悬索桥猫道绳水面浮托往复牵引架设技术

怀来官厅水库特大桥为主跨720 m的双塔单跨悬索桥,猫道长1230 m。大桥猫道钢丝绳架设受高空作业环境限制、水面无大型动力船牵引、水底构造物多等不利因素影响,经方案比选,采用水面浮托往复牵引法进行猫道钢丝绳的架设。在水面设置浮体,连接浮体与猫道钢丝绳,使钢丝绳浮托在水面,串联两岸卷扬机与钢丝绳,形成往复索引系统,牵引猫道钢丝绳过水架设。线路左侧猫道的钢丝绳由北往南架设,线路右侧猫道的钢丝绳由南往北架设,1次架设1根猫道钢丝绳。     

Designing H ∞/GH 2 static-output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms

This paper presents an approach to design the H _∞/GH ₂ static-output feedback controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). Three main performance requirements for an advanced vehicle suspension are considered in this paper. Among these requirements, the ride-comfort performance is optimized by minimizing the H _∞ norm of the transfer function from the road disturbance to the sprung mass acceleration, while the road-holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H ₂ (GH ₂) norms of the transfer functions from the road disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH ₂ norm as well. A four-degree-of-freedom half-car model with active suspension system is applied in this paper. Several kinds of H _∞/GH ₂ static-output feedback controllers, which use the available sprung mass velocities or the suspension deflections as feedback signals, are obtained by using the GAs to search for the possible control gain matrices and then resolving the LMIs together with the minimization optimization problem. These designed H _∞/GH ₂ static-output feedback controllers are validated by numerical simulations on both the bump and the random road responses which show that the designed H _∞/GH ₂ static-output feedback controllers can achieve similar or even better active suspension performances compared with the state-feedback control case in spite of their simplicities.     

Fault detection and isolation for a nonlinear railway vehicle suspension with a Hybrid Extended Kalman filter

Fault detection is considered to be one way to improve system reliability and dependability for railway vehicles. The secondary lateral and anti-yaw dampers are the most critical parts in railway suspension systems. So far, the dampers have been modelled as linear components in the fault detection and isolation observer design. In this work, a Hybrid Extended Kalman filter is used to capture the nonlinear characteristics of the dampers. In order to detect and isolate faults, a nonlinear residual generator is developed, which can distinguish clearly between different types of faults. A lateral half train model serves as an example for the proposed technique. The results show that failures in the nonlinear suspension system can be detected and isolated accurately.     

三轮摩托车无后桥调节杆机械式制动系统的可行性分析及CAD辅助设计

大部分三轮摩托车和三轮电动车机械制动型后悬架均采用有后桥调节杆结构,该结构的后悬架系统对制动系统影响不大,一般均能保证制动系统性能稳定,但后桥调节杆大多采用正、反向调节螺栓、螺母结构,行驶中容易松动或脱落,造成后桥中心线相对车身倾斜微小角度,车身纵向中心偏离直线行驶方向,存在左右车轮制动器制动不平衡等安全隐患。     

Stability and performance analysis of a full-train system with inerters

This paper discusses the use of inerters to improve the stability and performance of a full-train system. First, we construct a 28 degree-of-freedom train model in AutoSim, and obtain a linearised model for analysis in Matlab. Then, the benefits of inerters are investigated by the critical speed, settling time and passenger comfort. In addition, we apply a new mechatronic network for further performance improvement, and synthesise the optimal electrical circuit for experimental verification. From the results, inerters are shown to be effective in improving the stability and performance of train systems.     

Modeling Human Vehicle Driving by Model Predictive Online Optimization

A driver model is designed which relates the driver's action to his perception, driving experience, and preferences over a wide range of possible traffic situations. The basic idea behind the work is that the human uses his sensory perception and his expert knowledge to predict the vehicle's future behavior for the next few seconds (prediction model). At a certain sampling rate the vehicle's future motion is optimized using this prediction model, in order to meet certain objectives. The human tries to follow this optimal behavior using a compensatory controller. Based on this hypothesis, human vehicle driving is modeled by a hierarchical controller. A repetitive nonlinear optimization is employed to plan the vehicle's future motion (trajectory planning task), using an SQP algorithm. This is combined with a PID tracking control to minimize its deviations. The trajectory planning scheme is experimentally verified for undisturbed driving situations employing various objectives, namely ride comfort, lane keeping, and minimized speed variation. The driver model is then applied to study path planning during curve negotiation under various preferences. A highly dynamic avoidance maneuver (standardized ISO double lane change) is then simulated to investigate the overall stability of the closed loop vehicle/driver system.     

Kinematic design of double-wishbone suspension systems using a multiobjective optimisation approach

This paper is focused on the kinematic design of double-wishbone suspension systems in vehicles, which is tackled using a multiobjective dimensional synthesis technique. The synthesis goal is to optimise an RSSR–SS linkage, subject to some constraints involved in the dynamic behaviour of vehicles. The synthesis method is based on gradient determination using exact differentiation to obtain the elements in the Jacobian matrix. These characteristics make the method adapt well to the optimum design of vehicle suspension systems. The method is capable of handling equality and inequality constraints, thus, the usual ranges of values may be imposed on the functional parameters. The formulation presented is easy to implement and the solutions obtained demonstrate the accuracy and robustness of the method.     

New insights from fractional order skyhook damping control for railway vehicles

Active suspensions for railway vehicles have been a topic of research for a number of decades and while their applications in service operation are limited, it seems clear that they will in due course see widespread adoption. Railway suspension design is a problem of compromise on the non-trivial trade-off of ride quality versus track following (guidance), and the skyhook damping control approach has been paramount in illustrating the potential benefits. Since skyhook damping control, various advanced control studies appeared contributing to redefine the boundaries of the aforementioned trade-off. Yet there is no study on the impact of fractional order (FO) methods in the context of skyhook railway active suspensions and in particular related to skyhook damping control. This is the area to which this paper strongly contributes. We present findings from a current project on FO controllers for railway vehicles active suspensions, in particular work on the effect of FO methods in basic skyhook damping control schemes, i.e. pure and intuitively based skyhook. First, we present a brief review of conventional skyhook damping control and then proceed to a rigorous investigation of the impact of FO on the ride quality/track following trade-off. The relevant benefits from FO methods are appraised and new insights highlighted.     

一种控制硬点受力状态的悬架可靠性试验方法研究

在悬架可靠性试验中,通过在其硬点位置安装力传感器,有效控制悬架硬点受力情况,使得悬架系统在台架试验中的受力状态更加真实和全面。该方法对于尚无白车身作为约束系统的悬架可靠性试验尤为有效。     

A comparison between two pneumatic suspension architectures

The aim of this work is to assess and compare the mathematical models of two pneumatic suspension architectures and show how they can converge, after appropriate simplifications, to a general linear form. After making this model dimensionless, it will be used to study, with a transmissibility analysis, the behaviour of a mono-suspension (quarter-car model). Finally, an example of a design process will be shown to highlight the strengths and weaknesses of both architectures and to provide the reader with a practical design tool.