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.     

公路隧道运营典型风险辨识

为加强对公路隧道运营风险的辨识、改善和优化公路隧道运营安全，降低重大隧道事故对人员伤亡、隧道结构、设备和经济收益的损失，通过隧道事故调研和大数据技术，收集近些年在全国范围内发生的802起公路隧道事故，对公路隧道自身特性和隧道事故的时间、空间、类型、诱因等特征进行分析。研究结果表明： 1)外界因素对隧道事故影响较大，在高温和车流量较大的环境下，事故发生较多； 2)特长隧道和长隧道的事故数远高于短隧道和中隧道； 3)小型车是隧道内发生事故的主要车型，事故原因多是驾驶员违规驾驶，事故类型多为追尾事故； 4)火灾事故的诱因多为车辆自身故障，其中危化品泄露多为易燃液体泄露。     

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

ＭＰＬＥＤ－ＤＡＴＡ ＳＹＳＴＥＭＳTX＠霍沛军＠王子栋ＩｎｔｒｏｄｕｃｔｉｏｎＳａｍｐｌｅｄ－ｄａｔａｆｅｅｄｂａｃｋｃｏｎｔｒｏｌｈａｓｒｅｃｅｉｖｅｄｍｕｃｈａｔｅｎｔｉｏｎｉｎｔｈｅａｒｅａｏｆｃｏｎｔｒｏｌｓｙｓｔｅｍｄｅ－ｓｉｇｎｂｅｃａｕｓｅｏ...     

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.     

自动拨号文件传输系统

本系统是利用电话网及调制解调器通过自动拨号来实现计算机之间的文件自动传输,并使用SQL语言在传输过程中自动形成和修改有关的记录文件,此外还具有系统设置、记录查询、统计、传输过程中的实时监控等功能,为系统设计了一个多媒体演示软件.     

基于VC＋＋实现公路工程试验数据的处理系统

介绍了在公路工程试验室管理中,运用Visual VC＋＋实现公路工程试验室数据处理系统的方法,其中包括数据存储、窗口界面、报表打印等主要功能的构成。叙述了系统总体设计、数据存储、菜单设计、工具栏设计、用户窗口设计及报表打印的步骤和方法。     

某型舰炮远程故障诊断专家系统的设计与实现

文章针对某型舰炮的工作原理以及故障特点,结合人工智能中专家系统的知识,采用的B／S模式下jsp＋servlet技术来设计出一套该型舰炮的远程故障专家系统。在某型舰炮维修的过程中,该文所设计的软件能方便快速的解决故障,在武器装备维护中具有重要的军事意义。