Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring

ABSTRACT

This paper studies the low-speed manoeuvring problem for autono-mous ground vehicles operating in complex static environments. Making use of the intrinsic property of a fluid to naturally find its way to an outflow destination, a novel guidance method is proposed. In this approach, a reference flow field is calculated numerically through Computational Fluid Dynamics, based on which both the reference path topology and the steering reference to achieve the path are derived in a single process. Steering control considers three constraints: obstacle and boundary avoidance, rigidity of the vehicle, plus the non-holonomic velocity constraints due to the steering system. The influences of the parameters used during the flow field simulation and the control algorithm are discussed through numerical cases. A divergency field is defined to evaluate the quality of the flow field in guiding the vehicle. This is used to identify any problematic branching features of the flow, and control is adapted in the neighbourhood of such branching features to resolve possible ambiguities in the control reference. Results demonstrate the effectiveness of the method in finding smooth and feasible motion paths, even in complex environments.     

一种固定翼飞机的航迹仿真

研究了基于飞机运动方程的固定翼飞机航迹仿真方法,利用飞行器的运动方程进行固定翼飞机航迹模拟,建立飞机运动仿真模型算法,然后用MATLAB程序实现飞机航迹仿真,并对直线航迹和跑道型航迹进行了算法分析,最后将仿真航迹与真实航迹比对.     

The impact of structural flexibilities of wheelsets and rails on the hunting behaviour of a railway vehicle

The hunting motion of a passenger coach is investigated using a multibody system in which the wheelsets and the rails can be modelled as flexible bodies. By comparing the results for different model variants, in which the structural flexibilities of the wheelsets and of the rails are either taken into account or neglected, the impact of the flexibilities is analysed. It turns out that the flexibilities of both the wheelsets and the rails have a significant impact on the hunting behaviour by increasing the lateral motions of the wheelsets and lowering the critical speed. In order to investigate the impact of the flexibilities under different operating conditions, the calculations are carried out for track geometries using different rail profiles (60E1, 60E2) and different rail cants (1:40, 1:20) and for different values for the friction coefficient (0.25…0.4) at the wheel–rail contact. The results show that the influence of the flexibilities is the strongest for high lateral forces, which occur e.g. for contact geometries leading to high hunting frequencies and for high values of the friction coefficient. The results also show in some cases a strong impact of the flexibilities on the position of the wheel–rail contact on the running surface of the rail, which is of particular interest with respect to wear simulation.     

Towards comfort-optimal trajectory planning and control

ABSTRACT

This paper describes a method to analyse and evaluate different trajectory planning methods and controller types for usage in automated vehicles. Its application is shown by using a novel trajectory planning approach considering comfort aspects (based on Rapidly Exploring Random Tree (RRT)), two different controllers to follow the planned path (cascade controller and flatness based controller) and a simulation method to obtain resulting lateral vehicle accelerations. The method is used to plan and drive a trajectory through a roundabout. It can be seen that the lateral accelerations of the controller-driven vehicle are in the range of the values used for planning. However, the results of both controllers show differences in lateral deviation and in smoothness of lateral accelerations. The simulation results are then compared to real-world test drives in the same roundabout. The measured lateral accelerations are in the same range as well but show a smoother progression than the two controller models.     

Chaotic movement of vortices in superconductors of high-Tc superconducting maglev system at a high speed

Vortex motion in superconductors of higb-Tc superconducting maglev system is studied by a computational simulation.The vortex system is treated in a similar fashion,as a system where defects arc arrang...     

基于时间序列法的舰船运动预报实验研究

采用线性自回归AR模型、具有首前波观测量的ARMA模型以及非线性自回归NAR模型三种方法分别对舰船运动进行预报,将得到的预报结果与实验测量结果进行验证比较,并对最佳预报模式进行讨论.     

Numerical simulation of wave-induced nonlinear motions of a two-dimensional floating body by the moving particle semi-implicit method

The moving particle semi-implicit (MPS) method was applied to compute nonlinear motions of a floating body influenced by the water on deck. To compute the motions of a rigid body, the fluid pressure at the position of each particle on the body surface was directly integrated in space and the equations of translational and rotational motions were integrated in time to determine the correct position of the rigid-body surface at each time step of the time-domain calculation. The performance of this method was validated through a comparison with measured results in an experiment that was newly conducted using a model of a box-shaped floating body with a small freeboard. Although the overall agreement was good, some discrepancies were observed for a shorter wave period, especially for the drift motion in sway. The effect of numerical resolution on the results was checked by changing the number of particles. With a higher number of particles, no obvious improvement was seen in the global body motions, but the resolution of the local free-surface profile, including the water on deck, was improved.     

船舶内共振动力学行为的研究

本文考虑船舶横摇与纵摇的非线性耦合运动，采用摄动分析及数值计算方法，研究了船舶存在内共振时的非线性动力学行为。研究表明，船舶非线性运动的重要特征是响应不对称、调幅调相及饱和等现象，为揭示船舶在高海情下的倾覆机理奠定了基础。     

港池内中长周期波浪作用下船舶系缆动力响应

针对港池内船舶装卸作业的安全与稳定问题,采用基于势流理论的面元法分析程序AQWA,分析得到船舶与码头结构耦合作用下的14 000 TEU集装箱船动力响应幅值算子。在此基础上,进一步采用码头泊位前的真实波浪条件,得到14 000 TEU集装箱船在设计系缆方式下的船舶运动量响应和缆绳受力响应。结果表明,14 000 TEU集装箱船横摇周期较大,与港池内存在的中长期波(12～18 s)不相匹配,不易引起船舶较大幅度的动力响应;计算分析结果与系泊物理模型试验所得到的结果相吻合,说明所采用的计算原理与分析模型较为可靠,具有较强的工程实际应用价值。     

长周期波浪对船舶系泊稳定性的影响

利用国际通用的OPTIMOOR船舶系泊分析软件,系统分析长周期波浪作用下周期、波高、入射角度对船舶系泊稳定的影响。分析计算结果可知:波高和入射角度对船舶升沉量的影响极为明显,周期对船舶纵移量的影响最为明显;同时,最大缆绳张力与长周期波浪3个因素(周期、波高、入射角度)在一定取值区间内成正相关关系,并且随着波浪因素增大,缆绳张力分布呈现明显的不均匀性;此外,最大护舷反力与长周期波浪3个因素也在一定取值区间内成正相关关系,周期和入射角度这两个波浪因素取值越大,4组护舷的反力越均衡。