基于制动与悬架系统的车辆主动侧翻控制的研究

为提高车辆抗侧翻能力,建立了10自由度整车侧翻动力学模型,应用车辆动力学和轮胎力耦合特性,提出了一种基于差动制动和半主动悬架协同工作的车辆主动抗侧翻控制策略。通过对制动力矩的差动调节和半主动悬架阻尼力的适时匹配,实现对车辆侧翻的有效控制。根据子系统运动特性,设计了制动系统基于滑移率的积分滑模控制器和悬架系统灰模糊控制器。分别对制动、悬架控制及综合控制进行的鱼钩试验仿真结果表明,综合控制策略可有效降低危险时域车辆的侧倾角,相对于单一系统控制进一步提高了车辆抗侧翻能力。     

多塔悬索桥的两个主要控制指标及其计算工况

以千米级3塔连跨悬索桥——泰州大桥为工程背景,比较了国内规范对加劲梁竖向挠跨比的相关规定,指出了该规定的实质目的是使行车平稳、安全.通过ANSYS有限元程序对比分析了泰州大桥4种汽车荷载典型工况下的整体位移,结果表明:加劲梁梁端竖向转角与加劲梁竖向挠跨比无本质联系(对于大跨度悬索桥);加劲梁梁端竖向转角与中塔纵向抗弯刚...     

国内大跨径悬索桥锚碇锚固系统比较研究

悬索桥锚碇锚固系统在保证结构整体安全上具有重要控制作用。主要对我国目前大跨径悬索桥锚固系统不同体系作了比较,并对各种体系的耐久性、可靠性及经济性等方面进行了研究,为今后大跨径悬索桥锚固系统体系的采用提供了借鉴。     

客车车身侧翻刚度仿真研究

建立客车骨架的有限元模型,依照ECE R66法规,使用LS-DYNA软件对其进行侧翻仿真分析.在此基础上,分别改变客车顶盖、侧围和前后围的材料,并再次进行仿真计算.对比仿真结果发现.增强前后围刚度可有效提高整车的侧翻刚度.     

马鞍山长江公路大桥三塔悬索桥钢箱梁设计特色

马鞍山长江公路大桥左汊主桥为三塔两跨悬索桥,其主梁采用钢箱梁结构.根据结构受力合理、施工方便、节省材料等原则设计了钢箱梁.横隔板采用空腹桁架式结构,既满足结构受力要求,又可减轻结构重量、便于施工;在中塔位置采用下横梁与钢箱梁不等高的固结设计,使下横梁内力及钢箱梁应力满足设计要求;塔梁固结设计增大了钢箱梁的竖向刚度,减小了中塔顶主缆的不平衡水平力;在标准节段与塔梁固结段设置变高段使塔梁固结位置应力传递匀顺;将锚拉板与钢箱梁内纵腹板连为一体并伸出钢箱梁顶板,桥面荷载直接通过纵向腹板及横隔板耳板传给吊索,避免了设置复杂的吊索锚固加劲构造及吊索锚固耳板与桥面板间直接承受拉力的焊缝.     

Level and attitude control of the active suspension system with integral and derivative action

A 7-DOF full-car model with optimal active control suspension is utilized to evaluate the vehicle dynamic performances which are achieved through proposed controllers. The optimal controller, which includes the integral action for the suspension deflection, considerably improves the attitude control of a vehicle because the rolling and pitching motion in cornering and braking maneuvers are reduced, respectively. In the viewpoint of level control, the integral control acting on the suspension deflection results in the zero steady-state deflection in response to static body forces and ramp road input. The dynamic characteristics of the suspension control system are evaluated in terms of time domain and frequency domain. The simulations in the time domain demonstrate the advantages of the active suspension system obtained by penalizing the integral and derivative of suspension deflections and the derivative of roll and pitch angles in the performance index. The frequency characteristic curves obtained by simulations regarding integral action or derivative action show the increase of both ride comfort and road-holding performances by maximizing the use of suspension deflections. The potential of derivative control is shown by the performances of the car traveling over a bump and braking.     

