(UUV) using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and orientation,the path following control in the horizontal plane may yield a poor performance.To deal with the negative effect induced by initial states,a temporary path generation was presented based on the relationship between the original reference path and the vehicle’s initial states.With different relative positions between the vehicle and reference path,including out of straight lines,as well as inside and outside a circle,the related temporary paths guiding the vehicle to the reference path were able to be generated in real time.The vehicle was guided to steer along the temporary path until it reached the tangent point at the reference path,where the controller was designed using the input-output feedback linearization method.Simulation results demonstrated that the proposed algorithm is effective under the three different situations mentioned above.     

基于变发电电压功率变换器的海上钻井平台风力发电系统硬件结构的研究

本论文阐述了海上钻井平台的风力发电系统的具体硬件方案和主要设备选型,设计了基于变发电电压功率变换器的（Switched Reluctance Generator,简称SRG）风力发电系统,弥补了现有的风力发电系统的不足。     

基于数值和实验方法的非透浪梳式防波堤的水动力学特性研究

采用源函数造波法建立了三维数值波浪水槽模型,模拟了不同随机种子数(NW)下的随机波浪,与目标谱对比的结果证明当NW=200时,采用文中的数值方法可以得到较好的模拟精度;建立了随机波浪对一种非透浪梳式防波堤作用的数值模型,通过数值模拟结果和实验结果的比较,验证了该数值模型的有效性。对该非透浪的梳式防波堤的水力学特性进行了实验研究,并应用上述数值方法对结构的所受冲击波浪力机理进行了分析,数值结果证明在该结构的危险水位下,由结构的翼板和胸墙下底板所构成的异型空腔结构是导致翼板上产生较大冲击压力的主要因素。在此基础上,为了消减翼板的冲击压力,提出一种改进的结构型式,最后对该改进结构的翼板上波浪力特性和波浪反射系数进行了实验研究。     

大连港矿石专用码头泊位升级改造工程护舷悬挑钢架结构创新设计

介绍大连港矿石专用码头泊位升级改造工程护舷改造钢架结构的设计情况,在国内码头升级改造工程中该结构尚属首例。根据护舷钢架的受力特点,比较了两个护舷钢架的设计方案后,最后选用了放射竖板加顶底板的方案。详细介绍了护舷改造钢架的设计分析方法,同时介绍了在安装过程中出现的问题和解决方案。     

新型竖直轴海洋能发电设备叶片的优化与仿真

为深入了解新型竖直轴海洋能发电设备的性能,对其叶片结构的流场特性和设备在流场中的动力收集特性进行仿真研究.建立不同结构叶片和不同数量叶片的二维模型,通过仿真计算,得到不同结构叶片的流场状态,以及叶片数分别为3、4和6时设备的合力和转矩大小.研究结果表明:在矩形叶片上开长方形孔能明显改善叶片后方的涡流,提高叶片的性能;当入口速度不变时,设备所受合力和转矩会随叶片数量的增加而增大;当叶片数量不变时,设备所受合力和转矩会随入口速度的增加而增大.研究结果可为新型竖直轴海洋能发电设备的结构设计与优化提供参考.     

生成模型在中心城市的应用实践

本文从城市的区域交通节点考虑,把城市分为中心城市、资源型城市和一般城市.以中心城市土地利用特性和现状人口为基础,采用曲线估计的方法建立了交通生成预测模型.利用辽宁省锦州市、盘锦市和辽阳市的交通数据,对模型进行了验证,结果表明模型能够较好反映规划年城市土地利用特征变化所带来的各种交通需求特性的差异.     

中小城市交通生成预测模型研究

城市交通生成预测是城市交通规划的基础，如何客观、科学地进行交通生成预测，是当前我国城市交通规划中共同面临的课题。一般来说，不同的土地利用布局、不同的土地利用性质和不同的土地利用强度，对应着不同的交通生成。因此，建立土地利用与交通生成的相互关系模型，实现土地利用-出行生成相关因素-交通生成的三步式预测方法向土地利用-交通生成两步式预测方法的过渡，将在大大简化交通需求预测过程的同时提高预测结果的可靠性。