高强度热处理钢轨闪光焊接头断裂原因分析

国内一重载铁路服役过程中高强度热处理钢轨闪光焊接头发生断裂。采用体视显微镜、光学显微镜和扫描电镜对断口宏微观形貌、金相组织等进行检验,分析接头断裂原因。结果表明:接头断裂是在循环载荷作用下的疲劳断裂,接头轨底脚严重氧化的黑色区域是裂纹源区;由于顶锻量过大,焊接流线升角达到71.5°,在车轮的循环载荷作用下,接头轨底脚沿流线逐渐开裂氧化,并以此为疲劳源向轨底中心区缓慢疲劳扩展,最后导致接头瞬间脆性断裂。     

构造应力场中层状围岩隧道动力响应数值分析

层状岩层的横观各向同性使得振动波在岩层中沿着不同方向传播时,质点的振动特性有着一定的差异。以我国西南地区某高海拔山区单向公路隧道的全断面爆破掘进为研究背景,利用FLAC 3D软件对构造应力场中均质围岩及倾角不同的层状围岩在隧道爆破开挖过程中的变形、振动速度进行研究。研究结果表明,隧道开挖爆破后,洞周岩体变形不对称式分布,左、右拱腰部位变形最大,均质围岩洞周各部位变形在5种模型中相对较小;爆源距相同时,层状围岩左、右测点的x向振动速度均大于上、下测点的z向振动速度;断层破碎带、层理结构面对于振动波的传播既有消振又有聚振的作用,与断层破碎带和层理结构面的产状、空间关系及振动波相对结构面入射角度有关。     

车轮外倾角与前束值的设计匹配

车轮外倾角与车轮前束值是车轮定位中的两个重要参数,车轮前束是为了抵消车轮外倾产生的侧滑不利影响,因此前束值要与车轮的外倾角有合理的匹配。综合考虑车辆的结构参数和轮胎特性,基于车轮的侧滑机理,推导出车轮外倾角与前束值的合理匹配关系模型,用试验结果验证了模型的正确性,为在车辆的设计开发过程中,合理的确定车轮的外倾角与前束值提供理论参考。     

基于基础知识进行的转向传动轴运动布置校核

运用CATIA三维数字模型"DMU Kinematics"模块,分别对转向管柱及转向传动轴相关件进行约束,获得转向传动轴运动模型及转向传动半轴运动包络、转向传动轴当量夹角,用于验证转向传动轴与周边件间隙及其力矩波动是否符合设计要求,进而为布置设计转向传动轴十字轴位置提供理论依据。     

A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces

In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model ‘UniTire’. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.     

High-speed optimal steering of a tractor–semitrailer

A high-speed optimal trailer steering controller for a tractor–semitrailer is discussed. A linear model of a tractor–semitrailer with steered trailer axles is described, and an optimal trailer steering controller is introduced. A path-following controller is derived to minimise the path-tracking error in steady-state manoeuvres using active trailer steering. A roll stability controller is introduced by adding the lateral acceleration of trailer centre of gravity as another objective in the steering controller, so as to improve roll stability in transient manoeuvres. A strategy to switch between these two control modes is demonstrated. Simulation results show that the steering controller can ensure good path tracking of articulated vehicles in steady-state manoeuvres and improve roll stability significantly in transient manoeuvres, while maintaining the path-tracking deviation within an acceptable range. Tests with an experimental tractor–semitrailer equipped with a high-bandwidth active steering system validate the controller design and simulation results. The roll stability controller reduces the measured rearward amplification by 27%.     

Asymptotic sideslip angle and yaw rate decoupling control in four-wheel steering vehicles

This paper shows that, for a four-wheel steering vehicle, a proportional-integral (PI) active front steering control and a PI active rear steering control from the yaw rate error together with an additive feedforward reference signal for the vehicle sideslip angle can asymptotically decouple the lateral velocity and the yaw rate dynamics; that is the control can set arbitrary steady state values for lateral speed and yaw rate at any longitudinal speed. Moreover, the PI controls can suppress oscillatory behaviours by assigning real stable eigenvalues to a widely used linearised model of the vehicle steering dynamics for any value of longitudinal speed in understeering vehicles. In particular, the four PI control parameters are explicitly expressed in terms of the three real eigenvalues to be assigned. No lateral acceleration and no lateral speed measurements are required. The controlled system maintains the well-known advantages of both front and rear active steering controls: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres and improved manoeuvrability. In particular, zero lateral speed may be asymptotically achieved while controlling the yaw rate: in this case comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced. Also zero yaw rate can be asymptotically achieved: in this case additional stable manoeuvres are obtained in obstacle avoidance. Several simulations, including step references and moose tests, are carried out on a standard small SUV CarSim model to explore the robustness with respect to unmodelled effects such as combined lateral and longitudinal tyre forces, pitch, roll and driver dynamics. The simulations confirm the decoupling between the lateral velocity and the yaw rate and show the advantages obtained by the proposed control: reduced lateral speed or reduced yaw rate, suppressed oscillations and new stable manoeuvres.     

Roll angle estimator based on angular rate measurements for bicycles

ABSTRACT

Measuring the roll angle of single-track vehicles has always been a challenging task; however, accurate and reliable measurements of this magnitude are paramount for controlling the stability of these vehicles, both for autonomous riding and for safety reasons. A roll angle estimation is also useful in other situations, such as tests to perform the identification of the parameters of the rider control. In this work, a new algorithm is presented for estimating the roll angle of bicycles. This estimator, based on the well-known Kalman filter, employs a wheel speed sensor to approximate the speed of the vehicle, and three angular rate sensors, which are currently small and affordable sensors. The proposed method was implemented in a microcontroller and tested in a bicycle and the results were compared with measurements obtained with optical sensors, showing a good correlation. Although it has not been tested in motorcycles, comparable results are expected.     

基于DOE的某车型无骨刮片优化分析

文章以某车型驾驶侧无骨刮片为例,运用Minitab软件进行试验设计(DOE),结合试验和软件分析确定了影响驾驶侧刮片刮刷质量最重要的因子是雨刮攻角,并通过软件预测:刮片导条平行度合格,攻角值为-3.5°/7.5°,胶条用富国胶条时,刮片理论刮刷合格率可达94.3%。文中的分析方法适用于所有车型的无骨刮片,为生产企业今后控制生产成本,制造无骨刮片起到借鉴作用。