A design methodology for mechatronic vehicles: application of multidisciplinary optimization,multibody dynamics and genetic algorithms

A design methodology for mechatronic vehicles is presented. With multidisciplinary optimization (MDO) methods, strongly coupled mechanical, control and other subsystems are integrated as a synergistic vehicle system. With genetic algorithms (GAs) at the system level, the mechanical, control and other relevant parameters can be optimized simultaneously. To demonstrate the feasibility and efficacy of the proposed design methodology for mechatronic vehicles, it is used to resolve the conflicting requirements for ride comfort, suspension working spaces and unsprung mass dynamic loads in the optimization of half-vehicle models with active suspensions. Both deterministic and random road excitations, both rigid and flexible vehicle bodies and both perfect measurement of full state variables and estimated limited state variables are considered. Numerical results show that the optimized vehicle systems based on the methodology have better overall performance than those using the linear quadratic Gaussian (LQG) controller. It is shown that the methodology is suitable for complex design optimization problems where: (1) there is interaction between different disciplines or subsystems; (2) there are multiple design criteria; (3) there are multiple local optima; (4) there is no need for sensitivity analysis for the optimizer at the system level; and (5) there are multiple design variables.     

Experimental and numerical investigation on the derailment of a railway wheelset with solid axle

This paper presents the results of an experimental and numerical investigation on the derailment of a railway wheelset with solid axle. Tests were carried out under quasi-steady-state conditions, on a full-scale roller rig, and allowed to point out the effect of different parameters like the wheelset's angle of attack and the ratio between the vertical loads acting on the flanging and non-flanging wheels. On the basis of the test results, some existing derailment criteria are analysed in this paper and two new criteria are proposed. A model of wheel–rail contact is proposed for the mathematical modelling of the flange climb process, and numerical vs. experimental comparisons are used to obtain model validation.     

Dynamic model for ride comfort evaluations of the rubber-tired light rail vehicle

The dynamic model was developed to evaluate vibration accelerations and ride comforts during the running of the Korean-standardised rubber-tired light rail vehicle. Ride comfort indexes were analysed and tested in accordance with UIC 513R by using the dynamic model and the actual vehicle in the test track. Based on the comparisons between analysis results and test results, the validity of the developed dynamic model was evaluated. It was verified whether or not the developed Korean-standardised rubber-tired light rail vehicle met the specified target specification on ride comfort. In addition, the influence of the wearing of guide wheels on ride comfort was estimated.     

Dynamics of railway wagons subjected to braking torques on defective tracks

It is well known that track defects cause profound effects to the dynamics of railway wagons; normally such problems are examined for cases of wagons running at a constant speed. Brake/traction torques affect the speed profile due to the wheel–rail contact characteristics but most of the wagon–track interaction models do not explicitly consider them in simulation. The authors have recently published a model for the dynamics of wagons subject to braking/traction torques on a perfect track by explicitly considering the pitch degree of freedom for wheelsets. The model is extended for cases of lateral and vertical track geometry defects and worn railhead and wheel profiles. This paper presents the results of the analyses carried out using the model extended to the dynamics of wagons containing less ideal wheel profiles running on tracks with geometry defects and worn rails.     

Fault classification method for the driving safety of electrified vehicles

A fault classification method is proposed which has been applied to an electric vehicle. Potential faults in the different subsystems that can affect the vehicle directional stability were collected in a failure mode and effect analysis. Similar driveline faults were grouped together if they resembled each other with respect to their influence on the vehicle dynamic behaviour. The faults were physically modelled in a simulation environment before they were induced in a detailed vehicle model under normal driving conditions. A special focus was placed on faults in the driveline of electric vehicles employing in-wheel motors of the permanent magnet type. Several failures caused by mechanical and other faults were analysed as well. The fault classification method consists of a controllability ranking developed according to the functional safety standard ISO 26262. The controllability of a fault was determined with three parameters covering the influence of the longitudinal, lateral and yaw motion of the vehicle. The simulation results were analysed and the faults were classified according to their controllability using the proposed method. It was shown that the controllability decreased specifically with increasing lateral acceleration and increasing speed. The results for the electric driveline faults show that this trend cannot be generalised for all the faults, as the controllability deteriorated for some faults during manoeuvres with low lateral acceleration and low speed. The proposed method is generic and can be applied to various other types of road vehicles and faults.     

