Sliding-mode control for the roll-angle tracking of an unmanned bicycle

This study investigates the roll-angle tracking control of an unmanned bicycle using a sliding-mode controller (SMC). The roll angle is controlled at a specific speed via a simple proportional, derivative (PD) controller to generate input–output data including steering torque as well as roll and steering angles. The collected data are then used to identify a one-input two-output linear model by a prediction-error identification method using parameterisation in a canonical state-space form derived as a Whipple model. Once the linear model is obtained, the SMC can be designed to control the bicycle. Simulations and comparisons with a proportional, integral, derivative (PID) controller show that this SMC is robust against changes and variations in speed as well as external disturbances.     

Black-box modelling of nonlinear railway vehicle dynamics for track geometry assessment using neural networks

ABSTRACT

The use of vehicle dynamics simulation for the track geometry assessment gives rise to new demands. In order to analyse the responses of the vehicles to the measured track geometry defects, the integration of the simulation process in the measurement chain of the track geometry recording car is envisaged. Fast and reliable simulation results are required. This work studies the use of black-box modelling approaches as an alternative to multi-body simulation. The performances of different linear and nonlinear black-box models for the simulation of the vertical and lateral bogie accelerations are compared. While linear transfer function models give good results for the simulation of the vertical responses, their use is not suitable for the highly nonlinear lateral vehicle dynamics. The lateral accelerations are best represented by recurrent neural networks. For the training and validation on high-speed lines using measured vehicle responses, the performance of the black-box simulation outperforms the multi-body simulation. Due to the larger variability of track design and track quality conditions on conventional lines, the model performance degrades and depends significantly on the analysed vehicle type and the track characteristics.     

Linear matrix inequality based control of vehicle active suspension system

Linear matrix inequality (LMI) methods, novel techniques in solving optimisation problems, were introduced as a unified approach for vehicle's active suspension system controller design. LMI methods were used to provide improved and computationally efficient controller design techniques. The active suspension problem was formulated as a standard convex optimisation problem involving LMI constraints that can be solved efficiently using recently developed interior point optimisation methods. An LMI based controller for a vehicle system was developed. The controller design process involved setting up an optimisation problem with matrix inequality constraints. These LMI constraints were derived for a vehicle suspension system. The resulting LMI controller was then tested on a quarter-car model using computer simulations. The LMI controller results were compared with an optimal PID controller design solution. The LMI controller was further tested by incorporating a nonlinear term in the vehicle's suspension model; the LMI's controller degraded response was enhanced by using gain-scheduling techniques. The LMI controller with gain-scheduling gave good results in spite of the unmodelled dynamics in the suspension system, which was triggered by large deflections due to off-road driving.     

我国首列动力分散摆式内燃动车组环线动力学试验及分析

对我国首列动力分散摆式内燃动车组在中国铁道科学研究院环行铁道试验基地完成的动力学性能测试进行了分析，比较了动车采用迫导向径向转向架、柔性导向转向架的动力学性能，并考察了倾摆系统断电时动车的动力学性能。     

