基于扰动观测器的船舶动力定位反步控制

针对船舶动力定位系统模型受到风浪流等环境未知有界扰动的问题,提出一种基于干扰估计补偿的反步控制算法。首先基于滑模面有限时间收敛特点设计干扰观测器,在有限时间内实现对未知有界干扰的估计,并采用一阶低通滤波器连续化干扰观测器估计值,减少抖振;然后基于干扰观测器设计船舶动力定位反步控制器,并应用Lyapunov函数证明了所设计的控制器使船舶的位置和航向收敛于期望值。最后通过铺缆船仿真结果表明所设计控制器具有较好的控制性能,对系统的有界干扰具有良好的鲁棒性。     

基于扰动观测的客车ESC自适应神经网络滑模控制

为了提高客车电子稳定性控制系统(ESC)的控制精度,针对实际车辆系统建模中存在各种非线性扰动项以及传统滑模控制(Sliding Mode Control,SMC)中抖振较大的问题,提出一种自适应神经网络滑模控制算法.基于2自由度车辆模型,首先设计一个二阶滑模(Second-order Sliding Mode,SOSM...     

动车组弓网离线放电电磁骚扰源模型研究

基于接触线的振动微分方程,得到弓网离线时放电电弧等效电路时变电阻和时变电感与动车组速度的关系,在此基础上结合动车组牵引供电系统等效电路,建立动车组弓网离线放电电磁骚扰源模型.通过Matlab/Simulink仿真软件得到不同傅里叶级数下弓网离线时动车组车体馈电端骚扰电压的仿真波形,并与实测结果对比.结果表明:取傅里叶级数大于4即可保证仿真的准确性,验证了模型的正确性;弓网离线产生的骚扰电压呈周期性变化,动车组的速度越高,骚扰电压的变化周期越短,而放电频率和骚扰电压幅值越大,骚扰电压与动车组速度为指数函数关系.     

地铁盾构双隧道施工诱发的地层变形规律分析

以大连地铁202标段双隧道盾构施工工程为背景,考虑土体的分层以及隧道施工过程中盾构推进、注浆和衬砌拼装等工序,运用FLAC3D软件对盾构双隧道同向先后施工过程进行三维精细数值模拟,并与现场测量数据进行对比分析.结果表明:先施工的右线隧道掘进完成后,隧道上方各层土体越靠近地表,盾构施工引起的地层竖向变形越小,而地层的沉降槽宽度越大,地表沉降槽宽度系数为0.56;近距离双隧道同向先后开挖时,土体相互扰动,地层距离隧道轴线的高度越小,地层竖向变形非对称“双峰”特征越明显,岩层的成层性使得双峰特征消失时岩层距离隧道轴线的高度有差别;两隧道中心线和轴线附近地表有不同方向水平变形,此区域的桩基、剪力墙在隧道掘进时将受到附加剪切作用,易出现裂缝,故在施工中应做好切实的防护措施;监测结果验证了数值模拟方法的正确性,在盾构掌子面距离监测点12 m范围内,地表沉降发展得较快.     

The Modified Multiple Model Switching Tuning Control Application in AVC

In the complex mechanical vibration environment, the dominant frequency of the system varies remarkably and swiftly under various running conditions, which also characterizes uncertainty and time-variation. It is very impending and important to suppress or isolate the detrimental vibrations related to the above memtoned system with active vibration control (AVC) technology. This paper presented the improved linear quadratic gaussian (LQG) control scheme with a specified filter to realize broadband disturbance/noise attenuation and assure intensive suppression of vibration at the key vibration frequency, then applies and modifies the multiple model switching tuning (MMST) control method by disturbance observation to track the variation of dominant vibration component timely. The effectiveness and superiority of the presented control method were demonstrated by numerical simulation and AVC experiment on a flexible cantilever beam under sweeping excitation.     

