船舶主机数字调速仿真训练器的研制

为了研究船舶主机调速系统的特性和控制算法,将船舶主机调速系统的性能要求转化为复合PID控制算法的问题,研制基于Nabtesco MG-800Ⅲ的数字调速仿真器。非线性PID实现主机转速控制,其比例增益、微分增益和积分增益分别是控制偏差的非线性函数。模糊自整定PID实现主机油门的位置控制,其PID的3个参数随着偏差和偏差变化速度,根据模糊控制原理进行在线修改。物理仿真结果表明,数字调速器的非线性模糊自适应PID算法能提高调速系统的动态精度和抑制扰动的能力。     

Application of time-variant predictive control to modelling driver steering skill

The paper addresses the need for improved mathematical models of human steering control. A multiple-model structure for a driver's internal model of a nonlinear vehicle is proposed. The multiple-model structure potentially offers a straightforward way to represent a range of driver expertise. The internal model is combined with a model predictive steering controller. The controller generates a steering command through the minimisation of a cost function involving vehicle path error. A study of the controller performance during an aggressive, nonlinear steering manoeuvre is provided. Analysis of the controller performance reveals a reduction in the closed-loop controller bandwidth with increasing tyre saturation and fixed controller gains. A parameter study demonstrates that increasing the multiple-model density, increasing the weights on the path error, and increasing the controller knowledge range all improved the path following accuracy of the controller.     

K型、双K型圆管相贯节点极限承载力的非线性有限元分析

利用非线性分析的有限元方法对K型和双K型圆管相贯节点进行了数值计算，揭示了节点极限承载力随各几何参数的变化规律及主管作用荷载对节点极限承载力的影响，分别绘制出各影响参数的载荷一位移曲线，并将分析结果和钢结构标准GB50017—2003进行了比较，所得结论供工程设计参考应用。     

Roll- and pitch-plane-coupled hydro-pneumatic suspension. Part 2: dynamic response analyses

In the first part of this study, the potential performance benefits of fluidically coupled passive suspensions were demonstrated through analyses of suspension properties, design flexibility and feasibility. In this second part of the study, the dynamic responses of a vehicle equipped with different configurations of fluidically coupled hydro-pneumatic suspension systems are investigated for more comprehensive assessments of the coupled suspension concepts. A generalised 14 degree-of-freedom nonlinear vehicle model is developed and validated to evaluate vehicle ride and handling dynamic responses and suspension anti-roll and anti-pitch characteristics under various road excitations and steering/braking manoeuvres. The dynamic responses of the vehicle model with the coupled suspension are compared with those of the unconnected suspensions to demonstrate the performance potential of the fluidic couplings. The dynamic responses together with the suspension properties suggest that the full-vehicle-coupled hydro-pneumatic suspension could offer considerable potential in realising enhanced ride and handling performance, as well as improved anti-roll and anti-pitch properties in a very flexible and energy-saving manner.     

Simultaneous observation of the wheels’ torques and the vehicle dynamic state

The goal of the present study is to show how it is possible to estimate online the individual torques applied at each wheel of an automotive vehicle by using an unknown input observer together with a simple nonlinear state-space model. The necessary measurements are the steering angle, the usual rotation speed of each wheel plus the vertical load at the centre of each wheel. By doing this, this study anticipates the affordability of a new generation of wheel bearing with embedded measurements of transmitted forces. Successful simulated experimentations using a realistic simulator are shown. Validations are done using classical case studies of longitudinal, lateral and coupled dynamics. The present limits and some possible improvements of the proposed method are also discussed.     

Impact of inerter nonlinearities on vehicle suspension control

This paper discusses the nonlinear properties of inerters and their impact on vehicle suspension control. The inerter was recently introduced as an ideal mechanical two-terminal element, which is a substitute for the mass element, where the applied force is proportional to the relative acceleration across the terminals. Until now, ideal inerters have been applied to vehicle, motorcycle and train suspension systems, in which significant performance improvement was achieved. However, due to the mechanical construction, some nonlinear properties of the existing mechanical models of inerters are noted. This paper investigates the inerter nonlinearities, including friction, backlash and the elastic effect, and their influence on vehicle suspension performance. A testing platform is also built to verify the nonlinear properties of the inerter model.     

基于正交基神经网络的热敏电阻温度传感器非线性补偿方法

针对热敏电阻温度传感器应用中存在的非线性问题，提出了应用正交基（0BF）神经网络进行非线性补偿的方法。研究结果表明，OBF神经网络非线性补偿算法具有补偿精度高、计算量小的优点，因而是一种有效的非线性补偿方法。     

Nonlinear feedforward–feedback control of clutch-to-clutch shift technique

To improve the shift quality of the vehicle with clutch-to-clutch gear shifts, a nonlinear feedforward–feedback control scheme is proposed for clutch slip control during the shift inertia phase. The feedforward control is designed based on flatness in consideration of the system nonlinearities, and the linear feedback control is given to accommodate the model errors and the disturbances. Lookup tables, which are widely used to represent complex nonlinear characteristics of powertrain systems, appear in their original form in the designed feedforward controller, while the linear feedback controller is calculated through linear matrix inequalities such that the control system is robust against the parameter uncertainties. Finally, the designed controller is tested on an AMESim powertrain simulation model, which contains a time-variant model of clutch actuators.     

Fault-tolerant control of heavy-haul trains

The fault-tolerant control (FTC) of heavy-haul trains is discussed on the basis of the speed regulation proposed in previous works. The fault modes of trains are assumed and the corresponding fault detection and isolation (FDI) are studied. The FDI of sensor faults is based on a geometric approach for residual generators. The FDI of a braking system is based on the observation of the steady-state speed. From the difference of the steady-state speeds between the fault system and the faultless system, one can get fault information. Simulation tests were conducted on the suitability of the FDIs and the redesigned speed regulators. It is shown that the proposed FTC does not explicitly worsen the performance of the speed regulator in the case of a faultless system, while it obviously improves the performance of the speed regulator in the case of a faulty system.     

大兴路立交匝道桥震害原因分析及修复方案

汶川地震中,位于汶川地震烈度较低区域的西安市大兴路立交发生了较大的破坏。为分析该桥震害原因,采用MIDAS Civil软件建立该桥有限元模型,运用非线性时程方法分析结构的地震响应。分析结果表明:该桥较多滑动支座的支承体系降低了其对主梁变位的约束能力;场地地震动的长周期特性使梁体与支座产生滑移后自振周期延长,导致结构从地震波中吸收了较多能量,加剧了震害。对比2种支承体系修复方案的抗震性能后,推荐支承体系修复方案采用四氟滑板橡胶支座(边墩)、普通板式橡胶支座(中墩)的方案。