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.     

Non-stationary random vibration analysis of three-dimensional train–bridge systems

The quarter car model has been used extensively to study the benefits of active, semi-active and passive suspensions. Despite the evident simplicity of the model, the insights obtained from this model have been found to have counterparts in half- and full-car suspension models. Among the most interesting results of the analysis of the quarter car are the relationships among certain transfer function and invariant points in the frequency response functions. These results are of great interest for the application of linear control techniques to the design of active suspensions and the optimisation of linearised passive suspensions. This paper attempts to show why some of the limitations implied by the model are less absolute than they at first seem.     

Virtual test rig to improve the design and optimisation process of the vehicle steering and suspension systems

A virtual test rig is presented using a three-dimensional model of the elasto-kinematic behaviour of a vehicle. A general approach is put forward to determine the three-dimensional position of the body and the main parameters which influence the handling of the vehicle. For the design process, the variable input data are the longitudinal and lateral acceleration and the curve radius, which are defined by the user as a design goal. For the optimisation process, once the vehicle has been built, the variable input data are the travel of the four struts and the steering wheel angle, which is obtained through monitoring the vehicle. The virtual test rig has been applied to a standard vehicle and the validity of the results has been proven.     

Multi-objective control of a full-car model using linear-matrix-inequalities and fixed-order optimisation

This paper studies multi-objective control of a full-vehicle suspension excited by random road disturbances. The control problem is first formulated as a mixed ?₂/?_∞ synthesis problem and an output-feedback solution is obtained by using linear-matrix-inequalities. Next, the multi-objective control problem is re-formulated as a non-convex and non-smooth optimisation problem with controller order restricted to be less than the vehicle model order. For a range of orders, controllers are synthesised by using the HIFOO toolbox. The efficacy of the presented procedures are demonstrated by several design examples.     

Total dynamic response of a PSS vehicle negotiating asymmetric road excitations

A planar suspension system (PSS) is a novel automobile suspension system in which an individual spring–damper strut is implemented in both the vertical and longitudinal directions, respectively. The wheels in a vehicle with such a suspension system can move back and forth relative to the chassis. When a PSS vehicle experiences asymmetric road excitations, the relative longitudinal motion of wheels with respect to the chassis in two sides of the same axle are not identical, and thus the two wheels at one axle will not be aligned in the same axis. The total dynamic responses, including those of the bounce, pitch and the roll of the PSS vehicle, to the asymmetric road excitation may exhibit different characteristics from those of a conventional vehicle. This paper presents an investigation into the comprehensive dynamic behaviour of a vehicle with the PSS, in such a road condition, on both the straight and curved roads. The study was carried out using an 18 DOF full-car model incorporating a radial-spring tyre–ground contact model and a 2D tyre–ground dynamic friction model. Results demonstrate that the total dynamic behaviour of a PSS vehicle is generally comparable with that of the conventional vehicle, while PSS exhibits significant improvement in absorbing the impact forces along the longitudinal direction when compared to the conventional suspension system. The PSS vehicle is found to be more stable than the conventional vehicle in terms of the directional performance against the disturbance of the road potholes on a straight line manoeuvre, while exhibiting a very similar handling performance on a curved line.     

Real-time model predictive control of connected electric vehicles

ABSTRACT

Electric Vehicles (EVs) motors develop high torque at low speeds, resulting in a high rate of acceleration with the added advantage of being fitted with smaller gearboxes. However, a rapid rise of torque in EVs fitted with central drive powertrains can create undesired torsional oscillations, which are influenced by wheel slip and flexibility in the halfshaft. These torsional oscillations in the halfshaft lead to longitudinal oscillations in the vehicle, thus creating problems with regard to comfort and drivability. The significance of using wheel slip in addition to halfshaft torsion for design of anti-jerk controllers for EVs has already been highlighted in our previous research. In this research, we have designed a look-ahead model predictive controller (LA-MPC) that calculates the required motor torque demand to meet the dual objectives of increased traction and anti-jerk control. The designed LA-MPC will improve drivability and energy consumption in connected EVs. The real-time capability of the LA-MPC has been demonstrated through hardware-in-the-loop experiments. The performance of the LA-MPC has been compared to other controllers presented in the literature. A validated high-fidelity longitudinal-dynamics model of the Rav4EV, which is the test vehicle of our research has been used to evaluate the controller.     

How well a single-track linear model captures the lateral dynamics of long combination vehicles

ABSTRACT

The effect of centre-of-gravity heights on the high-speed performance measures of long combination vehicles including truck with double centre-axle trailers, Nordic, and A-double combination vehicles is investigated. The high fidelity three-dimensional models, used in this research, are validated against physical test data. These models are often accurate in terms of the actual dynamic behaviours of the vehicle. On the other hand, the simple yaw-plane single-track models with linear tires require less number of vehicle parameters. In this paper, it is investigated how accurate the estimations of performance measures are at high forward speeds by such single-track linear (STL) models. The influence of load height is especially studied. The high-speed performance-based standard or PBS measures considered are rearward amplifications of both lateral acceleration and yaw velocity; lateral load transfer; yaw damping and high-speed transient offtracking. The results show that tire relaxation has a large effect and it is rather easy to add to an STL model, so it is assumed to be modelled in STL. With realistically high payload and a required accuracy of PBS measures of approximately 10%, only the accuracy of rearward amplification of yaw velocity calculated by the frequency response is fulfilled by the STL. With low payload, the same statement is valid, but with around 5% in required accuracy. The roll dynamics effects are more important than the tire non-linearities.     

排水系统水力模型建模导则有关规定的探讨

排水系统水力模型在排水工程项目中的应用越来越广泛,制定一套关于排水系统水力模型的标准和规范是必要的。根据编制《排水系统水力模型建模及交付技术导则》中的要求,以集水区和降雨作为研究对象,采用水力模型对集水区和降雨进行建模模拟,分析研究集水区和降雨对排水系统水力模型的影响,证明《排水系统水力模型建模及交付技术导则》中关于集水区和降雨在排水系统水力模型中的建模要求的合理性,为导则的后续应用提供了有力的技术支持,也为后续排水系统水力模型的建设提供相应的指导。     

墙背填料为砂性土的短卸荷板式挡土墙离心模型试验

本文利用离心模型试验技术对短卸荷板式挡土墙进行了试验分析，在墙背填料为砂性土的情况下，通过对墙体位移的控制，得到了主动极限状态下的墙背土压力及卸荷板上的土压力的大小和分布。     

域市轨道交通发展模式研究

城市的发展和规模与城市交通的不断完善、交通技术水平的不断提高有着直接的关系．本文在分析国内外特大城市地域结构变化特征及发展趋势的基础上，提出我国大城市轨道交通发展的基本模式．在特大城市中心区应重点发展地下铁道．在运量达不到地下铁道标准时应发展轻轨交通，而在近郊、卫星城镇和城市带内应尽快发展城市市郊快速铁道．