Nonlinear optimal integrated vehicle control using individual braking torque and steering angle with on-line control allocation by using state-dependent Riccati equation technique

This paper proposes the solution of state-dependent Riccati equation as a nonlinear optimal regulator to stabilise the motion dynamics of the vehicle model subjected to sudden disturbance inputs in the lateral direction. The proposed nonlinear regulator coordinates individually actuated wheel braking torque and steering wheel angle simultaneously in an optimal manner. Performance criteria are satisfied by solving the Riccati equation based on the given cost function subjected to the nonlinear vehicle dynamics. On-line control allocation in terms of optimal brake torque distribution enhanced by optimal wheel steering angle input is achieved. Furthermore, the proposed optimal nonlinear regulator is an active fault-tolerant control system against partial by-wire actuator failures while guaranteeing stability with good performance due to its capability to allocate the individual control inputs in an optimal way. The main aim is to stabilise the motion dynamics of the vehicle model during short-term emergency situations along the desired straight trajectory manageable by average drivers and to provide vehicle stability and handling predictability through the interaction of individual wheel braking and steering actuators. Simulation results are used to illustrate the effectiveness of the proposed methodology.     

基于理论的船舶主机冷却水控制系统的设计

摘要本文对船舶主柴油机缸套冷却水系统的传热机理进行了分析,建立了船舶主柴油机缸套冷却水系统的动态热力数学模型。由于系统的参数具有不确定性,并针对目前船舶主柴油机缸套冷却水系统惯性较大,缸套冷却水出口温度经常超调的特点,设计了该系统的H∞控制器。通过仿真发现所设计的H∞控制器能有效地提高系统的动态精确度和抑制扰动的能力。     

城市轨道交通列车运行图鲁棒性分析

由于运营过程中的可靠性和安全性,使得城市轨道交通越来越成为城市交通的主力,其取得的社会效益远大于经济效益。鲁棒性通常用来衡量某系统对于内部参数和外部环境的包容程度。列车运行图是轨道交通运营的核心,在分析列车运行图鲁棒性作用机理的基础上,提出增强列车运行图抗干扰能力的方法。     

基于航班延误分布的机位鲁棒指派模型

为提高机位指派计划的稳定性与降低航班延误波及效应影响, 以广州白云国际机场历史航班数据为例, 构建了不同航空公司之间差异化的航班延误概率分布, 分析了航班延误分布对机位冲突概率的影响。以机位冲突概率最小为目标函数, 以机位与航班类型为约束条件, 建立了机位鲁棒指派模型, 设计了贪婪禁忌搜索算法, 使用实际航班数据进行实例验证。计算结果表明: 使用提出的机位鲁棒指派模型与贪婪禁忌搜索算法, 获得最优解需要的迭代次数为43, 计算时间为0.72 s, 总的机位冲突概率为2.737 1;使用提出的机位鲁棒指派模型与传统遗传算法, 获得最优解需要的迭代次数为72, 计算时间为35.00 s, 总的机位冲突概率为2.741 2;使用现有的机位闲置时间最大的确定型鲁棒指派方法与提出的贪婪禁忌搜索算法, 总的机位冲突概率为3.018 0。与现有的确定型鲁棒指派方法相比, 提出的机位鲁棒指派模型可使机位计划的鲁棒性提高9.31%。     

车辆半主动悬架全息最优滑模控制器设计方法

为使半主动悬架在名义工况下获得尽可能优的使用性能, 保证在变参数/行驶工况下具有良好的鲁棒性, 提出一种车辆半主动悬架全息最优滑模控制器设计方法。基于车辆模型分析了现有最优滑模控制器不能使半主动悬架在名义工况下获得较优性能与在变参数/行驶工况下鲁棒性较差的原因。通过对半主动悬架控制系统状态方程进行扩展, 构建了不丢失任何系统结构与期望性能信息的滑模流形函数, 据此设计了半主动悬架全息最优滑模控制器。通过变参数多工况数值仿真对比了采用现有最优滑模控制器的半主动悬架、采用全息滑模控制器的半主动悬架与被动悬架的性能。分析结果表明: 在名义工况下, 采用全息最优滑模控制器的半主动悬架的综合性能较采用现有最优滑模控制器的半主动悬架与被动悬架的综合性能分别提高了88.30%、38.33%;在变参数工况下, 采用全息最优滑模控制器的半主动悬架、采用现有最优滑模控制器的半主动悬架和被动悬架的综合性能指标的最大波动分别是26.22%、74.42%、46.39%;在变行驶工况下, 采用全息最优滑模控制器的半主动悬架、采用现有最优滑模控制器的半主动悬架和被动悬架的综合性能指标的最大波动分别是78.55%、106.22%、115.06%。可见, 相比于被动悬架与采用现有最优滑模控制器的半主动悬架, 采用全息最优滑模控制器的半主动悬架可获得更好的名义工况使用性能与变工况鲁棒性。     

