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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(12):1687-1704
This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design. 相似文献
163.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(11):1517-1540
Proper rail geometry in the crossing part is essential for reducing damage on the nose rail. To improve the dynamic behaviour of turnout crossings, a numerical optimisation approach to minimise rolling contact fatigue (RCF) damage and wear in the crossing panel by varying the nose rail shape is presented in the paper. The rail geometry is parameterised by defining several control cross-sections along the crossing. The dynamic vehicle–turnout interaction as a function of crossing geometry is analysed using the VI-Rail package. In formulation of the optimisation problem a combined weighted objective function is used consisting of the normal contact pressure and the energy dissipation along the crossing responsible for RCF and wear, respectively. The multi-objective optimisation problem is solved by adapting the multipoint approximation method and a number of compromised solutions have been found for various sets of weight coefficients. Dynamic behaviour of the crossing has been significantly improved after optimisations. Comparing with the reference design, the heights of the nose rail are notably increased in the beginning of the crossing; the nominal thicknesses of the nose rail are also changed. All the optimum designs work well under different track conditions. 相似文献
164.
基于地面力学理论和液压传动理论,对采用不同同步方式的单泵多马达液压行走系统的动力学问题进行了研究。建立了行走系统的动力学模型,对比了行走系统的牵引力、速度和传动效率。结果表明:在单泵多马达液压行走系统同步方式中,电子防滑技术的性能优于同步分流和自有分流技术。 相似文献
165.
管路系统的辐射噪声在军事上已成为衡量现代鱼雷总体先进程度的重要标志之一。针对鱼雷海水管路脉动压力大、引发辐射噪声显著的特点,本文利用流体力学(CFD)软件进行分析,得出流体速度与管壁压力随入口流量的变化规律,总结了引起脉动压力变化的原因。理论分析和仿真实验结果表明:管路设计中应避免使用弯管,减小压力脉动。 相似文献
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地聚物作为一种低碳环保、应用潜力广阔的无机结合料,其与不同表面构造集料的界面交互作用直接影响地聚物混凝土的力学性能和耐久性。充分考虑集料矿物晶向的各向异性,采用分子动力学模拟(Molecular Dynamics, MD)从原子分子层次的作用模式和强度分析,模拟了地聚物主要水化成分N-A-S-H、C-A-S-H和集料矿物化学成分SiO2、CaCO3不同晶面的静态界面相互作用,并采用单轴拉伸方法从纳米尺度下讨论了不同界面交互的动态力学行为。模拟结果表明:CaCO3各晶面表现出比SiO2更强的表面能和表面浸润性,并与C-A-S-H、N-A-S-H的界面相互作用势和拉伸应力更强,但CaCO3晶面各向异性明显,性能稳定性不及SiO2。地聚物与集料矿物的相互作用势主要由静电势提供,由于矿物界面静电作用及浸润特征,交互区水分子聚集,氢键作用明显,同时水分子与Ca2+、Na+进行配位形成水合离子,有助于离子在矿物表面迁移、沉淀与成核生长,增强界面空间位阻效应。在单轴拉伸模拟中,地聚物与集料矿物界面拉伸失效机制包括2个阶段:第1阶段(0 nm<界面位移d<0.15 nm)主要克服界面交互的静电作用,第2阶段(0.15 nm≤d≤0.3 nm)主要克服氢键作用。MD模拟有助于从分子尺度揭示地聚物与集料界面作用机制,为进一步研究地聚物混凝土材料优化、交互界面强化及损伤等提供了新方法和理论依据。 相似文献
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Planning of sustainable transportation systems requires integration of multiple systems while considering a holistic approach. A limited amount of research has been conducted that simultaneously considers all the transportation, economic activity, environmental and social effects. The proposed research envisages incorporating considerations related to sustainability and providing solutions to stakeholders in policy making. In this paper, a dynamic model for planning and development of sustainable transportation systems is presented. This is given by a system of three nonlinear differential equations representing the dynamics of the three independent states, namely, transportation, activity, and environmental systems. A policy scenario considering investment in energy efficient technologies and its effects on the states is discussed to assist making investment decisions. Optimal control techniques are used to design the controls. The results show that it is possible to formulate an optimal control to achieve the desired target. Numerical results, based on actual parameters, are presented to illustrate the long-term trends of the states. The methodology discussed in this paper will be helpful to decision makers in making optimal decisions. The contribution of this research work is the introduction of a systems and controls methodology to develop optimal policies for the design of sustainable systems. 相似文献