Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators

The article presents a cascade control for the horizontal motion of a vehicle with single-wheel actuators. The outer control loop for the longitudinal and lateral accelerations and the yaw rate ensures a desired vehicle motion. By a combination of state feedback control and observer-based disturbance feedforward the inner control loop robustly stabilises the rotating and steering motions of the wheels in spite of unknown frictions between tyres and ground. Since the three degrees of freedom of the horizontal motion are affected by eight tyre forces, the vehicle considered is an over-actuated system. Thus additional control objectives can be realised besides the desired motion trajectory as, for example, a maximum in driving safety. The corresponding analytical tyre force allocation also guarantees real-time capability because of its relatively low computational effort. Provided suitable fault detection and isolation are available, the proposed cascade control has the potential of fault-tolerance, because the force allocation is adaptable. Another benefit results from the modular control structure, because it allows a stepwise implementation. Besides, it only requires a small number of measurements for control purposes. These measurements are the rotational speeds and steering angles of the wheels, the longitudinal and lateral acceleration and the yaw rate of the vehicle.     

基于Femap的风帆基座局部强度分析

以上海海事大学教学实习船"育明"轮为对象,研究船舶加装风帆装置的船体结构强度问题,通过局部加强风帆基座和船体连接部分来保证风帆安装部位的结构稳定性。利用Solidworks和Femap软件建立了风帆基座和船体的有限元模型,计算得到该模型在10级风载荷下受风角度从0°~60°的应力和应变。最终结果表明,在10级风载荷下,该船风帆基座和局部加强后的船体的强度符合要求。     

动力定位系统舵桨组合推力分配研究

针对船舶动力定位系统推力分配中舵桨组合的推力建模及优化分配问题,将舵桨组合的非凸推力区域转化成4个凸区域,采用切换控制理论把非线性最优化问题转换为线性最优化问题。将舵、桨组合起来进行推力建模,以最小推力、舵角变化和推力误差为优化目标,对推进器的推力变化率、舵角变化率、推力误差范围和推力大小作了约束,采用多边形的方法把推力范围约束转化为线性不等式约束,基于总功率与总推力误差在不同推力区域设计了切换逻辑,实现了在不同的推力分配器中的切换。实船试验结果表明舵桨组合推力模型及推力分配策略是切实可行的,满足了推力分配的要求,在配备舵的动力定位船上具有良好的应用前景。     

考虑健康损失的路阻模型的构建

运用高斯烟羽模型计算机动车尾气排放量,然后利用支付意愿法定量分析健康损失,同时考虑延误和健康损失构建考虑健康损失的路阻模型。根据实例,分别使用Transcad和新的路阻模型计算出2个路阻,并进行交通分配。结果显示2次交通分配的路网流量不同,表明考虑健康损失的路阻模型影响了人们的出行选择,可有效解决主干路拥挤,增加次干路车流量,协调整个路网车流量均衡,提高路网交通效率。     

考虑动态定价的煤炭调运方案优化研究

煤炭坑口价格的变化与市场供求有重要联系.本文在煤炭坑口价格动态定价的基础上,以煤炭产地和消费地间的煤炭调运量为决策变量,以煤炭流通过程中的总费用最小化为目标,分别构建了煤炭调运系统优化模型和考虑消费者竞争的煤炭调运优化模型,设计了遗传算法和Floyd算法相结合的求解算法.以我国内地煤炭调运问题为案例,分析了价格变化特性、可调出量与消费量比例等因素对煤炭调运方案的影响.结果表明,考虑消费者竞争时煤炭流通广义费用更低;随着煤炭可调出量与消费量比的增加,动态价格较固定价格的煤炭流通广义费用下降更快.     

