道路设计中回旋曲线的算法与画法

针对城市道路平面线形设计中回旋曲线的应用,该文提出了能够为设计人员方便掌握的,在AutoCAD中定制回旋曲线的方法。文章采用回旋线坐标计算通式,使用AutoCAD内嵌的两种编程语言,给出坐标计算的求值函数,从而实现回旋曲线在城市道路设计中的灵活应用。     

城市高架桥的总体平面布置方案与应用

通过工程实例阐述了在城市建设中,为了克服地面复杂情况,兼顾局部路段的特殊需求,城市高架总体平面布置方案应如何科学、合理地进行平面设计与应用,从而体现出与城市平面功能的和谐关联。     

平台支撑的潜艇平面舱壁的极限强度分析

借助国际通用的大型非线性有限元分析软件,对潜艇内部以加强平台取代水平横桁的平面舱壁结构的极限强度进行了非线性的有限元分析.阐述了单元及网格尺度的选择和求解控制策略;求得了结构的应力、应变分布规律;以及探讨了结构极限承载能力、破坏模式、塑性破坏机理.模型试验结果表明,试验值与有限元分析计算值吻合良好.     

Mooring cable tracking using active vision for a biomimetic autonomous underwater vehicle

This study presents a localization system using visual information for guidance and navigation of a biomimetic autonomous underwater vehicle (BAUV). The BAUV tracks a mooring cable using two cameras and sonar. Sonar has good accuracy in detecting longitudinal distances but is poor in detecting lateral distances. Since a stereo image has quantization errors, for the cameras, measurement errors in lateral directions are less than those in the optic-axis direction. An extended Kalman filter was employed to combine observational information derived from the cameras and sonar of the mooring cable position with the navigation data of the BAUV. This work demonstrates, using water tank experiments, the effectiveness of the proposed tracking technique in decreasing uncertainty in position estimations of the BAUV and mooring cable.     

Modeling nonlinear roll damping with a self-consistent,strongly nonlinear ship motion model

Appropriate modeling of roll damping is one of the key issues in accurately predicting ship roll motion. The difficulties in modeling roll damping arise from the nonlinear nature of the phenomena. In this study, we report a new effort in modeling the bilge keel roll damping effect based on the blocking mechanisms of an object in the potential flow. This effect can be implemented as a component of appropriate ship motion models. We used our digital, self-consistent, ship experimental laboratory (DiSSEL) ship motion model to test its effectiveness in predicting ship roll motion. Our numerical experiment demonstrated clearly that the implementation of this roll damping component improves significantly the accuracy of numerical model results (the results were compared with ship experiment data from the Naval Surface Warfare Center, Carderock Division, Maneuvering and Seakeeping Facility).     

箱式浮体在波浪中的运动分析

为研究浮体在波浪中的运动，工程中采用基于刚体运动学的理论，应用牛顿第二定律建立了箱体在六个自由度的耦合运动方程。采用修正的切片法计算了箱体在规则波中运动的附加质量、附加阻尼和静水恢复力，并以纵摇和垂荡两个运动模态为例，在频域和时域内计算了浮体在规则波中两个运动模态的波浪载荷和运动响应，并对运动响应特性进行了分析。     

