On model-based longitudinal feed-forward motion control for low velocities on known road profiles

ABSTRACT

So far, longitudinal motion control has focused on situations like highway driving, where disturbances of the road profile can be neglected. In this paper, we show how the Two Point Tire Model can be used to derive a novel feed-forward control law for a vehicle's longitudinal motion that considers the effects of the road profile and can complement existing control approaches. For this purpose, we recapitulate the basic model assumptions and equations and briefly discuss how it can be used on arbitrary road profiles. Two approaches for implementation in a real vehicle are presented. Comparisons of these approaches in simulation and to a human driver of an experimental vehicle show that the controller can deal with stepped obstacles of up to 14?cm in height. However, the control performance is essentially limited by the actuator delay and human drivers outperform the controller due to their ability of sensing subtle vehicle motions. The results indicate that the control performance can be further improved by using a preview on the necessary drive torque, which can be provided by the solution that we propose.     

铁路车辆承载鞍鞍面内弧半径测量系统的研究

阐述了用线激光三角法进行铁路车辆承载鞍内弧半径测量的方法,提出了一种可行的标定方案,通过计算得到测量系统的参数初值,并由此确定标定点的选取,通过三坐标机的探针在平台上移动来获取标定点的坐标,得到二维标定表,利用插值获得承载鞍内弧曲面的坐标,由此拟合出内弧轮廓的方程并来求得承载鞍的半径.     

Design of an optimised wheel profile for rail vehicles operating on two-track gauges

This article sets out an optimum synthesis methodology for wheel profiles of railway vehicles in order to secure good dynamic behaviour with different track configurations. Specifically, the optimisation process has been applied to the case of rail wheelsets mounted on double-gauge bogies that move over two different gauges, which also have different types of rail: the Iberian gauge (1668 mm) and the International Union of Railways (UIC) gauge (1435 mm). Optimisation is performed using Genetic Algorithms and traditional optimisation methods in a complementary way. The objective function used is based on an ideal equivalent conicity curve which ensures good stability on straight sections and also proper negotiation of curves. To this end, the curve is constructed in such a way that it is constant with a low value for small lateral wheelset displacements (with regard to stability), and increases as the displacements increase (to facilitate negotiation of curved sections). Using this kind of ideal conicity curve also enables a wheel profile to be secured where the contact points have a larger distribution over the active contact areas, making wear more homogeneous and reducing stresses. The result is a wheel profile with a conicity that is closer to the target conicity for both gauges studied, producing better curve negotiation while maintaining good stability on straight sections of track. The article shows the resultant wheel profile, the contact curves it produces, and a number of dynamic analyses demonstrating better dynamic behaviour of the synthesised wheel on curved sections with respect to the original wheel.     

兰新铁路第二双线穿越大风区综合选线研究

大风区段对铁路的建设及运营安全存在着各种危害,高速铁路由于具有速度高、车体轻的特点,其安全受到强风威胁会更大,高速铁路穿越大风区防风设置是世界性难题,目前尚无已成功运营的先例,高速铁路大风区综合选线需综合考虑防风设置、防排水、防沙、接触网防风等因素,科学合理进行方案比选研究。通过分析新疆境内四大风区分布及特点,利用既有兰新铁路设施及防风科研成果,对兰新铁路第二双线在穿越大风区段落综合进行选线设计研究,充分分析路基地段的防风设施设置以及线路平纵断面的防风布置选择,确保高速铁路在大风区安全、快速通过,以确定科学、合理的线路设计方案。     

VSP与CT技术对在役高桩码头结构损伤的检测与应用

在役高桩码头结构检测时由于结构形式复杂、需水上作业等因素,采用传统方法难以对其进行全面损伤检测。本研究在自主研发相关仪器设备的基础上,综合采用VSP基桩测试设备与混凝土结构内部损伤CT扫描设备,对船舶撞击后的某油田钻井平台码头进行检测与评判。检测结果发现,采用VSP与CT联合检测技术,能对在役高桩码头上部结构及基桩的损伤进行准确检测,并可根据检测结果对码头上部结构与基桩的损伤程度做出科学的评价,较好地解决了在役高桩码头结构损伤全面检测的技术难题,可作为一种新型的在役码头检测手段进行应用推广。     

基于遗传算法的高速公路纵断面节能设计

为综合考虑高速公路构造成本和运营成本,详细分析了土石方成本和燃油消耗成本的影响因素,描述了土石方量和燃油消耗量的计算过程,以两者之和构造了适应度函数.然后对等距划分纵断面的变坡点进行二进制编码,基于遗传算法建立了一般情况下高速公路线路纵断面节能设计的模型与算法,致使线路设计的着眼点不再局限于强调工程造价的构造阶段,而是...     

多波束测深系统声速改正技术

海水声速是多波束测深系统进行水深测量的重要参数之一。声速剖面的是否正确直接影响测量结果的精度和可靠性。文章从声速在海水中的传播出发,阐述海水中声速的测量,并通过对海区实验数据的分析,对声速的较正方法进行了探讨。     

撞角球鼻艏形式和参数变化对阻力影响的研究

通过数值计算及模型试验确定了撞角球鼻艏形式和参数对阻力的影响。针对3个形式各异的球鼻艏方案,开展了CFD计算和模型试验,结果显示:当傅汝德数为0.28时,撞角球鼻艏的剩余阻力系数比无球鼻艏的剩余阻力系数约小20%。以8个主要参数各异的撞角球鼻艏方案为对象,采用CFD技术分析了撞角球鼻艏的参数变化对兴波阻力的影响,并确定了撞角球鼻艏的宽度比和纵向长度比对兴波阻力系数的影响。     

非对称齿形加工的计算机仿真

根据Willis定理，设计出计算机仿真程序，由非对称齿轮滚刀齿形自动生成非对称齿轮齿形，并用AUTOCAD绘制齿形图。根据该齿形图修正滚刀设计，直到齿形满足设计要求为止。     

改进的YOLOv3算法在道路环境目标检测中的应用

近年来,社会经济持续高速的发展,人均汽车占有量迅速增加。为了避免车辆追尾等事故发生,结合道路环境下目标检测的难点及要求,文章选择基于卷积神经网络的YOLOv3算法,并针对YOLOv3中使用的k-means聚类算法初始时随机选择质心这一不稳定性以及原本的darknet53网络层数较低导致精度不是很高的问题,引用k-means++聚类算法对k-means聚类算法进行优化,并将darknet53替换成特征提取能力更强的resnet101,进行算法优化。实验结果显示优化后的算法mAP提高了12.2%,基本符合实际应用检测的精度要求。