Vehicle control synthesis using phase portraits of planar dynamics

ABSTRACT

Phase portraits provide control system designers strong graphical insight into nonlinear system dynamics. These plots readily display vehicle stability properties and map equilibrium point locations and movement to changing parameters and system inputs. This paper extends the usage of phase portraits in vehicle dynamics to control synthesis by illustrating the relationship between the boundaries of stable vehicle operation and the state derivative isoclines in the yaw rate–sideslip phase plane. Closed-loop phase portraits demonstrate the potential for augmenting a vehicle's open-loop dynamics through steering and braking. The paper concludes by applying phase portrait analysis to an envelope control algorithm for yaw stability and a sliding surface controller for stabilising a saddle point equilibrium in drifting.     

Policy challenges of increasing automation in driving

The convergence of information and communication technologies (ICT) with automotive technologies has already resulted in automation features in road vehicles and this trend is expected to continue in the future owing to consumer demand, dropping costs of components, and improved reliability. While the automation features that have taken place so far are mainly in the form of information and driver warning technologies (classified as level I pre-2010), future developments in the medium term (level II 2010–2025) are expected to exhibit connected cognitive vehicle features and encompass increasing degree of automation in the form of advanced driver assistance systems. Although autonomous vehicles have been developed for research purposes and are being tested in controlled driving missions, the autonomous driving case is only a long term (level III 2025 +) scenario. This paper contributes knowledge on technological forecasts regarding automation, policy challenges for each level of technology development and application context, and the essential instrument of cost-effectiveness for policy analysis which enables policy decisions on the automation systems to be assessed in a consistent and balanced manner. The cost of a system per vehicle is viewed against its effectiveness in meeting policy objectives of improving safety, efficiency, mobility, convenience and reducing environmental effects. Example applications are provided that illustrate the contribution of the methodology in providing information for supporting policy decisions. Given the uncertainties in system costs as well as effectiveness, the tool for assessing policies for future generation features probabilistic and utility-theoretic analysis capability. The policy issues defined and the assessment framework enable the resolution of policy challenges while allowing worthy innovative automation in driving to enhance future road transportation.     

Improvement of vehicle–turnout interaction by optimising the shape of crossing nose

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.     

An investigation into the effect of suspension configurations on the performance of tracked vehicles traversing bump terrains

This is a theoretical investigation into the effect of various suspension configurations on a tracked vehicle performance over bump terrains. The model developed is validated using published experimental data of the modal characteristics of the vehicle. The desired performance is based on ride comfort via the mixed objective function (MOF), which combines the crest factor of bounce acceleration, bounce displacement, angular acceleration, and pitch angle. The optimisation process involves evaluating the MOF for different numbers and locations of dampers and under different rigid bump road conditions and speeds. The system responses of the selected suspension configurations in the time and frequency domains are compared against the undamped suspension. The results show that the suspension configurations have a significant effect on the vehicle mobility over bump road profiles. For a five-road–wheel half model of a tracked vehicle, the maximum number of dampers to use for ride comfort over these road bumps is three with the dampers located at wheel positions 1, 2 and 5. This confirms the current practice for many tracked vehicles with 10 road wheels. However, it is further shown that the suspension fitted with two dampers at the extreme road wheels offer the best performance over various rigid bump terrains.     

钢管混凝土拱桥在移动车辆荷载作用下的振动分析

以某主跨110m的自锚式钢管混凝土中承桁架拱桥为对象,分析了该桥的自由振动特性和移动车辆荷载作用下主跨桥面系的振动特性。计算结果表明:采用单轴和双轴移动车辆模型计算出的桥面系振动特性差别不大;不同车速的移动车辆荷载引起桥面系的振动响应不同,车速快时,桥面系竖向振动的最大位移减小,竖向振动的最大速度和加速度增加。     

某出口右盘轻型载货汽车空调系统项目开发总结

空调系统是目前江铃轻型载货汽车的标准配置,随着江铃汽车出口的增加,为满足相关国家多为右置转向盘的要求,企业开发右盘车的原动力也在增加。本文从开发一款右盘轻型载货汽车项目(N698项目,以下简称N698)出发,较全面地介绍了空调系统开发背景、开发原理、开发目标;较系统地阐述了整个空调系统的开发内容和布置形式,并对空调系统的开发进行了详细总结。     

关于汽车连接器护套端子退位问题的几点分析

针对汽车连接器使用护套产品存在的端子退位问题,进行必要的技术分析,从而找到解决端子退位的方法。     

汽车线束中大截面导线的加工工艺

阐述了汽车线束中大截面导线的加工工艺,包括大截面导线的包装、下线操作、剥头操作、端子压接、辅助以及总装等工艺操作内容。     

重载桥梁在混合车列作用下横向分布系数的计算方法研究

针对重载桥梁结构分析中没有"混合车列"作用下横向分布系数计算软件这一情况,对其计算方法进行了研究,并提出了编程加载法、替换法、大荷载法等3种计算方法。以天津临港工业区内的一座重载桥梁为例进行验证,成功地解决了目前主要桥梁软件无法计算混合车列横向加载的问题。详细分析了3种计算方法的特点,确定了各自的适用范围,为同类工程的计算分析提供了参考。     

对HCM2000中有关立交匝道与主线分合流点服务水平测算方法的研习与工程实践

立交的分合流点通行能力分析是立交通行能力分析的重要组成部分,其中主线与匝道的分合流点是研究的主要对象。对于此类的研究文章较多,方法不一。该文根据新版的《道路通行能力手册》(简称HCM2000)所阐述的方法,结合国内立交设计的实际情况,以及工作中通常所使用的流量数据,对该方法进行简化、归纳,并运用于实际工程。