Application of time-variant predictive control to modelling driver steering skill

The paper addresses the need for improved mathematical models of human steering control. A multiple-model structure for a driver's internal model of a nonlinear vehicle is proposed. The multiple-model structure potentially offers a straightforward way to represent a range of driver expertise. The internal model is combined with a model predictive steering controller. The controller generates a steering command through the minimisation of a cost function involving vehicle path error. A study of the controller performance during an aggressive, nonlinear steering manoeuvre is provided. Analysis of the controller performance reveals a reduction in the closed-loop controller bandwidth with increasing tyre saturation and fixed controller gains. A parameter study demonstrates that increasing the multiple-model density, increasing the weights on the path error, and increasing the controller knowledge range all improved the path following accuracy of the controller.     

网络化SCADA系统调度端设计及可靠性分析

提出了一种高性能网络化ＳＣＡＤＡ系统调度端的设计方案，给出了其硬件结构图及网络软件设计框图，并建模分析了系统可靠性，该设计方案已成功地应用了于京郑线及湘黔线ＳＣＡＤＡ系统。     

A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems

This paper presents a closed-loop dynamic simulation-based design method for articulated heavy vehicles (AHVs) with active trailer steering (ATS) systems. AHVs have poor manoeuvrability at low speeds and exhibit low lateral stability at high speeds. From the design point of view, there exists a trade-off relationship between AHVs’ manoeuvrability and stability. For example, fewer articulation points and longer wheelbases will improve high-speed lateral stability, but they will degrade low-speed manoeuvrability. To tackle this conflicting design problem, a systematic method is proposed for the design of AHVs with ATS systems. In order to evaluate vehicle performance measures under a well-defined testing manoeuvre, a driver model is introduced and it ‘drivers’ the vehicle model to follow a prescribed route at a given speed. Considering the interactions between the mechanical trailer and the ATS system, the proposed design method simultaneously optimises the active design variables of the controllers and passive design variables of the trailer in a single design loop (SDL). Through the design optimisation of an ATS system for an AHV with a truck and a drawbar trailer combination, this SDL method is compared against a published two design loop method. The benchmark investigation shows that the former can determine better trade-off design solutions than those derived by the latter. This SDL method provides an effective approach to automatically implement the design synthesis of AHVs with ATS systems.     

Wear simulation for the centre plate arrangement of a freight car

The bodies of many railway freight cars in many countries of the world are coupled to the running gear by means of a body centre plate that makes a friction pair with a centre bowl. During motion, the bogie is rotated and moved with respect to the car body. This leads to wear on the contact surfaces. Lubrication is inexpedient in this case because the friction forces damp the vibrations (so-called bogie hunting) during motion. Usually, centre plates exhibit noticeable wear after two years of operation. Reducing wear requires knowing details of the wear process which, in turn, requires computer simulation of freight car motion for an operation period of 10–15 years. The purpose of this paper is to develop a universal method for wear simulation of friction pairs that could be used, in particular, for the centre plate of a freight car.     

青藏高原铁路客车电气系统设计

文章从安全性和可靠性的角度出发,指出了青藏高原铁路客车电气系统需要解决的难题,介绍了电气系统及设备所采取的针对性措施以及系统控制与防护措施。     

Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators

The article presents a cascade control for the horizontal motion of a vehicle with single-wheel actuators. The outer control loop for the longitudinal and lateral accelerations and the yaw rate ensures a desired vehicle motion. By a combination of state feedback control and observer-based disturbance feedforward the inner control loop robustly stabilises the rotating and steering motions of the wheels in spite of unknown frictions between tyres and ground. Since the three degrees of freedom of the horizontal motion are affected by eight tyre forces, the vehicle considered is an over-actuated system. Thus additional control objectives can be realised besides the desired motion trajectory as, for example, a maximum in driving safety. The corresponding analytical tyre force allocation also guarantees real-time capability because of its relatively low computational effort. Provided suitable fault detection and isolation are available, the proposed cascade control has the potential of fault-tolerance, because the force allocation is adaptable. Another benefit results from the modular control structure, because it allows a stepwise implementation. Besides, it only requires a small number of measurements for control purposes. These measurements are the rotational speeds and steering angles of the wheels, the longitudinal and lateral acceleration and the yaw rate of the vehicle.     

Investigating the influence of soil properties on railway traffic vibration using a numerical model

This paper presents the influence of dynamic and geometrical soil parameters on the propagation of ground vibrations induced by external loads. The proposed approach is based on a three-dimensional model, focusing on realistic excitation sources like impulse loads and moving railway vehicles. For the latter, a complete vehicle/track model is developed. The simulation is performed in time domain, offering an interesting approach, compared with classic cyclic analyses. The ground is modelled initially as an elastic homogeneous half-space and additionally as a layered half-space. First, the effect of homogeneous soil properties on ground vibration is analysed. Soil stratification is then taken into account, using various configurations. Analysis reveals that as receiver distance increases ground wave reflection in a layered ground plays an important role in the reduction of ground surface motion. This effect is magnified when the phase velocity wavelength becomes large compared with the depth of the surface layer.     

DEADBEAT COVARIANCE CONTROLLER DESIGN FOR SAMPLED-DATA SYSTEMS

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Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations

This paper presents a new method for the design and validation of advanced driver assistance systems (ADASs). With vehicle hardware-in-the-loop (VEHIL) simulations, the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and is more manageable. In the VEHIL laboratory, a full-scale ADAS-equipped vehicle is set up in a hardware-in-the-loop simulation environment, where a chassis dynamometer is used to emulate the road interaction and robot vehicles to represent other traffic. In this controlled environment, the performance and dependability of an ADAS is tested to great accuracy and reliability. The working principle and the added value of VEHIL are demonstrated with test results of an adaptive cruise control and a forward collision warning system. On the basis of the ‘V’ diagram, the position of VEHIL in the development process of ADASs is illustrated.     

Fuzzy-logic-based incident detection for signalized diamond interchanges

This paper documents a fuzzy-logic-based incident detection algorithm for signalized urban diamond interchanges. The model is capable of detecting lane-blocking incidents whose effects are manifested by patterns of deterioration in traffic conditions that require adjustments in signal control strategies. As a component of a real-time traffic adaptive control system for signalized diamond interchanges, the algorithm feeds an incident report (i.e., the time, location, and severity of the incident) to the system's optimization manager, which uses that information to determine the appropriate signal control strategy.The performance of the model was studied using a simulation of an actual diamond interchange. The simulation study evaluated the model's performance in terms of detection rate, false alarm rate, and mean time to detect. The model's performance was encouraging, and the fuzzy-logic-based approach is considered promising.