Robust flight-to-gate assignment using flight presence probabilities

In this paper we present a novel method to improve the robustness of solutions to the Flight-to-Gate Assignment Problem (FGAP), with the aim to reduce the need for gate re-planning due to unpredicted flight schedule disturbances in the daily operations at an airport. We propose an approach in which the deterministic gate constraints are replaced by stochastic gate constraints that incorporate the inherent stochastic flight delays in such a way so as to ensure that the expected gate conflict probability of two flights assigned to the same gate at the same time does not exceed a user-specified value. The novel approach is integrated into an existing multiple time slot FGAP model that relies on a binary integer programming formulation and is tested using real-life data pertaining to Amsterdam Airport Schiphol. The results confirm that the proposed approach holds out great promise to improve the robustness of the FGAP solutions.     

高速铁路列车运行图鲁棒性协同优化模型研究

为提升高速铁路列车运行图的鲁棒性提出协同优化模型. 基于多线路协同优化和多目标协同优化的思想,研究多条线路列车运行图的协同优化,并将列车运行图的鲁棒性分为晚点传播鲁棒性与换乘接续鲁棒性,对两种鲁棒性进行多目标协同优化建模. 在建模过程中,将经济学中的边际效用递减规律引入对列车间缓冲时间的研究,提出并定义缓冲时间鲁棒性效用. 结合我国具体国情、路情建立高速铁路列车运行图鲁棒性协同优化模型并进行案例分析,结果表明,该模型可有效提升高速铁路列车运行图的鲁棒性.     

基于多段滑模面控制的船舶柴油机调速系统仿真研究

船舶柴油机的稳定运行,关系船舶电力系统电能品质以及柴油机的性能。为了使柴油机具有得到较好的排放性、经济性及动力性,对其转速进行稳定的控制是十分重要的。在实验的基础上建立柴油机调速系统的非线性数学模型,利用滑模变结构控制理论设计了多段滑模面变结构控制器。并用MATLAB/simulink进行了仿真,结果表明:多段滑模面变结构控制能很好抑制系统的超调量,快速跟踪目标值,具有控制精度高,鲁棒性强等特点。     

Multi-scale robustness model for highway networks under flood events

Transportation system infrastructure often experiences severe flood-related disruptions such as overtopping, erosion, and scour. The ensuing damages can result in enormous direct and indirect economic losses to the traffic network and consequently the individuals through conditions like inaccessibility to commuters and reduction in traffic safety. Many studies have claimed that a robust transportation system could significantly prevent such consequences from natural hazards such as floods, highlighting the importance of robustness measures that could be used by decision-makers to properly manage flooded transportation system. Most available measures related to network robustness assessment are qualitative, and while some recent studies have focused on such evaluation using quantitative assessment approaches related to environmental or social-economic operations, they lack the holistic view towards robustness under flood events. This study develops a composite multi-scale transportation-system robustness model considering flood hazards by synthesizing geographical damage recognition, topological functionality analysis, network operation evaluation, and traffic-user loss estimation. This integrated model has been applied in a real-world highway network, mainly revealing that a given intensive flood occurrence at different locations may result in a variety of after-flood disruptions in the transportation network. To assist the asset owners with developing more reasonable prevention and recovery plans, the developed multi-scale robustness index presents both visible multi-denominational flood consequences and an overall post-event transportation-system robustness indicator.     

基于不确定旅客需求的高速铁路鲁棒列车开行方案研究

针对现实中旅客需求的不确定性,将旅客需求划分为必须满足的确定性旅客需求和可适当满足的波动性旅客需求,以极小化铁路运营公司总运营成本为目标,利用轻鲁棒技术,构建不确定旅客需求下高速铁路鲁棒列车开行方案优化模型。本文所提出的优化模型无需事先给出线路备选集,只需提前输入铁路走廊相关参数和旅客需求分布,即可得到旅客需求驱动的列车开行方案,避免了备选集合设置不合理对列车开行方案质量的影响。另外,通过引入线性化技术将模型转化为整数线性规划模型,利用MATLAB平台调用GUROBI进行求解。最后,将模型应用到武汉-广州高速铁路走廊上,验证了其有效性。结果表明,优化后的方案能更好地处理旅客出行需求的不确定性,为编制高速铁路鲁棒列车开行方案提供一定的理论依据。