Validation of an extended discrete first-order model with variable speed limits

This paper validates the prediction model embedded in a model predictive controller (MPC) of variable speed limits (VSLs). The MPC controller was designed based on an extended discrete first-order model with a triangular fundamental diagram. In our previous work, the extended discrete first-order model was designed to reproduce the capacity drop and the propagation of jam waves, and it was validated with reasonable accuracy without the presence of VSLs. As VSLs influence traffic dynamics, the dynamics including VSLs needs to be validated, before it can be applied as a prediction model in MPC. For conceptual illustrations, we use two synthetic examples to show how the model reproduces the key mechanisms of VSLs that are applied by existing VSL control approaches. Furthermore, the model is calibrated by use of real traffic data from Dutch freeway A12, where the field test of a speed limit control algorithm (SPECIALIST) was conducted. In the calibration, the original model is extended by using a quadrangular fundamental diagram which keeps the linear feature of the model and represents traffic states at the under-critical branch more accurately. The resulting model is validated using various traffic data sets. The accuracy of the model is compared with a second-order traffic flow model. The performance of two models is comparable: both models reproduce accurate results matching with real data. Flow errors of the calibration and validation are around 10%. The extended discrete first-order model-based MPC controller has been demonstrated to resolve freeway jam waves efficiently by synthetic cases. It has a higher computation speed comparing to the second-order model-based MPC.     

A methodology for evaluating the performance of model-based traffic prediction systems

Model-based traffic prediction systems (mbTPS) are a central component of the decision support and ICM (integrated corridor management) systems currently used in several large urban traffic management centers. These models are intended to generate real-time predictions of the system’s response to candidate operational interventions. They must therefore be kept calibrated and trustworthy. The methodologies currently available for tracking the validity of a mbTPS have been adapted from approaches originally designed for off-line operational planning models. These approaches are insensitive to the complexity of the network and to the amount and quality of the data available. They also require significant human intervention and are therefore not suitable for real-time monitoring. This paper outlines a set of criteria for designing tests that are appropriate for the mbTPS task. It also proposes a test that meets the criteria. The test compares the predictions of the mbTPS in question to those of a model-less alternative. A t-test is used to determine whether the predictions of the mbTPS are superior to those of the model-less predictor. The approach is applied to two different systems using data from the I-210 freeway in Southern California.     

基于SoftPLC的船舶主机遥控物理仿真模拟器设计

模拟器以一艘1600 TEU集装箱船使用的Autochief IV主机控制系统作为原型,采用SoftPLC实现对船舶主机遥控物理仿真模拟器的控制。利用组态软件PIMS作为上位机开发平台,实现数据的存储及功能的完善。在模拟器上可以进行各种相关的训练操作,达到培训学员的目的。     

公路隧道施工质量控制要点

阐述了公路隧道施工质量控制要点.     

基于CBTC控制的全自动驾驶系统

主要介绍全自动驾驶(FAO)系统的发展和应用情况、系统的组成和特点,并提出引进采用该系统需要注意的问题。     

机场轨道交通对陆侧交通分流情况的预测研究

机场轨道交通的发展将是解决机场陆侧交通拥堵问题的主要途径之一.本文首先通过灰色预测模型GM(1,1)对首都机场的陆侧交通量进行预测,得出进出机场的旅客中乘坐机场巴士及出租车的人数.在此基础上,运用排队论的方法,分析机场轨道交通对机场巴士及出租车交通量的分流情况,得出各自具体的分流率和分流量.最后,根据马尔可夫链的方法,对分流情况的发展趋势进行分析,得出其稳定分流率.     

基于模型预测控制的智能车轨迹跟踪控制研究

为了完成智能车的轨迹跟踪,提出一种基于模型预测控制的轨迹跟踪方法,利用将运动学模型这个非线性系统线性化的方案,来获得必须的线性时变系统,采取模型预测控制的三要素来设计控制器。并且基于MPC在控制过程中能增加多种约束的优点,建立基于车辆运动学模型的约束做轨迹跟踪仿真实验,最后,基于山东理工大学智能车平台上GPS提供的定位信息,在校园中采集路线并对前提规划好的的轨迹进行实车验证。实验结果表明:基于MPC算法所设计的控制器能快速且稳定地跟踪期望轨迹。     

自动拧紧技术浅析

螺栓的拧紧工艺在机械制造业中非常常见,其应用极其广泛,操作规范性和使用可靠性是其最大的优势。在制造业中,各种零部件的连接组装,都离不开螺栓拧紧。先进的制造工艺需要自动的拧紧工具,随着工业自动化水平的不断提高,拧紧技术不断向标准化,智能化,互联化方面发展,利用控制技术对工业装配过程进行管理和指导。文章以整车装配过程中关键拧紧工位拧紧作业的操作流程及工艺水平为业务支撑,分析拧紧过程工件受力情况,根据拧紧工艺要求,介绍一种自动拧紧控制流程。     

美国联邦公路局路阻函数探讨

路阻函数在交通分配过程中左右着路径的选择,目前广泛采用的路阻函数是美国公路局提出的BPR函数,但在交通分配的实践过程中使用美国公路局推荐BPR参数得到的结果并不理想。论文对国内外关于BPR函数的修正模型研究进行了介绍;分析了现存BPR模型的优点与缺陷;提出了BPR函数适用情况的思考。     

带扰动观测器的船舶轨迹跟踪自适应动态面滑模控制

针对遭受未知外部环境扰动的三自由度全驱动船舶轨迹跟踪控制问题,设计一种带扰动观测器的自适应动态面滑模控制方法。该方法构造扰动观测器估计未知扰动,并对控制量进行前馈补偿,采用σ修正泄漏项的自适应律估计扰动观测误差的界以提高控制精度,结合动态面技术解决传统反演法的微分爆炸问题,并选取李雅普诺夫函数证明该控制器可保证闭环系统内所有信号的一致最终有界性。基于一艘供给船舶进行仿真试验,结果表明,所设计的控制器输出合理有效且跟踪精度高,在工程实际中具有一定的参考价值。