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.     

Non-stationary random vibration analysis of three-dimensional train–bridge systems

The quarter car model has been used extensively to study the benefits of active, semi-active and passive suspensions. Despite the evident simplicity of the model, the insights obtained from this model have been found to have counterparts in half- and full-car suspension models. Among the most interesting results of the analysis of the quarter car are the relationships among certain transfer function and invariant points in the frequency response functions. These results are of great interest for the application of linear control techniques to the design of active suspensions and the optimisation of linearised passive suspensions. This paper attempts to show why some of the limitations implied by the model are less absolute than they at first seem.     

Virtual test rig to improve the design and optimisation process of the vehicle steering and suspension systems

A virtual test rig is presented using a three-dimensional model of the elasto-kinematic behaviour of a vehicle. A general approach is put forward to determine the three-dimensional position of the body and the main parameters which influence the handling of the vehicle. For the design process, the variable input data are the longitudinal and lateral acceleration and the curve radius, which are defined by the user as a design goal. For the optimisation process, once the vehicle has been built, the variable input data are the travel of the four struts and the steering wheel angle, which is obtained through monitoring the vehicle. The virtual test rig has been applied to a standard vehicle and the validity of the results has been proven.     

Multi-objective control of a full-car model using linear-matrix-inequalities and fixed-order optimisation

This paper studies multi-objective control of a full-vehicle suspension excited by random road disturbances. The control problem is first formulated as a mixed ?₂/?_∞ synthesis problem and an output-feedback solution is obtained by using linear-matrix-inequalities. Next, the multi-objective control problem is re-formulated as a non-convex and non-smooth optimisation problem with controller order restricted to be less than the vehicle model order. For a range of orders, controllers are synthesised by using the HIFOO toolbox. The efficacy of the presented procedures are demonstrated by several design examples.     

Total dynamic response of a PSS vehicle negotiating asymmetric road excitations

A planar suspension system (PSS) is a novel automobile suspension system in which an individual spring–damper strut is implemented in both the vertical and longitudinal directions, respectively. The wheels in a vehicle with such a suspension system can move back and forth relative to the chassis. When a PSS vehicle experiences asymmetric road excitations, the relative longitudinal motion of wheels with respect to the chassis in two sides of the same axle are not identical, and thus the two wheels at one axle will not be aligned in the same axis. The total dynamic responses, including those of the bounce, pitch and the roll of the PSS vehicle, to the asymmetric road excitation may exhibit different characteristics from those of a conventional vehicle. This paper presents an investigation into the comprehensive dynamic behaviour of a vehicle with the PSS, in such a road condition, on both the straight and curved roads. The study was carried out using an 18 DOF full-car model incorporating a radial-spring tyre–ground contact model and a 2D tyre–ground dynamic friction model. Results demonstrate that the total dynamic behaviour of a PSS vehicle is generally comparable with that of the conventional vehicle, while PSS exhibits significant improvement in absorbing the impact forces along the longitudinal direction when compared to the conventional suspension system. The PSS vehicle is found to be more stable than the conventional vehicle in terms of the directional performance against the disturbance of the road potholes on a straight line manoeuvre, while exhibiting a very similar handling performance on a curved line.     

Real-time model predictive control of connected electric vehicles

ABSTRACT

Electric Vehicles (EVs) motors develop high torque at low speeds, resulting in a high rate of acceleration with the added advantage of being fitted with smaller gearboxes. However, a rapid rise of torque in EVs fitted with central drive powertrains can create undesired torsional oscillations, which are influenced by wheel slip and flexibility in the halfshaft. These torsional oscillations in the halfshaft lead to longitudinal oscillations in the vehicle, thus creating problems with regard to comfort and drivability. The significance of using wheel slip in addition to halfshaft torsion for design of anti-jerk controllers for EVs has already been highlighted in our previous research. In this research, we have designed a look-ahead model predictive controller (LA-MPC) that calculates the required motor torque demand to meet the dual objectives of increased traction and anti-jerk control. The designed LA-MPC will improve drivability and energy consumption in connected EVs. The real-time capability of the LA-MPC has been demonstrated through hardware-in-the-loop experiments. The performance of the LA-MPC has been compared to other controllers presented in the literature. A validated high-fidelity longitudinal-dynamics model of the Rav4EV, which is the test vehicle of our research has been used to evaluate the controller.     

How well a single-track linear model captures the lateral dynamics of long combination vehicles

ABSTRACT

The effect of centre-of-gravity heights on the high-speed performance measures of long combination vehicles including truck with double centre-axle trailers, Nordic, and A-double combination vehicles is investigated. The high fidelity three-dimensional models, used in this research, are validated against physical test data. These models are often accurate in terms of the actual dynamic behaviours of the vehicle. On the other hand, the simple yaw-plane single-track models with linear tires require less number of vehicle parameters. In this paper, it is investigated how accurate the estimations of performance measures are at high forward speeds by such single-track linear (STL) models. The influence of load height is especially studied. The high-speed performance-based standard or PBS measures considered are rearward amplifications of both lateral acceleration and yaw velocity; lateral load transfer; yaw damping and high-speed transient offtracking. The results show that tire relaxation has a large effect and it is rather easy to add to an STL model, so it is assumed to be modelled in STL. With realistically high payload and a required accuracy of PBS measures of approximately 10%, only the accuracy of rearward amplification of yaw velocity calculated by the frequency response is fulfilled by the STL. With low payload, the same statement is valid, but with around 5% in required accuracy. The roll dynamics effects are more important than the tire non-linearities.     

城市轨道交通站点客流不确定性研究

为提高城市轨道交通站点客流预测的可靠性,在分析客流不确定性影响因素的基础上,基于ARIMA-GARCH模型,依据南京地铁珠江路站点客流数据对客流不确定性进行建模和预测,并从预测置信区间和无效覆盖率两方面与传统的时间序列进行对比分析,研究结果表明,ARIMA-GARCH能够较好地拟合客流波动情况,为城市轨道交通运营与管理提供理论依据。     

异步真空预压法处理超软土的室内试验及机理*

针对真空预压处理超软地基过程中出现的排水板滤膜外土颗粒聚集现象,提出并通过室内试验研究一种新型真空预压方式——异步真空预压法。该法对相邻的竖向排水体在同一时间下施加不同的真空度,实现对超软土的异步真空吸水预压,缓解因土颗粒单向迁移造成排水体滤膜及膜外土体的淤堵。通过室内试验发现,真空度调节对真空预压的处理效果具有明显影响,同时,异步吸水真空预压排水量是常规真空预压的1.1倍,效果优于常规真空预压;通过对异步真空预压法的机理分析,认为异步真空预压法可保持零速面移动范围内的细颗粒含量,防止细颗粒的过量迁移,有助于缓解超软土的固结排水中的淤堵问题。     

挂篮底模纵梁受力简化计算方法及承重分配系数

以一桥梁施工工程实例为依托,采用有限元软件ANSYS对桥梁悬臂施工中使用的菱形挂篮进行仿真分析.提出3种简化模式计算底模纵梁的承重分配,对比发现将底模纵梁承受的外荷载简化为集中荷载,并分配至挂篮下前后横梁的方法是最优简化计算方法.在此基础上对挂篮底模纵梁承重分配系数进行优化,从而简化了繁琐的挂篮底模纵梁受力分析计算,保证了挂篮结构设计和施工的安全.