ROV attitude control based on multi-motor cooperative propulsion北大核心CSCD

[目的]为了提高遥控水下航行器(ROV)在复杂水下环境中的姿态控制性能,开展多电机协同推进的ROV姿态控制研究。[方法]首先,针对多电机系统的结构和算法,分别提出一种基于PID速度补偿器的偏差耦合结构和一种新型非奇异终端滑模控制(SMC)算法,并设计一种新颖的基于多电机协同推进的ROV姿态控制方法;然后,建立ROV的运动学和动力学模型,开展推进器组推力建模分析、解耦简化ROV动力学模型研究;最后,设计一种ROV滑模姿态控制器。[结果]仿真结果表明,所提的结构和算法可提高多电机系统的抗干扰性、同步性和快速响应能力,进而提高ROV姿态控制系统的稳定性与鲁棒性。[结论]所提方法可为ROV姿态控制提供一种新的可用方案。     

Research on the Influence of Vertical Deformation of Bridge on the Track RegularityEI北大核心

Research purposes: The vertical deformation of high-speed railway (HSR) bridge will cause the track irregularity, which threatens the safe and efficient operation of the HSR. Taking the 32 m simple supported beam bridge as the research object, based on the existing mapping analytical model for bridge vertical deformation and rail geometry, the influence of the track regularity of the CRTS Ⅰ slab ballastless track structure caused by the key parameters such as the bridge vertical deformation amplitude, the hanging length of the beam end and the vertical stiffness of mortar layer were studied, and the corresponding measures to control the rail deformation were proposed, to provide theoretical reference for comprehensive treatment of rail deformation of HSR bridge. Research conclusions:(1) The pier settlement, the vertical rotation of the beam end and the beam fault will cause the rail to follow the beam deformation, and "up-warping" of the rail on the vertical deformation boundary will appear. (2) The rail deformation is directly proportional to the vertical deformation amplitude of the bridge and the key to control the rail deformation is to reduce the vertical deformation of the bridge. (3) The rail deformation can be controlled by reducing the hanging length of beam and vertical stiffness of mortar layer. (4) The research results can provide a theoretical reference for controlling the vertical rail deformation of high-speed railway bridges. © 2018, Editorial Department of Journal of Railway Engineering Society. All right reserved.     

The Reinforcement Analysis of Prestressed Anchor Frame Beam in the Deep Cutting Slope under Three Dimensional Strong EarthquakeEI北大核心

Research purposes: In order to further study the reinforcement of prestressed anchor frame beam in the deep cutting slope under three dimensional strong earthquake, a model of the deep cutting slope is built through FLAC 3D simulation software, the seismic wave to the model from three directions of x,y and z is input, and the dynamic response of the slope is analyzed. Then, the prestressed anchor frame beam reinforcement measures are applied to the model, and this paper analyzes the reinforcement effect of the prestressed anchor frame beam to the deep cutting slope under three dimensional strong earthquake. Research conclusions:(1) The prestressed anchor frame beam has a good effect on restraining the horizontal displacement of the deep cutting slope. (2) Under the three dimensional strong earthquake, the prestressed anchor frame beam has a good effect on the horizontal acceleration and horizontal velocity of the deep cutting slope, which reduces the peak of horizontal acceleration and horizontal velocity. (3) Through the comparison of the response before and after the reinforcement of the prestressed anchor frame beam is given under the 9 degrees three dimensional strong earthquake, it can be concluded that the prestressed anchor frame beam can provide good reinforcement effect to the deep cutting slope. (4) This research can be used for reference to the earthquake resistance of the slope engineering. © 2018, Editorial Department of Journal of Railway Engineering Society. All right reserved.     

Book reviews

The European Community Transport Policy: Towards a Common Transport Policy. By Jurgen Erdmenger (Gower Publishing Co. 1984) [Pp. 155.] £14.50.

Transport Reform: Changing the Rules. By Stephen Plowden. P.S.I. No. 642 (London: Institute, 1985.) [Pp. 250.] £6.50. ISBN 0–85374–258–8.

The Atlas of British Railway History. By Michael Freeman and Derek Aldcroft (London: Croom Helm, 1985.) [Pp. 128.] £12.95.

