Modelling minimum-time manoeuvering with global optimisation of local receding horizon control

In this paper, we explore the notion that a human driver uses a receding horizon model predictive control (MPC) scheme for minimum-time manoeuvering. However, MPC is an inherently sub-optimal control scheme because not all future information is incorporated into its finite preview horizon. In many practical applications, this sub-optimality is tolerated as the solution is sufficiently close to optimal. However, it is known that professional drivers have the ability to learn driving circuits and exploit its features to minimise their global manoeuvering time. In this paper, we will model their process with a cascaded optimisation structure. Therein, the inner-loop features a local MPC scheme tasked with finding the control inputs that achieve a blended objective of minimising time and maximising velocity in each preview horizon/distance. The outer loop of this cascaded structure computes the best set of weights for the two components of the local objectives in order to minimise the global manoeuvering time. The proposed cascaded optimisation and control approach is compared against a straight-forward fixed-cost time optimal MPC applied to minimum-time manoeuvering over two well-known race courses. The paper also includes an extended literature review and details of the computational formulation of the model approach.     

Physical processes in wheel–rail contact and its implications on vehicle–track interaction

Friction within the wheel–rail contact highly influences all aspects of vehicle–track interaction. Models describing this frictional behaviour are of high relevance, for example, for reliable predictions on drive train dynamics. It has been shown by experiments, that the friction at a certain position on rail is not describable by only one number for the coefficient of friction. Beside the contact conditions (existence of liquids, solid third bodies, etc.) the vehicle speed, normal loading and contact geometry are further influencing factors. State-of-the-art models are not able to account for this sufficiently. Thus, an Extended-Creep-Force-Model was developed taking into account effects from third body layers. This model is able to describe all considered effects. In this way, a significant improvement of the prediction quality with respect to all aspects of vehicle–track interaction is expected.     

Controlled installation of spudcan foundations on loose sand overlying weak clay

Offshore jack-up rigs are often used for site exploration and oil well drilling. The footings of jack-up rigs are known as spudcan foundations. The risk of rapid uncontrolled penetration of spudcan in seabed (“punch-through”) exposes jack-ups to significant risk during installation in strong over weak layered seabeds. An example for this is a thin loose sand layer overlying a weaker stratum of clay. To prevent spudcans from “punch-through”, an in-situ measurement concept is suggested in this paper to control the installation process of spudcan foundations. First, three-dimensional finite element studies using a Coupled Eulerian–Lagrangian method are carried out to simulate the penetration process. The numerical results have been validated with existing analytical solutions and centrifuge model test data. Furthermore, parametric studies are carried out to quantify the influences of the sand thickness and shear strength of the clay on the bearing capacity of spudcans. Based on the numerical studies an idea for the development of an in-situ measurement concept is suggested to control the spudcan penetration process in-situ.     

考虑船体变形耦合作用的船舶推进系统建模与控制

提出考虑船体变形耦合作用的船舶推进系统仿真建模设计方法与系统框架,通过船体变形与动力装置振动烈度间的量化关系体现耦合作用对模型的影响;研究适合推进系统的先进控制技术,通过对简化后的船舶推进系统不确定模型进行仿真试验,结果表明,具有强自适应能力的神经网络控制和模糊控制技术能够满足系统对不确定性及时变非线性控制的要求,具有良好的控制效果。     

Biofuel refinery location and supply chain planning under traffic congestion

This research focuses on planning biofuel refinery locations where the total system cost for refinery investment, feedstock and product transportation and public travel is minimized. Shipment routing of both feedstock and product in the biofuel supply chain and the resulting traffic congestion impact are incorporated into the model to decide optimal locations of biofuel refineries. A Lagrangian relaxation based heuristic algorithm is introduced to obtain near-optimum feasible solutions efficiently. To further improve optimality, a branch-and-bound framework (with linear programming relaxation and Lagrangian relaxation bounding procedures) is developed. Numerical experiments with several testing examples demonstrate that the proposed algorithms solve the problem effectively. An empirical Illinois case study and a series of sensitivity analyses are conducted to show the effects of highway congestion on refinery location design and total system costs.     

Joint inventory-location problem under the risk of probabilistic facility disruptions

This paper studies a reliable joint inventory-location problem that optimizes facility locations, customer allocations, and inventory management decisions when facilities are subject to disruption risks (e.g., due to natural or man-made hazards). When a facility fails, its customers may be reassigned to other operational facilities in order to avoid the high penalty costs associated with losing service. We propose an integer programming model that minimizes the sum of facility construction costs, expected inventory holding costs and expected customer costs under normal and failure scenarios. We develop a Lagrangian relaxation solution framework for this problem, including a polynomial-time exact algorithm for the relaxed nonlinear subproblems. Numerical experiment results show that this proposed model is capable of providing a near-optimum solution within a short computation time. Managerial insights on the optimal facility deployment, inventory control strategies, and the corresponding cost constitutions are drawn.     

