Farm tractor models for research and development purposes

The modelling problems related to the simulation of the dynamics of farm tractors are dealt with. The aim is to develop reliable mathematical models to speed-up the research and development activities in which farm tractors and their sub-systems (driveline, steering and suspension system, etc.) are to be conceived and designed. Two models of farm tractors have been developed. The first model is based on a proprietary software, able to quickly simulate the motion of a vehicle on smooth or rough soil. The second model has been developed by the commercial software ADAMS/Car^®, which allows to model complicated transmission and suspension systems. In both of the two models, the tyres, the transmission system, the suspension system, the steering system, the engine and the body inertia are carefully described mathematically. Both of the two models are defined in a parametric way. Particular attention has been devoted to the measurements of the tyre characteristic and of the inertia parameters of the farm tractor body. For the measurement of tyre characteristics, a new instrumented wheel hub has been used. The accurate measurement of both the tyre characteristic and body inertia tensor has allowed a good agreement between measured and computed time histories referring to a number of validation manoeuvres performed either on-road or off-road. The derived farm tractor models could simulate the working conditions of a generic farm tractor while hauling a plough or while running at a relatively high speed on a rough soil or while steering on a sloped, soft surface.     

供应链企业业务外包决策模型研究

为适应供应链企业业务外包决策的需要，建立了供应链企业业务外包模型，分析了供需双方独立决策时各自的产量决策和生产能力投资决策．讨论了基于价格合同的外包形式，建立了2个企业进行业务外包决策的两阶段动态博弈模型，并证明了其存在子博弈精练Nash均衡．     

重载电力机车钩缓系统建模研究

针对不同类型重载电力机车钩缓系统建模方法进行研究,提供了非线性迟滞特性缓冲器及两种典型重载电力机车钩缓系统的建模方法,建立了由4节机车及1节简化货车组成的列车模型。以DFC-E100及13A/QKX-100钩缓系统为例,通过列车仿真验证了建模方法的合理性与准确性。研究结果表明,文中所建立的钩缓系统模型能够较好地反映重载电力机车钩缓系统实际运行状态,仿真结果重现了两种钩缓系统在线路试验中表现出的稳定性差异现象。     

基于UML工作流模型的应用研究

分析了工作流模型的组成,根据统一建模语言的特点,形式化定义了为工作流过程建模的UML活动图结构以及建模规则,给出一个应用实例来描述建模过程并对模型作了详细分析。     

Heavy-duty vehicle modelling and longitudinal control

This paper addresses modelling, longitudinal control design and implementation for heavy-duty vehicles (HDVs). The challenging problems here are: (a) an HDV is mass dominant with low power to mass ratio; (b) They possess large actuator delay and actuator saturation. To reduce model mismatch, it is necessary to obtain a nonlinear model which is as simple as the control design method can handle and as complicated as necessary to capture the intrinsic vehicle dynamics. A second order nonlinear vehicle body dynamical model is adopted, which is feedback linearizable. Beside the vehicle dynamics, other main dynamical components along the power-train and drive-train are also modelled, which include turbocharged diesel engine, torque converter, transmission, transmission retarder, pneumatic brake and tyre. The braking system is the most challenging part for control design, which contains three parts: Jake (engine compression) brake, air brake and transmission retarder. The modelling for each is provided. The use of engine braking effect is new complementary to Jake (compression) brake for longitudinal control, which is united with Jake brake in modelling. The control structure can be divided into upper level and lower level. Upper level control uses sliding mode control to generate the desired torque from the desired vehicle acceleration. Lower level control is divided into two branches: (a) engine control: from positive desired torque to desired fuel rate (engine control) using a static engine mapping which basically captures the intrinsic dynamic performance of the turbo-charged diesel engine; (b) brake control: from desired negative torque to generate Jake brake cylinder number to be activated and ON/OFF time periods, applied pneumatic brake pressure and applied voltage of transmission retarder. Test results are also reported.     

大跨度拱桥变截面吊杆索力的分析与识别

上海亭枫公路跨平申线航道的三跨30 m+120 m+30 m连续钢桁架拱桥采用变截面吊杆，其施工过程索力的准确识别具有一定的技术难度，需要有效的理论分析结合实际工程经验来解决。利用等截面吊杆索力的计算公式，结合SAP2000变截面吊杆有限元模型的参数分析结果，推导出不同规格的吊杆基准等效长度。根据吊杆基准等效长度和实测频率，采用一端固定、一端铰接的索力计算公式计算索力，并与相应阶段的设计索力进行比较，可以得到主桥吊杆索力基本符合设计要求。     

Numerical simulation of piggyback pipelaying under current loadings

For piggyback pipelaying operations, current-induced force and its effect on the piggyback pipe have not been thoroughly studied. In the present study, an improved method in hydrodynamic load calculation and structural modelling is proposed to simulate the pipelaying of a piggyback pipeline. In order to obtain the mean drag and lift force coefficients for the piggyback pipeline subjected to different inflow angles, two-dimensional Computational Fluid Dynamics (CFD) simulations are performed by modelling the piggyback pipeline as two cylinders attached to each other without gap. Then, the acquired force coefficients are used to calculate the hydrodynamic loads through a user-defined function in OrcaFlex based on a cross-flow principle approach. The interaction between the pipeline and the piggyback cable is modelled using two types contact elements which are ring penetrator and non-penetrating contact. The present proposed method is compared with other two widely used engineering methods based on (1) the equivalent diameter and (2) two separate cylinders without accounting for hydrodynamic interaction, in terms of the top tension, and the bending moments at Hang-off Clamps (HOC) and sagbend of the pipeline. The comparison shows that the two widely used engineering methods are not always conservative in force and response predictions. Hence, it is important to consider the hydrodynamic and structural interactions between the piggyback cable and the pipeline. With different current directions, the bending moments at the HOC predicted by the present method vary from 40% lower to 100% higher than those predicted by the two widely used engineering methods.