Losing Track. By Kerry Hamilton and Stephen Potter (Routledge & Kegan Paul in association with Channel Four, 1985.) [Pp. viii + 152.] £7.95. Paperback.     

On Safety in Dismantling Temporary Strut of Super-large Tunnels with Double-layer Primary Support北大核心CSCD

More and more multiple-track tunnels and super-large section tunnels have been built, and disman- tling of temporary strut is a weak point of the whole structure during force transfer when the secondary lining is con- structed. It is significant to guarantee structure safety during dismantling of temporary strut. Little systematic re- search on safety in dismantling of temporary strut of the super-large section tunnel with double-layer primary support has been conducted, so the internal force and security of the two-layer primary support of the Xinkaotang tunnel were analyzed by a numerical analysis and site measurement, and it proves the effect of two-layer primary support on the safety during strut dismantling. The research results indicate that: (1) with constant support thickness and one-time longitudinal dismantling length, the safety factor of secondary primary support is larger than that of the first primary support, and the safety factor of the first primary support is larger than that of the single-layer primary support. Change range of safety factor for the first primary support is smaller than that of the single-layer primary support, and the safe factor for the single-layer primary support is smaller than that of the secondary primary support; (2) with the same support pattern, the safety factors increase firstly and then decrease with an increase of the onetime dismantling length. The calculated results of various cases show that the reasonable one-time dismantling length for this project is about 9 m. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.     

Analysis of Ground Response and Structure Stress Induced by PBA Method北大核心CSCD

The application of prefabricated tunnel technology has been become a new research field both in China and abroad. Based on the running tunnel between Yufuhe station and Wangfuzhuang station of Jinan rail transit line R1, a new prefabricated tunnel construction technology, the PBA method is presented. This paper makes a detailed discussion on section form, supporting scheme and construction process of the PBA method. In this study, 3D a new 3D numerical model for PBA method is presented by finite difference numerical simulation software Flac and the construction processes are modeled. The rule of ground surface settlement, ground deformation and structural stress caused by PBA method is studied in detail. Results show that the structure of PBA method can effectively control the deformation magnitude and scope. Stress concentration appears at the prefabricated connection parts and the reinforcement needs to check. The total assembled structure forms the load-bearing system after the completion of the lateral wall. The built-in depth of the precast pile and pile bottom grouting quality should to be ensured to control the displacement of the precast piles. The results of this study will be a useful reference for similar projects in the future. © 2018, Editorial Office of "Modern Tunnelling Technology". All right reserved.     

Nonlinear three-dimensional wagon-track model for the investigation of rail corrugation initiation on curved track

A nonlinear wagon-track model on curved track has been developed to characterize rail corrugation formation due to self-excitation of the wheel-rail stick-slip process. In this model, wagon movements were described using up to 78 degrees of freedom (DOFs) to model a three-piece freight bogie. Innovatively, the wheelset movements are described using nine DOFs, including torsional and bending modes about the longitudinal and vertical directions. The track modelling is considered as a one-layer structure (two rail beams on discrete spring and damper elements). The wheel sliding after creepage saturation is considered in the wheel-rail interface modelling. Simulation of a case study shows that the frequencies of the wheel stick-slip process are composed of the basic frequency, which might come from the combined effect of sleeper-passing frequency and one-third of the combined torsional and bending frequency of the wheelset, and the double and triple basic frequencies, which form the wavelengths of rail corrugation at different situations.     

Optimal scheduling of the flexray static segment based on two-dimensional bin-packing algorithm

FlexRay is a reliable and hard real-time in-vehicle communication protocol that is strongly promoted by car manufacturers as the de facto standard in the automotive domain. The protocol offers both a time-triggered and an eventtriggered architecture. This paper focuses on the optimal scheduling of the time-triggered component of FlexRay known as the static (ST) segment using a two-dimensional bin-packing technique. To maximize the bandwidth utilization in the ST segment, a fast heuristic as well as an efficient integer linear programming approach are proposed. Our methods directly schedule signals into slots including frame packing, according to signal-based data scheduling and the slot/ cycle multiplexing mechanisms presented by the latest version of the FlexRay protocol. The benefits of our proposed methods are demonstrated by extensive experiments on synthetic and an automotive X-by-wire system case study. An additional test case is examined to emphasize the superior performance of the proposed approach relative to that of existing optimal scheduling approaches.