A new method for determining wheel–rail multi-point contact

A new method for wheel–rail multi-point contact is presented in this paper. In this method, the first- and the second-order derivatives of the wheel–rail interpolation distance function and the elastic wheel–rail virtual penetration are used to determine multiple contact points. The method takes account of the yaw angle of the wheelset and allows the identification of all possible points of contact between wheel and rail surfaces with an arbitrary geometry. Static contact geometry calculations are first carried out using the developed method for both new and worn wheel profiles and with a new rail profile. The validity of the method is then verified by simulations of a coupled vehicle and track system dynamics over a small radius curve. The simulation results show that the developed method for multi-point contact is efficient and reliable enough to be implemented online for simulations of vehicle–track system dynamics.     

The Force-Angle Measure of Tipover Stability Margin for Mobile Manipulators

Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to approach, or reach, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure of available stability margin. This work presents a new tipover stability measure (the Force-Angle stability measure) which has a simple geometric interpretation, is easily computed, and is sensitive to changes in Center of Mass height. The proposed metric is applicable to systems subject to inertial and external forces, operating over even or uneven terrains. Requirements for computation and implementation of the measure are described, and several different categories of application of the measure are presented along with useful normalizations. Performance of the Force-Angle measure is demonstrated and compared with that of other stability margin measures using a forestry vehicle simulation. Results show the importance of considering both center-of-mass height and system heaviness, and confirm the effectiveness of the Force-Angle measure in monitoring the tipover stability margin.     

基于ADAMS与Matlab的ABS模糊控制仿真研究

将多体系统动力学与智能控制理论相结合对汽车制动防抱死控制系统进行了研究，利用ADAMS／CAR建立了汽车整车的多体力学模型，模型包含了前后悬架、动力总成、转向系统、稳定杆、制动系、轮胎力学模型以及车身，同时也考虑了轮胎、衬套、弹簧、减震器等部件的非线性，准确地表达了车辆的动态特性；利用Matlab／Simulink模糊控制工具箱建立了制动防抱死控制系统的模糊控制策略，利用ADAMS／Control接口进行模型的集成、协同仿真，并将仿真结果与另一种控制策略一逻辑门限值控制的仿真结果进行了比较和分析，仿真反映出模糊控制在整车制动防抱死控制系统上的应用效果，结果表明该控制算法稳定好并具有较强的鲁棒性。     

公路隧道联络风道局部通风影响数值分析

结合湖南雪峰山特长公路隧道联络风道设计方案,采用了CFD(计算流体动力学)方法对轴流风机与联络风道的连接形式以及联络风道渐变段局部通风压力损失进行分析,以确定出较佳的连接结构形式,并计算出联络风道渐变段局部通风压力损失系数。     

Estimation of land vehicle roll and pitch angles

In this article, two kinematics-based observers are proposed to estimate the vehicle roll and pitch angles by using an inertial measurement unit. The observers are mathematically proven to be stable if the vehicle yaw rate is not zero. With a design variation of the observer gains, the estimated roll or pitch angle is shown to further asymptotically converge to the true value, eliminating possible errors caused by the biases of the acceleration signals. Simulation results show that accurate estimation of both pitch and roll angles can be achieved without the help of external sensors such as global positioning systems, either by using the accelerometer-based reference pitch or roll angle as the maneuver varies, or by using an observer with zero steady-state error property.     

Finite element calculations of rail vibration countermeasures

Elastic waves may constitute a nuisance for people living close to high-speed lines. In order to decrease the spread of vibrations, it is common to reinforce the ground with lime cement columns. This article presents the results of simulations of three different ways to install the columns. The calculations have been done with an integrated rigid body—finite element model. Equations from various physical domains are merged into one big system. The results indicate that the straight configuration works best to protect the track. When attention is focused on preventing vibrations from the soil, the leaning column method is more effective. The chosen technique would depend on the aims of the countermeasure.     

单轮对纵向颤振数值仿真及机理分析

在进行机车车辆动力学分析时,除了进行启动和制动研究外,通常将机车的前进速度考虑为恒速,且不考虑轮对纵向振动指标.最新的研究表明,轮对纵向振动作用因素不可忽视,强烈的轮对纵向振动会导致踏面剥离和车体垂向异常振动现象的发生.为了研究轮对纵向振动问题,在将轮对纵向运动考虑为非恒速的基础上建立了单轮对纵向振动简化模型,并推导出包含7个自由度的轮对运动方程,其中轮轨接触考虑为准弹性接触模型.通过根轨迹分析确定了轮对纵向振动的固有频率,发现轮对纵向振动是一种自激振动,在参数不变的条件下具有固定的频率.通过分析提出一种轮对纵向颤振速度的预测方法,研究了轮对纵向颤振的产生机理,指出线路不平顺、轮对横移、摇头的作用是诱发轮对纵向颤振的原因,并通过数值仿真再现了轮对纵向振动现象.     

饱和多孔介质冻融过程的混合物连续介质理论

应用混合物的连续介质理论,建立了冻融过程中饱和多孔介质的渗流场、应力场和温度场耦合作用的数学模型。该模型以多孔骨架位移、水头和温度为基本变量,包括水总质量守恒方程,总应力平衡方程和总能量守恒方程。该模型可简化为未冻区域内的三场耦合模型,两场耦合的渗流-弹性模型,热-弹性模型和热-渗流模型,以及单场作用的渗流模型,弹性模型和热传导模型。     

共同配送对城市货运交通系统的效益研究

从城市GDP、交通基础设施、货运量、货运车辆调度、能源和环境6 个要素出发,构建城市货运交通系统动力学模型,对比实施共同配送前后对城市货运交通拥堵、运输费用及货运系统节能减排的效益变化,寻求解决路径. 以济南市为例,确定模型参数及方程,动态仿真实施共同配送的效益. 结果表明：随着载货率提高、平均运距的增长,实施共同配送的边际收益呈递减趋势,配送时间的昼夜错峰调整也有显著影响;在决策区间载货率[70%, 80%]、平均运距[70, 80] km、配送时间昼夜比例[6∶4,7∶3]下,共同配送总体效益最优;节能减排效益仍存在挖掘的潜力,通过提高新能源货运车承担的货运比重,每20%的增加将带来货运系统节能减排平均30%的降低.     

基于分子动力学的车辆换道交互行为特性及其模型

传统换道模型中,把前后临界空隙作为参数固定数值,忽视了车辆和车道间的动态交互作用等因素.从分子动力学角度,系统考虑跟驰需求安全特性,从动态的需求安全距离角度研究车辆在“跟驰—换道—跟驰”过程中的行驶状态转换.确保在换道完成时,换道车辆和目标车道后车能以需求安全距离进行跟车行驶,建立了模拟分子动力学的期望安全间距模型,并对模型进行了仿真分析.结果表明,分子动力学特性模型可以把跟驰行为和换道行为很好地结合起来.研究成果为分析车辆运行交互特性,车辆可变限速技术,自适应巡航控制技术等提供理论依据和技术支撑.