Modelling and control of a new differential steering concept

This paper presents a new steer-by-wire concept using an all-wheel drive vehicle layout with in-wheel motors while completely omitting the application of any dedicated steering device. Steering is based on the so-called differential steering principle which generates the necessary steering moment about the kingpins by a traction force difference between left and right sides of the vehicle. In order to investigate the behaviour of the vehicle and to design the underlying control algorithms, a planar vehicle model is presented, where the vehicle is described as constrained non-holonomic system requiring a special treatment. A state feedback linear controller for controlling of the lateral dynamics of the vehicle at higher speeds and a simple PI angle controller for low-speed manoeuvring are developed. The resulting behaviour of the system is investigated by various simulation experiments demonstrating a comparable steering performance of the new steering concept as that of conventional passenger cars.     

大跨度斜拉桥施工控制的多元统计敏感性分析

为掌握大跨度斜拉桥结构参数变异对结构状态的影响规律，确保斜拉桥的施工安全和工程质量，针对该类型桥梁施工控制参数敏感性分析的实际需求，考虑不同结构参数和不同结构部位相同结构参数的变异性，实现了大跨度斜拉桥施工过程控制中的多元统计敏感性分析。从统计学角度明确了参数敏感性分析为边缘分布问题后，将试验设计方法引入统计多参数敏感性分析，结合参数显著性检验评价参数的敏感性。将同一批次或类似条件制造、施工的构件归为同一子结构，子结构内的相同参数视为一个随机变量，在减少随机变量个数的同时，提升了计算效率。采用分组试验设计降低均匀试验设计难度，在分组参数显著性检验后，将所有显著参数集成在一起进行整体参数显著性检验，最终确定目标结构响应的敏感参数。以某跨越长江的叠合/混合梁斜拉桥的施工控制为例，确定19个结构响应和63个结构参数，对其进行了多元统计敏感性分析。结果表明：斜拉索索力、桥面板重量和钢梁重量等结构参数对叠合主梁线形和内力影响显著；结构参数变异对主梁响应的影响不仅与参数变异大小有关，还与结构参数与响应截面的相对位置有关，一般来说，响应截面附近的子结构参数影响大于远离该截面子结构参数的影响。     

On the application of hydraulic theory to the deep-water flow through the Irbe Strait

A flow-dependent critical-point method for investigating topographically controlled flow in natural channels is applied to the bottom current through the Irbe Strait connecting the Baltic proper and the Gulf of Riga. This approach is based on the functional formalism due to Gill [Gill, A.E., 1977. The hydraulics of rotating-channel flow. J. Fluid Mech., 80, 641–671.], and here is used for the stratified flow structure observed during the IRBEX-95 field campaign. A critical section of the realizable flow regime was found to be located slightly downstream of the most pronounced horizontal constriction of the channel. The predicted baroclinic volume flux 7200 m³ s⁻¹ overestimates the observed mean bottom-water transport by around 30%, a discrepancy which most likely can be explained by the lack of sea level conditions and friction in the model.     

论水泥混凝土路面早期破坏因素与质量控制

在水泥混凝土路面的施工过程中，常常出现路面面板早期破坏的现象。早期破坏与路面原料、施工、管理等多方面因素有关。质量控制主要包括路面原材料质量控制和施工控制。     

主动悬架系统控制策略研究

文章设计一种主动悬架控制策略,通过建立四分之一车辆主动悬架系统模型,设计模糊滑模控制策略对主动悬架系统进行控制,并使用Matlab/Simulink软件对所建立的模型进行仿真分析。通过仿真结果验证了所建模型和控制策略的准确性,同时也改善了悬架系统的性能。     

靶场试验指挥控制中心系统及其应用

针对靶场试验指挥控制中心的应用需求，介绍靶场试验指挥控制中心系统的功能、特点以及体系结构和组成，分析系统研制的关键技术，说明该系统的应用范围。目前，该指控中心系统已成功地应用于某大型武器系统靶场试验中，取得了较好效果。     

县级国、省道公路沥青路面维修施工工艺

根据公路沥青路面病害的性质进行了分类,并对不同的病害分类有针对性的提出了处理方法,为保证处理方法的有效性和实用性进一步提出了质量控制措施。     

浅谈丹东市防洪工程体系

介绍了丹东市防洪工程现状,对防洪工程体系及存在问题进行了分析,有关经验可供相关专业人员参考。     

Decoupled 3D moment control using in-wheel motors

Vehicles equipped with in-wheel motors are being studied and developed as a type of electric vehicle. Since these motors are attached to the suspension, a large vertical suspension reaction force is generated during driving. Based on this mechanism, this paper describes the development of a method for independently controlling roll and pitch as well as yaw using driving force distribution control at each wheel. It also details the theoretical calculation of a method for decoupling the dynamic motions. Finally, it describes the application of these 3D dynamic motion control methods to a test vehicle and the confirmation of the performance improvement.     

Real-time model predictive control of connected electric vehicles

ABSTRACT

Electric Vehicles (EVs) motors develop high torque at low speeds, resulting in a high rate of acceleration with the added advantage of being fitted with smaller gearboxes. However, a rapid rise of torque in EVs fitted with central drive powertrains can create undesired torsional oscillations, which are influenced by wheel slip and flexibility in the halfshaft. These torsional oscillations in the halfshaft lead to longitudinal oscillations in the vehicle, thus creating problems with regard to comfort and drivability. The significance of using wheel slip in addition to halfshaft torsion for design of anti-jerk controllers for EVs has already been highlighted in our previous research. In this research, we have designed a look-ahead model predictive controller (LA-MPC) that calculates the required motor torque demand to meet the dual objectives of increased traction and anti-jerk control. The designed LA-MPC will improve drivability and energy consumption in connected EVs. The real-time capability of the LA-MPC has been demonstrated through hardware-in-the-loop experiments. The performance of the LA-MPC has been compared to other controllers presented in the literature. A validated high-fidelity longitudinal-dynamics model of the Rav4EV, which is the test vehicle of our research has been used to evaluate the controller.