利用二维缓流扰动基本方程探讨渠道涌波影响因素

运用水流运动基本方程,探讨了发生涌波的小扰动椭圆型方程条件,推导了求解椭圆型方程的方法及流动过程的扰动要素,为研究渠系交叉建筑物进口段涌波提供了一定的理论依据。     

银西高铁银川机场黄河特大桥主桥总体设计

银川至西安高铁银川机场黄河特大桥,主桥采用96 m简支钢桁梁与等跨度168 m连续钢桁柔性拱两种结构形式。主桥采用的等跨度连续钢桁梁柔性拱结构,形式新颖、技术复杂。主桥跨越黄河,桥址地震烈度高,冬季冰凌现象严重,可用施工工期短。由于本桥建设条件的特殊性,导致设计施工难度大。为展现主桥设计与施工的特点,对主桥的桥式方案选择、总体布置、桥面设置、吊杆设计、基础设置等进行介绍,并给出主要计算结果及吊杆试验结果,着重对本桥的抗震设计、支座设计、螺栓防落设计中所采用的关键技术进行叙述,最后对主桥采用的创新性施工方案进行说明。     

Speed limits,speed selection and network equilibrium

This paper investigates the local and global impact of speed limits by considering road users’ non-obedient behavior in speed selection. Given a link-specific speed limit scheme, road users will take into account the subjective travel time cost, the perceived crash risk and the perceived ticket risk as determinant factors for their actual speed choice on each link. Homogeneous travelers’ perceived crash risk is positively related to their driving speed. When travelers are heterogeneous, the perceived crash risk is class-specific: different user classes interact with each other and choose their own optimal speed, resulting in a Nash equilibrium speed pattern. With the speed choices on particular roads, travelers make route choices, resulting in user equilibrium in a general network. An algorithm is proposed to solve the user equilibrium problem with heterogeneous users under link-specific speed limits. The models and algorithms are illustrated with numerical examples.     

侧方扰动下圆柱体异步并联入水实验研究

为研究圆柱体低速并联入水的空泡演化特性,基于高速摄像方法,开展圆柱体单独入水和异步并联入水的实验研究,通过对比得到侧方扰动下并联双空泡的演化规律,并分析了入水时差对不同闭合方式空泡演化的影响。实验结果表明：侧方扰动的主要表现为次发圆柱体空泡对首发圆柱体空泡的排挤,其对首发圆柱体的影响远大于次发圆柱体,且在入水时差较小时次发圆柱体会使首发圆柱体空泡的喷溅薄膜提前回卷；对于深闭合空泡,随着入水时差的增大,首发圆柱体的空泡闭合时间增加,次发圆柱体空泡的不对称性增强,回射流的角度和高度均减小。对于表面闭合空泡,随着入水时差的增大,双空泡的闭合时间与首发圆柱体空泡的气团脱落时间都会推迟,侧方扰动对空泡闭合时间的影响减弱,在空泡闭合后,空泡的特征长度逐渐增大。     

Optimal speed advisory for connected vehicles in arterial roads and the impact on mixed traffic

Connected Vehicles (CV) equipped with a Speed Advisory System (SAS) can obtain and utilize upcoming traffic signal information to manage their speed in advance, lower fuel consumption, and improve ride comfort by reducing idling at red lights. In this paper, a SAS for pre-timed traffic signals is proposed and the fuel minimal driving strategy is obtained as an analytical solution to a fuel consumption minimization problem. We show that the minimal fuel driving strategy may go against intuition of some people; in that it alternates between periods of maximum acceleration, engine shut down, and sometimes constant speed, known in optimal control as bang-singular-bang control. After presenting this analytical solution to the fuel minimization problem, we employ a sub-optimal solution such that drivability is not sacrificed and show fuel economy still improves significantly. Moreover this paper evaluates the influence of vehicles with SAS on the entire arterial traffic in micro-simulations. The results show that SAS-equipped vehicles not only improve their own fuel economy, but also benefit other conventional vehicles and the fleet fuel consumption decreases with the increment of percentage of SAS-equipped vehicles. We show that this improvement in fuel economy is achieved with a little compromise in average traffic flow and travel time.