Modelling minimum-time manoeuvering with global optimisation of local receding horizon control

In this paper, we explore the notion that a human driver uses a receding horizon model predictive control (MPC) scheme for minimum-time manoeuvering. However, MPC is an inherently sub-optimal control scheme because not all future information is incorporated into its finite preview horizon. In many practical applications, this sub-optimality is tolerated as the solution is sufficiently close to optimal. However, it is known that professional drivers have the ability to learn driving circuits and exploit its features to minimise their global manoeuvering time. In this paper, we will model their process with a cascaded optimisation structure. Therein, the inner-loop features a local MPC scheme tasked with finding the control inputs that achieve a blended objective of minimising time and maximising velocity in each preview horizon/distance. The outer loop of this cascaded structure computes the best set of weights for the two components of the local objectives in order to minimise the global manoeuvering time. The proposed cascaded optimisation and control approach is compared against a straight-forward fixed-cost time optimal MPC applied to minimum-time manoeuvering over two well-known race courses. The paper also includes an extended literature review and details of the computational formulation of the model approach.     

Physical processes in wheel–rail contact and its implications on vehicle–track interaction

Friction within the wheel–rail contact highly influences all aspects of vehicle–track interaction. Models describing this frictional behaviour are of high relevance, for example, for reliable predictions on drive train dynamics. It has been shown by experiments, that the friction at a certain position on rail is not describable by only one number for the coefficient of friction. Beside the contact conditions (existence of liquids, solid third bodies, etc.) the vehicle speed, normal loading and contact geometry are further influencing factors. State-of-the-art models are not able to account for this sufficiently. Thus, an Extended-Creep-Force-Model was developed taking into account effects from third body layers. This model is able to describe all considered effects. In this way, a significant improvement of the prediction quality with respect to all aspects of vehicle–track interaction is expected.     

Large deformation coupled analysis of embedded pipeline – Soil lateral interaction

Subsea pipelines buried in the seabed may undergo large lateral displacement under environmental, operational, and accidental loads at different interaction rates and hence different drainage conditions. The undrained shear strength is commonly used in practice to assess the pipe-soil interaction assuming a sufficiently high displacement rate. This approach neglects consolidation effects and the rate-dependent response of the soil and may significantly underestimates the lateral resistance for a pipeline moving slowly relative to the ground. In this study, a coupled large deformation finite element (LDFE) framework is developed via a remeshing and interpolation technique with small strain (RITSS). A Modified Cam-Clay (MCC) model with efficient numerical integration is used. The proposed coupled LDFE framework is verified against selected physical model tests. Effects of the interaction rate and hence drainage condition on the p-y curve, excess pore pressure generation and dissipation, and failure mechanisms are discussed. An empirical relationship between the ultimate resistance and the normalized velocity of the pipe (denoting the drainage condition) is proposed, which may be applied for the integrity and safety analysis of buried pipes in landslide or fault-crossing regions.     

The influence of upwelling and entrainment on the algal bloom in the Baltic Sea

Hydrodynamic processes control many geochemical and ecological processes in the sea. In this paper, the influence of up- and downwelling and entrainment on the ecosystem components are studied. The ecohydrodynamic model was initially used to simulate the whole Baltic Sea to get the boundary conditions for the Gulf of Riga. Then, to study the influence of different hydrodynamic conditions on the algal bloom, three simulations were made for the Gulf of Riga using different boundary and entrainment conditions. It appears that upwelling in the gulf was strongly dependent on open boundary conditions between the Baltic Proper and the gulf. The vertical transport in the Gulf of Riga was many times more intensive in the calculation system Baltic Proper and Gulf of Riga, than in the case where only the Gulf of Riga was simulated. The blue–green algal bloom was influenced by the vertical transport due to different nutrients' limitation mechanism.     

水下远场爆炸下船舶结构响应计算有限元建模方式影响分析

利用有限元软件ABAQUS,针对船舶结构和设备采用不同建模方式,建立4种水下远场爆炸载荷作用下全船结构冲击响应计算的有限元模型,对比分析船体结构局部与总体冲击响应。结果表明:船舶骨材结构与设备的建模方式对结构局部冲击响应如加速度、应力等影响很大,而对结构的总体响应如剖面弯矩等刚性安装设备采用质量点均摊的方式处理以减小建模的工作量。对于大型的弹性安装设备,需采用质量点和弹簧单元仔细建模。     

Analysis of lateral tyre friction dynamics1

The tyre friction model is a key part of the overall multi-body tyre dynamics model. The LuGre dynamic tyre friction model is analytically linearised for pure cornering conditions. The linearised model parameters are conveniently expressed as functions of static curve slope parameters. The linearised lateral force and self-aligning torque submodels are described by equivalent mechanical systems. The linearised model and equivalent system parameters are analysed for different slip angle and wheel centre speed operating points. An example of the application of linearised tyre friction model to tyre vibration analysis is presented as well.     

Network effects of intelligent speed adaptation systems

Intelligent Speed Adaptation (ISA) systems use in-vehicle electronic devices to enable the speed of vehicles to be regulated automatically. They are increasingly appreciated as a flexible method for speed management and control particularly in urban areas. On-road trials using a small numbers of ISA equipped vehicles have been carried out in Sweden, the Netherlands, Spain and the UK. This paper describes the developments made to enhance a traffic microsimulation model in order to represent ISA implemented across a network and the impact of this on the networks. The simulation modelling of the control system is carried out on a real-world urban network, and the impacts on traffic congestion, speed distribution and the environment assessed. The results show that ISA systems are more effective in less congested traffic conditions. Momentary high speeds in traffic are effectively suppressed, resulting in a reduction in speed variation which is likely to have a beneficial impact on safety. Whilst ISA reduces excessive traffic speeds in the network, it does not affect average journey times. In particular, the total vehicle-hours travelling at speeds below 10 km/hr have not changed, indicating that the speed control had not induced more slow-moving queues to the network. A statistically significant, eight percent, reduction in fuel consumption was found with full ISA penetration. These results are in accordance with those from field trials and they provide the basis for cost-benefit analyses on introducing ISA into the vehicle fleet. However, contrary to earlier findings from the Swedish ISA road trials, this study suggested that ISA is likely to have no significant effect on emission of gaseous pollutants CO, NO_x and HC.     

竞争性运输通道选择的博弈模型研究

通过对博弈论原理和竞争性运输通道选择问题的特性的研究,可以用博弈论的方法和原理比较和选择竞争性运输通道。在对竞争性运输通道的选择问题进行抽象的数学描述后,建立了相应的博弈论数学模型,并运用剔除严格劣战略的方法,对模型构造了可行的算法。同时对参与人集合的确定;纳什均衡的个数以及模型的拓展等问题做了进一步的分析.最后,通过与AHP的比较,提出了模型向贝叶斯博弈拓展的设想。为竞争性运输通道的选择优化问题提供了一种新的研究思路.     

《交通微观仿真分析指南》概要

近年来,交通规划软件所使用的方法从对交通量的宏观分配转变为对单个车辆的微观仿真.这一方法论的改变意味着需要对委任交通工程项目、项目管理以及对其结果进行解释等的职能部门的指导方针进行更新,以便能反映微观仿真的独特能力.与之前的模型相比,微型仿真能够更完整和详细地反映道路交通状况的内在变化.位于苏格兰的SIAS交通规划咨询公司就此编写了《微观仿真最佳咨询项目指南》和《交通微观仿真分析指南》,以帮助交通从业人员从事微观仿真项目和解释其结果.这些指导方针是基于该公司进行项目咨询和开发S-Paramics微观仿真软件的经验基础上编写而成的.