Optimisation of nonlinear motion cueing algorithm based on genetic algorithm

Motion cueing algorithms (MCAs) are playing a significant role in driving simulators, aiming to deliver the most accurate human sensation to the simulator drivers compared with a real vehicle driver, without exceeding the physical limitations of the simulator. This paper provides the optimisation design of an MCA for a vehicle simulator, in order to find the most suitable washout algorithm parameters, while respecting all motion platform physical limitations, and minimising human perception error between real and simulator driver. One of the main limitations of the classical washout filters is that it is attuned by the worst-case scenario tuning method. This is based on trial and error, and is effected by driving and programmers experience, making this the most significant obstacle to full motion platform utilisation. This leads to inflexibility of the structure, production of false cues and makes the resulting simulator fail to suit all circumstances. In addition, the classical method does not take minimisation of human perception error and physical constraints into account. Production of motion cues and the impact of different parameters of classical washout filters on motion cues remain inaccessible for designers for this reason. The aim of this paper is to provide an optimisation method for tuning the MCA parameters, based on nonlinear filtering and genetic algorithms. This is done by taking vestibular sensation error into account between real and simulated cases, as well as main dynamic limitations, tilt coordination and correlation coefficient. Three additional compensatory linear blocks are integrated into the MCA, to be tuned in order to modify the performance of the filters successfully. The proposed optimised MCA is implemented in MATLAB/Simulink software packages. The results generated using the proposed method show increased performance in terms of human sensation, reference shape tracking and exploiting the platform more efficiently without reaching the motion limitations.     

On-track test of tilt control strategies for less motion sickness on tilting trains

Carbody tilting is today a mature and inexpensive technology that permits higher train speeds in horizontal curves, thus shortening travel time. However, tilting trains run a greater risk of causing motion sickness than non-tilting ones. It is likely that the difference in motions between the two train types contributes to the observed difference in risk of motion sickness. Decreasing the risk of motion sickness has until now been equal to increasing the discomfort related to quasi-static lateral acceleration. But, there is a difference in time perception between discomfort caused by quasi-static quantities and motion sickness, which opens up for new solutions. One proposed strategy is to let the local track conditions influence the tilt and give each curve its own optimised tilt angle. This is made possible by new tilt algorithms, storing track data and using a positioning system to select the appropriate data. The present paper reports from on-track tests involving more than 100 test subjects onboard a tilting train. A technical approach is taken evaluating the effectiveness of the new tilt algorithms and the different requirements on quasi-static lateral acceleration and lateral jerk in relative terms. The evaluation verifies that the rms values important for motion sickness can be influenced without changing the requirements on quasi-static lateral acceleration and lateral jerk. The evaluation shows that reduced quantities of motions assumed to have a relation to motion sickness also lead to a reduction in experienced motion sickness. However, a limitation of applicability is found as the lowest risk of motion sickness was not recorded for the test case with motions closest to those of a non-tilting train. An optimal level of tilt, different from no tilt at all, is obtained. This non-linear relation has been observed by other researchers in laboratory tests.     

Decoupling control in velocity-varying four-wheel steering vehicles with H∞ performance by longitudinal velocity and yaw rate feedback

In this paper, decoupling control with H_∞ performance for four-wheel steering (4WS) vehicles under varying longitudinal velocity is studied. A novel control scheme for a nonlinear model of three states, respectively, the longitudinal and lateral velocities, and yaw rate, is proposed to address this issue. The scheme is composed of two varying-parameter controllers designing problems for both longitudinal and lateral systems with coupling performance. Varying parameters of both these controllers depend only on longitudinal velocity. Controlled by these controllers, the longitudinal system is decoupled with lateral velocity and yaw rate, and the lateral system is input–output decoupling with H_∞ performance. In addition, feedback signals are the longitudinal velocity and yaw rate, hence observations or measurements of lateral velocity are not necessary. Simulations show that vehicles controlled by our scheme are input–output diagonal decoupling and execute very well while longitudinal velocity varies in a large range, coupling appears between longitudinal and lateral systems, and external disturbances do exist. In summary, this control scheme can improve handling characteristics, safety and comfort proved from theory to practice in this paper.     

歼侦机执行侦察任务前挂载方案预先选取

歼击型侦察机可挂载多种型号的侦察吊舱。在执行侦察任务前，首先要根据任务类型选取最佳的挂载方案。对歼侦机可执行的任务进行深入分析，归纳为高空“普查”和低空“详查”两大类；采用 AHP 和 PROMET HEE 相结合的方法对可选挂载方案进行对比评优，以选择最佳的挂载方案；在两种任务下分别选取三种型号的吊舱进行仿真分析，计算结果与实际情况一致，表明了该方法的有效性。