Real-time characterisation of driver steering behaviour

In recent years the application of driver steering models has extended from the off-line simulation environment to autonomous vehicles research and the support of driver assistance systems. For these new environments there is a need for the model to be adaptive in real time, so the supporting vehicle systems can react to changes in the driver, their driving style, mood and skill. This paper provides a novel means to meet these needs by combining a simple driver model with a single-track vehicle handling model in a parameter estimating filter – in this case, an unscented Kalman filter. Although the steering model is simple, a motion simulator study shows it is capable of characterising a range of driving styles and may also indicate the level of skill of the driver. The resulting filter is also efficient – comfortably operating faster than real time – and it requires only steer and speed measurements from the vehicle in addition to the reference path. Adaptation of the steer model parameters is demonstrated along with robustness of the filter to errors in initial conditions, using data from five test drivers in vehicle tests carried out on the open road.

Abbreviations: ADAS: advanced driver assistance systems; CG: centre of gravity; CAN: controller area network; EKF: extended Kalman filter; GPS: global positioning system; UKF: unscented Kalman filter     

液压转向系统中转阀的研究

本文主要研究了液压转向系统中流量转阀的稳态特性,设计了测试实验台,验证了该阀的理论模型,分析确定了阀的压力灵敏度,并通过测试某品牌汽车转向系统的流量转阀获得实验过程和结果,可以供厂商借鉴使用。     

防撞护栏最大动态变形量敏感性分析

碰撞参数在试验组织中会产生误差,为了解护栏最大动态变形量对碰撞参数的敏感程度,建立了车辆碰撞某金属梁柱式护栏有限元仿真模型,模型中考虑了碰撞过程中路基对护栏的影响,采用平均敏感度系数作为护栏敏感度的评判标准。结果表明,撞击速度是影响防撞护栏最大动态变形量的最敏感因素,该研究成果对制定碰撞试验误差范围具有指导意义。     

出口马达加斯加米轨漏斗车的研制

介绍了出口马达加斯加米轨漏斗车的技术特点、技术参数、主要结构、卸货操作过程及计算试验结果。     

蒸汽调节阀改进设计及试验研究

针对汽轮辅机进口压力的滑参数变动,通过重新设计调节阀的型线,并与原型线的调节阀流量特性进行试验比较,得出结论,改型后的调节阀流量特性优于原调节阀,能够满足汽轮机调节系统的控制要求.     

高速磁浮列车导向系统的鲁棒控制器设计

导向系统是高速磁浮列车中的关键子系统之一,针对导向系统工作电流变化范围大的特点,设计了降低静态电流灵敏度的鲁棒导向控制器。在介绍导向系统结构和控制方案的基础上给出导向系统线性化的数学模型,并采用线性最优二次型设计方法设计最优控制器,结合仿真讨论最优控制器无法在整个工作范围内保证导向系统具有相近性能的原因,而后建立了导向系统对于静态电流的参数灵敏度模型,并采用降低参数灵敏度的鲁棒控制理论对最优控制器设计方法进行改进,设计了鲁棒控制器。仿真和试验表明,该鲁棒控制器能够增强导向系统对静态电流变化的鲁棒性。     

一种基于灵敏度矩阵进行桥梁损伤识别的方法

重点研究了一种基于灵敏度矩阵对桥梁进行损伤识别的方法。基于振动分析的矩阵摄动理论,首先讨论了求取模态参数对结构物理参数灵敏度矩阵的方法,形成灵敏度矩阵的过程中避免了偏微分计算;基于灵敏度矩阵,建立了桥梁的损伤识别模型,并给出了此模型具体的求解方法;然后利用Guyan缩减的方法来缩减结构的模态自由度,保证了在进行损伤识别的过程中利用较少的模态参数,进而提高了方法的实用性;最后把所述方法应用于三跨预应力混凝土连续箱梁桥的实际损伤诊断工程。结果表明,利用所述方法进行预应力混凝土连续梁桥的损伤识别是有效的。     

Modeling the cost sensitivity of intermodal inland waterway terminals: A scenario based approach

Cost characteristics of differently sized inland waterway terminals (IWTs) have not received much scientific attention. This observation is remarkable given the importance of costs in transportation decision-making. Classification of differently sized IWTs and their cost structure will lead to more insight into the container cost per terminal. Therefore, the goal of our research was to determine both the characteristics of the cost structure associated with different inland waterway (IWW) container terminal types and the sensitivity of the system to cost/TEU changes in input and operational conditions. We show that terminals with a higher container throughput encounter fewer costs, and can therefore charge a lower price. Assumed delays of 2 h per day on the waterside cause a 4.7–6.6% cost increase per container, mainly caused by extra labor costs. It is also assumed that the changing climate will influence terminal operations and results in extreme water levels (lasting two weeks occurring four times a year) causing a cost increase of 1.0–3.4%. Subsidies can cause cost reductions of 0.3–10.4% depending on the exact form, with the smaller terminals benefiting more because their investment costs are higher relative to operational costs. A subsidy can lower costs by up to 10.4%, but it is questionable whether small and medium terminals will have a lower cost price than the market price, showing that it is important for small and medium terminals to quickly grow in size.     

H ∞ parameter identification and H 2 feedback control synthesizing for inflight aircraft icing

Aircraft icing accident happens frequently. Researchers try to find new ways to solve this problem. The study is facing the direction of intelligent inspection and control system. Previous studies focused on the principle of aircraft icing and its effects on flight performance. The onboard icing detection equipment can only give the qualitative icing information, but cannot effectively describe how serious the consequences would be. If the icing detection equipment fails, it will cause a serious threat to flight safety. This paper reviews the smart icing system and its fundamental principle. Then based on H∞ theory, an aircraft icing parameter identification method is introduced, and its feasibility is verified by simulation results. Moreover, this method can work normally under noise interference and measurement error. Icing parameter identification method can also test part of aircraft’s stability or control derivatives which would be changed obviously after aircraft icing. Classified by neural networks, the stability or control derivatives’ variation can be mapped to ice parameters’ variation that reflects the severity of aircraft icing. Then H2 state feedback control is designed originally to suppress the impact of noise interference, so aircraft can keep steady after it is iced. Seeing from simulation result of the whole system, it is clear that the system can effectively detect icing parameters and by using feedback control system, it can ensure the safety of aircraft in the flight envelope.     

A型地铁车辆ZMA080型转向架悬挂系统

ZMA080型转向架是在SF2100改进型地铁转向架的基础上设计的A型地铁车辆转向架。文章主要介绍ZMA080型地铁转向架悬挂系统的技术参数与及各部件的结构和功能特点。