Semi-active suspension systems for railway vehicles using magnetorheological dampers. Part I: system integration and modelling

In this paper, it is aimed to investigate semi-active suspension systems using magnetorheological (MR) fluid dampers for improving the ride quality of railway vehicles. A 17-degree-of-freedom (DOF) model of a full-scale railway vehicle integrated with the semi-active controlled MR fluid dampers in its secondary suspension system is proposed to cope with the lateral, yaw, and roll motions of the car body, trucks, and wheelsets. The governing equations combining the dynamics of the railway vehicle integrated with MR dampers in the suspension system and the dynamics of the rail track irregularities are developed and a linear quadratic Gaussian (LQG) control law using the acceleration feedback is adopted, in which the state variables are estimated from the measurable accelerations with a Kalman estimator. In order to evaluate the performances of the semi-active suspension systems based on MR dampers for railway vehicles, the random and periodical track irregularities are modelled with a uniform state-space formulation according to the testing data and incorporated into the governing equation of the railway vehicle integrated with the semi-active suspension system. Utilising the governing equations and the semi-active controller developed in this paper, the simulation and analysis are presented in Part II of this paper.     

Non-linear modelling and control of semi-active suspensions with variable damping

Electro-hydraulic dampers can provide variable damping force that is modulated by varying the command current; furthermore, they offer advantages such as lower power, rapid response, lower cost, and simple hardware. However, accurate characterisation of non-linear f–v properties in pre-yield and force saturation in post-yield is still required. Meanwhile, traditional linear or quarter vehicle models contain various non-linearities. The development of a multi-body dynamics model is very complex, and therefore, SIMPACK was used with suitable improvements for model development and numerical simulations. A semi-active suspension was built based on a belief–desire–intention (BDI)-agent model framework. Vehicle handling dynamics were analysed, and a co-simulation analysis was conducted in SIMPACK and MATLAB to evaluate the BDI-agent controller. The design effectively improved ride comfort, handling stability, and driving safety. A rapid control prototype was built based on dSPACE to conduct a real vehicle test. The test and simulation results were consistent, which verified the simulation.     

Inverse neuro-fuzzy MR damper model and its application in vibration control of vehicle suspension system

In this paper, a magneto-rheological (MR) damper-based semi-active controller for vehicle suspension is developed. This system consists of a linear quadratic Gauss (LQG) controller as the system controller and an adaptive neuro-fuzzy inference system (ANFIS) inverse model as the damper controller. First, a modified Bouc–Wen model is proposed to characterise the forward dynamic characteristics of the MR damper based on the experimental data. Then, an inverse MR damper model is built using ANFIS technique to determine the input current so as to gain the desired damping force. Finally, a quarter-car suspension model together with the MR damper is set up, and a semi-active controller composed of the LQG controller and the ANFIS inverse model is designed. Simulation results demonstrate that the desired force can be accurately tracked using the ANFIS technique and the semi-active controller can achieve competitive performance as that of active suspension.     

空间缆索自锚式悬索桥动力特性及刚度影响规律

空间缆索自锚式悬索桥的主缆直接锚固在加劲梁上,同时由于主缆的空间特性,与地锚式悬索桥及传统平面索相比,其动力性能存在很大的差异.针对青岛海湾大桥大沽河航道桥建立非线性空间有限元模型,对其动力特性及结构刚度影响规律进行了分析.结果表明,该桥振型基本合理,具有密布的频谱;作为自锚式悬索桥其整体刚度较低,固有周期较长;单柱式桥塔的横向刚度较弱,横向振动出现较早;另外,由于缆索横向间距较小,刚度较小,前10阶振型中有5阶索振.各振型受结构刚度的影响不同,主缆刚度主要影响悬索桥的1阶竖弯及扭转,加劲梁竖向刚度对加劲梁1阶竖弯及加劲梁扭转振型影响较大,横向刚度主要影响悬索桥的加劲梁横向振型,扭转刚度主要影响悬索桥的1阶扭转振型;主塔纵向刚度主要影响悬索桥的纵飘振型;横向刚度主要影响索塔的1阶横向振型.