37500m3乙烷运输船液货舱的载荷传递

本文针对为应对美国页岩气革命而研发的37,500m3全球最大型乙烷运输船,就超长的C型独立液货舱的静态载荷如何传递到船体结构,进行了深入地分析研究,设计了不同的载荷分布方式和相应的装载工况,并通过有限元方法进行了分析验证,得出了一些实用的结论,对今后采用C型独立液货舱的液化气船的设计提供了重要参考。     

重大突发公共卫生事件下城市应急医疗物资优化调度研究

针对新型冠状病毒肺炎（新冠肺炎）疫情防控中应急医疗物资调度不尽合理、集配中心中转效率不够高等问题,重新设计了重大突发公共卫生事件下城市应急医疗物资调度与配送体系,并给出了应急医疗物资的分类方法。从医疗物资使用需求和库存估计可使用时间2个维度构建需求点紧急度指标,考虑突发公共卫生事件特征,以加权的需求满足率最大化为主要目标、车辆行驶距离最小化为次要目标,构建应急医疗物资动态分配模型,并通过算例验证了模型的有效性和可行性。结果表明：所构建的模型能够兼顾医疗物资分配的公平和效率,符合突发公共卫生事件中应急医疗物资供给和需求的动态变化特性,确保在物资短时间供给不足的情况下各需求点也能公平获取一定比例的物资;且模型仅要求各需求点上报各种品类医疗物资的使用人数和库存量,同时模型还给出数据缺失时的自动计算办法,可操作性更强;运用紧急度指标对需求满足率最大化目标进行校正,解决了各需求点因需求量差异对公平分配造成的影响,使得应急医疗物资分配更加合理。研究成果结合了新冠肺炎疫情防控中应急医疗物资调度的具体过程,使得分配模型更符合实际需要,可为城市应急医疗物资优化调度提供决策依据。     

Fitness-for-purpose assessment of cracked offshore wind turbine monopile

In this paper, the procedure for flaw acceptability assessment is examined through a case study of a semi-elliptical surface crack in an offshore monopile as it grows till it forms a through thickness crack. Using the procedure prescribed in an industrial standard (BS 7910), the fracture ratio, K_r is shown to increase monotonically with increasing crack depth. The load ratio, L_r, is initially insensitive to the crack depth. However, there is a rapid increase in L_r when the crack depth to thickness ratio exceeds 80%. L_r values obtained from detailed 3D FE limit analysis using elastic-perfectly-plastic material behaviour do not exhibit the asymptotic behaviour predicted by BS 7910 as the flaw transitions from deep crack to through-thickness crack. Furthermore, K_r predicted by BS 7910 is shown to be an over-estimation for the typical dimensions of offshore monopiles. The findings suggest that a structure with a deep flaw may be identified as unacceptable based on BS 7910 when it may still possess a non-trivial amount of structural residual life. This is a concern for monopiles where crack growth as a large flaw forms a significant part of the total life.     

潜艇舷间舾装的精度分配

[目的]潜艇建造是一个多工序耦合的工艺过程,随着模块化建造模式的发展,广义的"舾装"包含了材料成型、结构建造、设备管系制造安装及涂装等全流程,在设计阶段开展潜艇舾装的精度分配顶层规划,可有效影响潜艇建造工艺过程,确保潜艇总体性能.[方法]针对潜艇舷间舾装,首先提出精度分配的流程,然后对基于尺寸链的精度分配方法的内涵及其...     

The Storage Space Allocation Problem at a Container Terminal

Due to the asymmetry between the time required to retrieve a container to vessel and the time required to register a container at the gate, the storage space allocation problem solves the best allocation policy of these containers that minimizes the potential number of gantry movements during the assigning process and the future retrieval process. A decision rule-based heuristic is proposed, and three properties are discovered in this research. Comprehensive numerical experiments show that the proposed heuristic can solve the real-sized instances within a second, making it possible to account for uncertainty because the re-optimization effort is negligible. Moreover, when applying the proposed heuristic to a container yard at the Port of Kaohsiung in Taiwan and considering the extreme cases, the heuristic performs even better when the number of containers increases and still requires less than 1 s to solve these extreme cases. Finally, the proposed heuristic can be applied to different layouts of storage space and various material handling machines.