A modified integral sliding mode control to lateral stabilisation of 4-wheel independent drive electric vehicles

This paper presents a novel sliding mode controller (SMC) and its application in the lateral stability control of a 4-wheel independent drive electric vehicle. The structure of the SMC is modified and online-tuned to ensure vehicle system stability, and to track the desired vehicle motion references when an in-wheel motor fault happens. The proposed controller is faster, more accurate, more robust, and with smaller chattering than common SMCs chatter. The effectiveness of the introduced approach is investigated through conducted simulations in the CARSIM and MATLAB software environments.     

Multiple attractors and critical parameters and how to find them numerically: the right,the wrong and the gambling way

In recent years, several authors have proposed ‘easier numerical methods’ to find the critical speed in railway dynamical problems. Actually, the methods do function in some cases, but in most cases it is really a gamble. In this article, the methods are discussed and the pros and contras are commented upon. I also address the questions when a linearisation is allowed and the curious fact that the hunting motion is more robust than the ideal stationary-state motion on the track. Concepts such as ‘multiple attractors’, ‘subcritical and supercritical bifurcations’, ‘permitted linearisation’, ‘the danger of running at supercritical speeds’ and ‘chaotic motion’ are addressed.     

土工合成材料在天津港地区海上堤埝工程中的应用

通过现场实际工程,说明了采用塑料排水板和基垫土工布对防波堤(埝)下的软弱土地基进行加固,可使地基在堤(埝)自重荷载下排水固结,强度提高,确保防波堤(埝)的稳定性,同时可使地基的大部分沉降在防波堤(埝)施工期完成,对合理地控制堤(埝)体的实际施工标高非常有利。     

Design of robust-stable and quadratic finite-horizon optimal controllers with low trajectory sensitivity for uncertain active suspension systems

This paper presents a design method for designing the robust-stable and quadratic-finite-horizon-optimal controllers of uncertain active suspension systems. The method integrates a robust stabilisability condition, the orthogonal functions approach (OFA) and the hybrid Taguchi-genetic algorithm (HTGA). Using the integrative computational method, a robust-stable and quadratic-finite-horizon-optimal controller with low-trajectory sensitivity can be obtained such that (i) the active suspension system with elemental parametric uncertainties is stabilised and (ii) a quadratic-finite-horizon-integral performance index including a quadratic trajectory sensitivity term for the nominal active suspension system is minimised. The robust stabilisability condition is proposed in terms of linear matrix inequalities (LMIs). Based on the OFA, an algebraic algorithm only involving the algebraic computation is derived for solving the nominal active suspension feedback dynamic equations. By using the OFA and the LMI-based robust stabilisability condition, the dynamic optimisation problem for the robust-stable and quadratic-finite-horizon-optimal controller design of the linear uncertain active suspension system is transformed into a static-constrained-optimisation problem represented by the algebraic equations with constraint of LMI-based robust stabilisability condition; thus greatly simplifies the design problem. Then, for the static-constrained-optimisation problem, the HTGA is employed to find the robust-stable and quadratic-finite-horizon-optimal controllers of the linear uncertain active suspension systems. A design example is given to demonstrate the applicability of the proposed integrative computational approach.     

Continuous formulations and analytical properties of the link transmission model

The link transmission model (LTM) has great potential for simulating traffic flow in large-scale networks since it is much more efficient and accurate than the Cell Transmission Model (CTM). However, there lack general continuous formulations of LTM, and there has been no systematic study on its analytical properties such as stationary states and stability of network traffic flow. In this study we attempt to fill the gaps. First we apply the Hopf–Lax formula to derive Newell’s simplified kinematic wave model with given boundary cumulative flows and the triangular fundamental diagram. We then apply the Hopf–Lax formula to define link demand and supply functions, as well as link queue and vacancy functions, and present two continuous formulations of LTM, by incorporating boundary demands and supplies as well as invariant macroscopic junction models. With continuous LTM, we define and solve the stationary states in a road network. We also apply LTM to directly derive a Poincaré map to analyze the stability of stationary states in a diverge-merge network. Finally we present an example to show that LTM is not well-defined with non-invariant junction models. We can see that Newell’s model and continuous LTM complement each other and provide an alternative formulation of the network kinematic wave theory. This study paves the way for further extensions, analyses, and applications of LTM in the future.     

浅谈不良地质高边坡局部坍塌处理

文中简要介绍了江西武宁至吉安高速公路B14标段高边坡局部坍塌处理及验算的过程.     

利用钢渣换填路基的鉴定与应用研究

分析了钢渣的化学成分和三种分解现象,提出了钢渣是否经过崩解达到稳定的初步鉴定方法,对钢渣的材料特性及路基换填钢渣的优点进行了介绍。     

大型起重铺管船稳性特点与船型设计

半潜起重铺管船是一种技术形态复杂的海洋工程船舶,随着世界各国对海洋油气资源的开发利用而日益受到重视。文章介绍了大型起重铺管船在稳性方面的特点,并分析了其对船型和主尺度选择的影响,希望能对同类船的研究提供参考。     

省道236线改建公路堤边坡稳定性研究

从加筋刚度、加筋长度及加筋布置方式等三方面入手,通过对有限元理论分析方法的应用,为优化设计提供依据。文章综合省道236线边坡环境与地质特点,提出铺设土工格栅结合加筋布置的综合治理方案,从而确保省道236线改建公路的安全,期望对今后相关公路的改建工程提供借鉴和参考。