Vehicle dynamics control of an electric-all-wheel-drive hybrid electric vehicle using tyre force optimisation and allocation

ABSTRACT

Hybrid Electric Vehicles (HEV) offer improved fuel efficiency compared to conventional vehicles at the expense of adding complexity and at times, reduced total power. As a result, HEV generally lack the dynamic performance that customers enjoy. To address this issue, the paper presents a HEV with electric All-Wheel-Drive capabilities via the use of torque vectoring electric rear axle drive (TVeRAD) to power the rear axle. The addition of TVeRAD to a front wheel drive HEV improves the total power output. To improve the handling characteristics of the vehicle, the TVeRAD provides torque vectoring at the rear axle. A bond graph model of the drivetrain is developed and used in co-simulation with CarSim. The paper proposes a control system which utilises control allocation to optimise tyre forces. The proposed control system is tested in the simulation environment with a high fidelity CarSim vehicle model. Simulation results show the control system is able to maximise vehicle longitudinal performance while avoiding tyre saturation on low mu surfaces. More importantly, the control system is able to track the desired yaw moment request on a high speed double lane change manoeuvre through the use of the TVeRAD to improve the handling characteristic of the vehicle.     

Analysis of lateral tyre friction dynamics1

The tyre friction model is a key part of the overall multi-body tyre dynamics model. The LuGre dynamic tyre friction model is analytically linearised for pure cornering conditions. The linearised model parameters are conveniently expressed as functions of static curve slope parameters. The linearised lateral force and self-aligning torque submodels are described by equivalent mechanical systems. The linearised model and equivalent system parameters are analysed for different slip angle and wheel centre speed operating points. An example of the application of linearised tyre friction model to tyre vibration analysis is presented as well.     

Book reviews

THE SEVENTH AUSTRALIAN TRANSPORT RESEARCH FORUM, by K. W. Ogden.

AIRLINE PLANNING: CORPORATE, FINANCIAL AND MARKETING by Nawal K. Taneja. Lexington, Mass., Lexington Books, 1982. 207 pp. (£19.50)

SOLVING LOCAL GOVERNMENT PROBLEMS: PRACTICAL APPLICATIONS OF OPERATIONS RESEARCH IN CITIES AND REGIONS, by Charles E. Pinkus and Anne Dixson. George Allen and Unwin, London, 1981. (Hardback £20.00; paperback £8.95)

SCIENTIFIC MANAGEMENT OF TRANSPORT SYSTEMS, edited by N. K. Jaismal. Published by North‐Holland Publishing Company (U.S. $58.50)

TRANSPORTATION AND TRAFFIC ENGINEERING HANDBOOK (Second Edition), edited by W. S. Homburger, Englewood Cliffs, N.J., 1982. Prentice Hall, pp. 883.

ECONOMICS OF PUBLIC TRANSPORT, by C. A. Nash. Longman, London, pp. 194. (£6.95).     

Network effects of intelligent speed adaptation systems

Intelligent Speed Adaptation (ISA) systems use in-vehicle electronic devices to enable the speed of vehicles to be regulated automatically. They are increasingly appreciated as a flexible method for speed management and control particularly in urban areas. On-road trials using a small numbers of ISA equipped vehicles have been carried out in Sweden, the Netherlands, Spain and the UK. This paper describes the developments made to enhance a traffic microsimulation model in order to represent ISA implemented across a network and the impact of this on the networks. The simulation modelling of the control system is carried out on a real-world urban network, and the impacts on traffic congestion, speed distribution and the environment assessed. The results show that ISA systems are more effective in less congested traffic conditions. Momentary high speeds in traffic are effectively suppressed, resulting in a reduction in speed variation which is likely to have a beneficial impact on safety. Whilst ISA reduces excessive traffic speeds in the network, it does not affect average journey times. In particular, the total vehicle-hours travelling at speeds below 10 km/hr have not changed, indicating that the speed control had not induced more slow-moving queues to the network. A statistically significant, eight percent, reduction in fuel consumption was found with full ISA penetration. These results are in accordance with those from field trials and they provide the basis for cost-benefit analyses on introducing ISA into the vehicle fleet. However, contrary to earlier findings from the Swedish ISA road trials, this study suggested that ISA is likely to have no significant effect on emission of gaseous pollutants CO, NO_x and HC.