Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.     

Policy challenges of increasing automation in driving

The convergence of information and communication technologies (ICT) with automotive technologies has already resulted in automation features in road vehicles and this trend is expected to continue in the future owing to consumer demand, dropping costs of components, and improved reliability. While the automation features that have taken place so far are mainly in the form of information and driver warning technologies (classified as level I pre-2010), future developments in the medium term (level II 2010–2025) are expected to exhibit connected cognitive vehicle features and encompass increasing degree of automation in the form of advanced driver assistance systems. Although autonomous vehicles have been developed for research purposes and are being tested in controlled driving missions, the autonomous driving case is only a long term (level III 2025 +) scenario. This paper contributes knowledge on technological forecasts regarding automation, policy challenges for each level of technology development and application context, and the essential instrument of cost-effectiveness for policy analysis which enables policy decisions on the automation systems to be assessed in a consistent and balanced manner. The cost of a system per vehicle is viewed against its effectiveness in meeting policy objectives of improving safety, efficiency, mobility, convenience and reducing environmental effects. Example applications are provided that illustrate the contribution of the methodology in providing information for supporting policy decisions. Given the uncertainties in system costs as well as effectiveness, the tool for assessing policies for future generation features probabilistic and utility-theoretic analysis capability. The policy issues defined and the assessment framework enable the resolution of policy challenges while allowing worthy innovative automation in driving to enhance future road transportation.     

大跨度结合梁斜拉桥抗风稳定分析

位于山区的大跨度斜拉桥,因峡谷风效应抗风稳定是桥梁分析的重点内容之一。以主跨360m的河口大桥为例,进行了该桥的动力特性分析及抗风稳定分析。分析结果表明,最大悬臂施工状态和成桥状态结构均满足抗风稳定要求,说明该结构体系抗风性能良好,其分析成果为同类大桥设计提供理论参考。     

城市出租车行驶里程与排放特性相关性的试验研究

应用美国Sensors公司生产的SEMTECH-DS车载排放测试仪,通过双怠速法、ASM稳态工况法及道路工况法对同一品牌不同行驶里程的城市出租车进行了排放特性的研究,比较了不同测试方法对排放测试结果的影响,并分析了车辆行驶里程与排放特性的关系。结果表明,双怠速工况下排放污染物超标的行驶里程与ASM工况基本相似;道路工况对汽车污染物排放影响显著;3种测试方法下的HC排放污染物均随行驶里程的增加而升高。     

气力输送设备管道中物料的速度特性研究

针对气力输送中物料在水平和垂直管道中的运动特性,建立了颗粒群在管道中的运动微分方程,并将该微分方程导入Matlab进行求解.通过分析颗粒群在不同管道阻力系数和不同初始条件下的速度特性曲线,得出气力输送中管道内颗粒群在加速段的速度特性.结果表明:阻力系数的大小影响颗粒群在管道中的最终恒定运动速度;不同初始速度影响颗粒群在管道中的加速(减速)运动时间;颗粒群在加速段运动时,垂直管道中所消耗的能量大于水平管道.     

行车荷载对软土路基沉降的影响机理分析

工程实践和理论研究表明,高速公路软基的工后沉降主要来自于路面施工后的瞬时沉降、未完成的主固结沉降和次固结沉降。根据软基处理工程中固结变形特性,对软土地基沉降量与荷载的关系进行详细探讨,给出高速公路工前和工后荷载对软基沉降的计算式,并着重分析软基沉降预估计算误差产生的原因,得出工后主固结沉降阶段的行车荷载对沉降影响较大的结论。     

摩托车车架动态特性分析与改进设计（1）

通过对车架结构动态性能的评估,找出动力学上的缺陷并进行合理的结构修改,改善了车架结构的动态特性,减小了摩托车振动,为摩托车结构的减振优化研究提供了可借鉴的方法。     

基于CFD分析的船舶横摇运动统计特征

船舶大幅度横摇的准确预报一直是船舶工程界关注的热点研究方向之一。基于CFD软件Fluent对船舶横摇问题进行了数值模拟研究,建立了船体自由横摇运动的有限体积模型。通过对一系列船体于静水中作不同初始横摇角的自由横摇运动进行数值模拟,分析得出船体横摇非线性过程中横摇角幅值存在一定的统计规律,并提出基于此统计规律对船体的大幅横摇运动进行数值预报的方法。     

基于能力的装备保障性能研究

从装备各自的设计特性角度出发而形成的武器装备发展思路,未能考虑能力需求,也未从能力的角度来评价研制的最终成果,造成装备部署后,形成的作战能力和保障能力滞缓。提出了保障能力的定义和内涵,并研究提出以能力需求为出发点,以"联合作战方案—使命任务—保障能力—保障性能—关键技术突破—能力设计实现—能力评价—能力发挥和保持"为主线,用形成的能力来评价研制成果的保障能力形成过程,同时提出了保证装备尽快形成保障能力的对策与措施。     

橡胶隔振器动态性能试验改进方法

橡胶隔振器作为舰艇上的主要抗冲击设备,其抗冲击性能直接关系到设备的安全。详述了橡胶隔振器的主要性能参数及其表征意义与相互关系,描述了动态性能试验的测试原理和几种测试方法,给出了自振衰减方法的试验装置原理与试验方法。以橡胶隔振器为试验对象,利用改造前和改造后的试验装置进行动态性能试验,并对试验结果进行分析对比。指出影响动态性能试验结果的几种关键因素主要是拉杆刚度、扣环刚度和非刚性连接,并提出了对试验装置的改进措施。