A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems

This paper presents a closed-loop dynamic simulation-based design method for articulated heavy vehicles (AHVs) with active trailer steering (ATS) systems. AHVs have poor manoeuvrability at low speeds and exhibit low lateral stability at high speeds. From the design point of view, there exists a trade-off relationship between AHVs’ manoeuvrability and stability. For example, fewer articulation points and longer wheelbases will improve high-speed lateral stability, but they will degrade low-speed manoeuvrability. To tackle this conflicting design problem, a systematic method is proposed for the design of AHVs with ATS systems. In order to evaluate vehicle performance measures under a well-defined testing manoeuvre, a driver model is introduced and it ‘drivers’ the vehicle model to follow a prescribed route at a given speed. Considering the interactions between the mechanical trailer and the ATS system, the proposed design method simultaneously optimises the active design variables of the controllers and passive design variables of the trailer in a single design loop (SDL). Through the design optimisation of an ATS system for an AHV with a truck and a drawbar trailer combination, this SDL method is compared against a published two design loop method. The benchmark investigation shows that the former can determine better trade-off design solutions than those derived by the latter. This SDL method provides an effective approach to automatically implement the design synthesis of AHVs with ATS systems.     

Design of safety-oriented control allocation strategies for overactuated electric vehicles

The new vehicle platforms for electric vehicles (EVs) that are becoming available are characterised by actuator redundancy, which makes it possible to jointly optimise different aspects of the vehicle motion. To do this, high-level control objectives are first specified and solved with appropriate control strategies. Then, the resulting virtual control action must be translated into actual actuator commands by a control allocation layer that takes care of computing the forces to be applied at the wheels. This step, in general, is quite demanding as far as computational complexity is considered. In this work, a safety-oriented approach to this problem is proposed. Specifically, a four-wheel steer EV with four in-wheel motors is considered, and the high-level motion controller is designed within a sliding mode framework with conditional integrators. For distributing the forces among the tyres, two control allocation approaches are investigated. The first, based on the extension of the cascading generalised inverse method, is computationally efficient but shows some limitations in dealing with unfeasible force values. To solve the problem, a second allocation algorithm is proposed, which relies on the linearisation of the tyre–road friction constraints. Extensive tests, carried out in the CarSim simulation environment, demonstrate the effectiveness of the proposed approach.     

不同路面下汽车ABS仿真检测研究

进行不同路面下汽车ABS性能仿真检测,开发了汽车ABS性能仿真检测系统,对ABS的ECU进行了几种典型路面下的仿真检测,并对试验结果进行分析.结果表明开发的ABS性能检测系统具有良好的路面仿真功能与测试功能,可以用于ABS ECU生产的在线检测.     

托运人对于托运危险货物的义务和责任

在海上货物运输中,托运人对于危险货物承担的义务和责任具有特殊性,而我国法律的规定又相对简单,理论研究也相对不足;因此,结合英国法下的判例,对于“危险货物”的理解,托运人是否承担绝对责任,以及托运人责任是否转移等问题做出分析。     

上海轨道交通1、2号线列车编组“6改8”项目的技术对策及实施效果分析

介绍了上海轨道交通1、2号线运能与日益增长的客流之间的矛盾,提出了通过对既有列车进行“6改8”扩编改造的解决方案.以AC01、AC02和DC01型列车增扩编改造为例,对其技术难度和改造内容进行了分析和说明.已实施的该项扩编改造工作不仅克服了车辆改造所遇到的若干技术难题,而且还有效解决了在列车扩编改造期间所造成的运能不足的问题.     

基于随机需求的多频次道路货运调度模型及算法

以道路货物运输为研究对象,采用多频次调度方法对随机需求的道路货运调度问题进行研究,给出了基于随机需求的多频次调度模型及求解模型的微粒群算法,同时通过算例验证了该模型的可行性。     

船舶危险品运输的风险分析

船舶危险品安全运输是船舶运输安全的重要方面。它既取决于船上危险品本身的安全,又取决于船舶的航行安全。风险分析就是在识别其本身和船舶航行两个方面存在的潜在危险即风险源的基础上,通过定性、半定量或定量的分析方法,分析这些危险可能导致的后果和这些后果发生的可能性,从而得到相应的风险水平。文中在介绍风险分析的步骤和方法的基础上,阐述了适用于船舶危险品运输的风险分析方法。     

浅谈长江危险货物运输的现状与问题

近年来,长江干线危险货物运输的安全和防污染形势严峻,文中作者通过对长江干线的专题调研,希望能揭示长江危险货物运输中存在的问题,为相关部门提供参考。     

30000DWT多用途重吊船的开发与研究

本文论述了某航运公司的30000DWT多用途重吊船的开发与设计。船型设计既借鉴了其它航运公司同类型船的优秀设计,满足了公司的业务需求。这类型船将提高船队的竞争能力。     

铝合金耐压结构设计分析与试验验证

根据水下潜器总体性能要求,按照最小重量原则,结合规范和有限元方法设计工作潜深为500m的铝合金带加强筋形式的圆柱耐压舱,并通过压力筒加压试验,对Ansys有限元静力分析的精确度进行了验证,为耐压结构设计与校核提供重要参考.