Indirect method for wheel–rail force measurement and derailment evaluation

Wheel set flange derailment criteria for railway vehicles are derived and the influence of wheel–rail contact parameters is studied. An indirect method for wheel–rail force measurement based on these derailment evaluation criteria is proposed. Laboratory tests for the calibration of strain–force devices on the bearing box are carried out to determine the relationship between the applied force and the measured strain. The simulation package, SIMPACK, is used to develop a passenger car model to generate wheel–rail forces and vibration signals. Different cases are considered in this model to provide an accurate validation of the identified wheel–rail forces. A feasibility test is conducted in the Beijing Loop test line using a passenger car equipped with a set of strain gauges on the wheel set. The comparison of the force time history applied to the instrumented wheel set and that obtained using the indirect method is presented.     

Real-time model predictive control of connected electric vehicles

ABSTRACT

Electric Vehicles (EVs) motors develop high torque at low speeds, resulting in a high rate of acceleration with the added advantage of being fitted with smaller gearboxes. However, a rapid rise of torque in EVs fitted with central drive powertrains can create undesired torsional oscillations, which are influenced by wheel slip and flexibility in the halfshaft. These torsional oscillations in the halfshaft lead to longitudinal oscillations in the vehicle, thus creating problems with regard to comfort and drivability. The significance of using wheel slip in addition to halfshaft torsion for design of anti-jerk controllers for EVs has already been highlighted in our previous research. In this research, we have designed a look-ahead model predictive controller (LA-MPC) that calculates the required motor torque demand to meet the dual objectives of increased traction and anti-jerk control. The designed LA-MPC will improve drivability and energy consumption in connected EVs. The real-time capability of the LA-MPC has been demonstrated through hardware-in-the-loop experiments. The performance of the LA-MPC has been compared to other controllers presented in the literature. A validated high-fidelity longitudinal-dynamics model of the Rav4EV, which is the test vehicle of our research has been used to evaluate the controller.     

域市轨道交通发展模式研究

城市的发展和规模与城市交通的不断完善、交通技术水平的不断提高有着直接的关系．本文在分析国内外特大城市地域结构变化特征及发展趋势的基础上，提出我国大城市轨道交通发展的基本模式．在特大城市中心区应重点发展地下铁道．在运量达不到地下铁道标准时应发展轻轨交通，而在近郊、卫星城镇和城市带内应尽快发展城市市郊快速铁道．     

铁路轨道刚度的确定方法

对轨道合理刚度问题进行分析,阐述轨道容许变形量与轨道部件容许应力相互平衡关系以及维修工作量与行车舒适性相互制约关系。给出三种确定轨道整体刚度的方法,钢轨允许应力法、轨道允许变形法和临界速度法。论述部件刚度合理匹配关系。从安全和控制维修的角度,提出基于合理变形确定轨道部件刚度的方法,即变形分配法。应用所提出的方法,对高速铁路轨道刚度问题进行探讨,建议采用轨道允许变形法和变形分配法确定高速铁路轨道整体刚度和部件刚度。给出我国高速铁路在车辆轮载作用下轨道刚度的建议值,轨道整体刚度100kN·mm-1、钢轨支座刚度37kN·mm-1、轨下垫板和道床刚度74kN·mm-1。     

基于结构光视觉传感技术的轮对测量新方法

非接触式轮对自动测量新方法利用先进的结构光视觉传感技术完成轮对各参数的测量.通过结构光扫描轮对,在轮对不同的部位产生相应的变形光,利用视觉传感及图像处理等技术提取结构光变形曲线,获取轮对几何信息,实现轮对外形尺寸、轮对踏面擦伤和剥离等多个参数的在线非接触测量.该方法简单、可靠,测量精度为±0.2 mm.