DA21型210t凹底平车研制

介绍了DA21型210t凹底平车的主要用途、性能参数、结构尺寸及试验情况。     

超大跨度隧道上台阶CD法中隔壁力学计算模型及施工力学行为研究

为研究超大跨度隧道分部开挖法施工中隔壁结构的施工力学行为,以山东滨莱高速公路改扩建工程双向八车道乐疃隧道为依托,基于初期支护钢架与中隔壁钢架之间的内力传递、变形协调及拱脚变位,将支护体系等效为支座可移动的三次超静定无铰拱-梁固接结构,建立了上台阶先导初期支护钢架-中隔壁钢架共同承载变位力学计算模型,采用理论分析、现场测试和力学模型计算相结合的方法,对超大跨度隧道上台阶CD法施工时中隔壁的力学行为进行分析。研究结果表明:拱顶沉降和周边收敛主要经历急剧增长、缓慢变形和趋于稳定3个阶段,且各变形值均小于设计预留变形量150 mm;受施工工序和结构约束条件变化的影响,钢架内外侧应力整体呈现出先急剧变化后逐渐趋于稳定的规律,各测点应力小于型钢屈服强度235 MPa;力学模型计算结果和现场实测数据的平均相对误差为12.6%,且规律基本一致;钢架轴力在上台阶施工过程中始终为受压,且最大值均在钢架拱脚处,受后导开挖影响,中隔壁钢架轴力增大,初期支护钢架轴力减小;先导开挖时钢架弯矩大部分部位为正,拱顶部位为负,受后导开挖影响,中隔壁钢架正弯矩值及正弯矩区域减小,同时初期支护钢架正弯矩区域减小,钢架拱脚附近弯矩出现负值;钢架结构整体处于偏心受压状态,受后导开挖影响,中隔壁钢架和初期支护钢架小偏心受压区域均发生移动,且两者钢架小偏心受压长度占比增大。     

考虑气动阻力和横风稳定的汽车车身多目标优化设计

综合考虑了气动阻力特性和横风稳定性,对车身外形参数进行了多目标自动优化设计。综合利用参数化建模技术、计算流体力学(CFD)仿真、试验设计方法、响应面模型和智能优化算法,集成Pro/Engineer参数化建模和ICEM网格划分工具以及Fluent仿真软件,在多学科优化平台modeFRONTIER上,搭建了一种自动优化设计流程。利用该流程,基于遗传算法(GA)对MIRA快背式模型车身几何外形进行了改型设计,得到了考虑车身气动阻力特性和横风稳定性的最优权衡设计解集。该结果使得气动阻力因数降低了5.2%,侧向力因数降低了5.8%。因而,实现了车身气动阻力和横风稳定性的多目标优化。     

金属醇盐Sol-Gel过程中的动力学分析(I)

在前人研究基础上，进行了金属醇盐Ｓｏｌ－Ｇｅｌ过程中的动力学分析，并给出了相应 的动力学方程，为铝醇盐水解缩聚动力学模型的建立打下了基础．     

On Impact mechanics in ship collisions

The purpose of this paper is to present analytical, closed-form expressions for the energy released for crushing and the impact impulse during ship collisions. Ship–ship collisions, ship collisions with rigid walls and ship collisions with flexible offshore structures are considered. The derived mathematical models include friction at the contact point so that situation where the collision results in a sliding motion is included. Results obtained by application of the present procedure are compared with results obtained by time simulations and good agreement has been achieved. In addition, a number of illustrative examples are presented. The procedure presented in the paper is well suited for inclusion in a probabilistic calculation model for damage of ship structures due to collisions.     

Influence of train length on in-train longitudinal forces during brake application

It needs some seconds for a signal, which is created from brake application, to travel from the first part of the train system (locomotive) to the end part of it (last wagon). Delay in time of all parts of the system (train) brake is seen which might deteriorate the longitudinal dynamic interaction of the long trains. For instance, this results in running of the rear cars to the front ones and hence producing large in-train forces at the buffers and couplers. Major parts of the rolling stock in railway system repair are known for relative compression and tension forces, which are applied to the whole train system and cause huge expenses for the industry. For trains with long lengths, operating in safe area is another important relation with train forces along the system. By using MATLAB simulation in this study, we investigated the length's effect on train dynamic along the system mainly for freight trains. We did our research on the trains which are currently used in Railways of Islamic Republic of Iran, RIRI. Four diverse cases were under our simulation, in each of which, trains consist of 52, 32, 20 and 12 cars, respectively. Two different forces (tension and compression) are displayed here as of the outcome of the research. Simulations show different forms of interplays in dynamics along the system. Then we compared the graphs to each other to find out detailed influences of length of the whole system (train including different number of wagons and locomotive) on dynamics of system along it while braking is applied.