A theoretical model of speed-dependent steering torque for rolling tyres

ABSTRACT

It is well known that the tyre steering torque is highly dependent on the tyre rolling speed. In limited cases, i.e. parking manoeuvre, the steering torque approaches the maximum. With the increasing tyre speed, the steering torque decreased rapidly. Accurate modelling of the speed-dependent behaviour for the tyre steering torque is a key factor to calibrate the electric power steering (EPS) system and tune the handling performance of vehicles. However, no satisfactory theoretical model can be found in the existing literature to explain this phenomenon. This paper proposes a new theoretical framework to model this important tyre behaviour, which includes three key factors: (1) tyre three-dimensional transient rolling kinematics with turn-slip; (2) dynamical force and moment generation; and (3) the mixed Lagrange–Euler method for contact deformation solving. A nonlinear finite-element code has been developed to implement the proposed approach. It can be found that the main mechanism for the speed-dependent steering torque is due to turn-slip-related kinematics. This paper provides a theory to explain the complex mechanism of the tyre steering torque generation, which helps to understand the speed-dependent tyre steering torque, tyre road feeling and EPS calibration.     

Synchronized Production and Transportation Planning Using Subcontracted Vehicles in a Production-Distribution Network

Abstract

Effective management of interfaces between procurement, supply, production and distribution for higher efficiency in the supply chain is an important issue in global manufacturing, where the synchronization of production and transportation planning represents important savings in operational costs. This paper focuses on the synchronization of production planning and transportation planning in a production distribution network, where transportation is subcontracted to a professional transportation enterprise (PTE) for vehicle-hiring. Dynamic and flexible numbers of vehicles are used to cater for fast changing market demands. Thus, the number of vehicles to be hired is viewed from the planning point of view as an operational decision considered simultaneously with production and transportation planning. A mathematical model – SPTP/MTDS – for synchronized production and transportation planning under multiple times and direct shipping strategy (MTDS) is discussed, and a Lagrange relaxation decomposition-based two layer decision procedure (LRD-TLDP) is developed. By introducing artificial decision variables and Lagrange multipliers, SPTP/MTDS is decomposed into a production decision sub-problem (SPTP-PD), and a distribution decision sub-problem (SPTP-DD). A priority-based assignment heuristic and a partial chain-based genetic algorithm are developed to solve SPTP-PD and SPTP-DD, respectively. An illustration of the application of the model in an electronic appliance manufacturing enterprise in China is presented.     

基于椭圆拟合的隧道点云数据去噪方法

针对地铁隧道这一狭长密闭环境,激光雷达相较于传统隧道形变检测方法具有显著优势。由于受环境以及隧道中安装的大量设备的影响,数据中会包含大量噪声点,无法得到隧道完整内表壁数据,从而影响到数据在形变检测及三维建模等方面的应用。结合最小二乘法和拉格朗日乘数法对隧道点云模型进行椭圆拟合,并将其应用于圆形隧道点云滤波,利用各区域数据对隧道形变进行检测。对滤波结果的精度评定及其有效性分析表明,此算法针对隧道点云数据的滤波具有良好效果及稳定性。     

一种新型船用吊机防晃装置及非线性动力学分析

针对深水吊装作业摆动抑制问题，设计了一种新型船用吊机防晃装置，采用仿真建模技术及拉格朗日方程，在Simulink仿真软件上，建立船用吊机防晃装置非线性动力学模型，得到了在不同拉力、吊索长度、波浪频率下吊物运动角度时程响应。结果表明，有防晃装置的情况下吊物的位移可减小80%左右，新型船用吊机防晃装置具有明显的消摆作用。     

基于连续图谱的船舶吃水及纵倾优化

为解决船舶压载工况下的配载吃水和纵倾优化问题,对船舶压载工况的营运特点进行分析,给出考虑船舶吃水、纵倾、航速及主机功率等因素的多目标问题优化模型;针对大量离散试验和计算数据难以有效分析及优化求解的问题,提出基于空间二元拉格朗日插值算法的吃水、纵倾、主机功率三维连续图谱构建方法,并选取一艘典型散货船,通过图谱优化计算输出其最佳工况参数;最后通过实船海试验证该研究的有效性和实用性。     

修正的桥梁水害水位单位线预警方法研究

通过对常规的几种插值和拟合方法的原理对比分析,选取拉格朗日插值法和最小二乘曲线拟合法对桥梁水害水位单位线预警方法进行修正,提出修正的桥梁水害水位单位线预警方法,并给出具体的应用思路和实例分析。研究结果表明:该法弥补了传统的水位单位线法预警过程中时间跨度大、预警时间和水位精确性低的缺陷,提高了桥梁水害灾情预警的可靠性和准确性,特别是使得无雨量观测资料的中小桥水害预警成为可能,具有较高的实用价值。     

约束于圆弧的路线平面直线段重构算法

提出一种利用一组(x,y)直角坐标点拟合与给定的圆弧相切的直线的算法。该算法遵循总体最小二乘准则来构建约束于圆弧的拟合直线的数学模型,在分析函数单调隔根区间的基础上,利用反拉格朗日插值迭代法计算出函数在定义域内的所有数值根,再经最小二乘准则检验获得数学模型的解,即拟合直线的回归参数。研究结果表明:拟合数学模型简明,基于单调隔根区间的迭代算法稳健,速度快,效果优,可用于重构路线平面的精确几何参数。     

带参数拉氏乘子法与胡海昌-鹫津变分原理中三类变量都独立的推证及其它

本文将笔者在１９８１年提出的分裂因子（任意参数）的概念引入拉氏乘子，称为带参数拉氏乘子法。本文将用它推证胡海昌－鹫津变分原理中的三类变量都独立。带参数拉氏乘子法是建立新变分原理的普遍方法，为近代兴起的广义混合变分原理提供一个理论基础。本文还对它们的理论和实用价值予以扼要阐述，而这个新方法在很多重要方面的开拓，将另拟专文讨论     

广义凸集值映射优化问题的强有效解

在局部凸Hausdorff拓扑向量空间中,研究了集值优化问题的强有效解.首先,在广义锥次似凸集值映射下,获得了集值优化问题的强有效解的标量化的特性,最后,获得了带广义不等式约束集值优化问题的强有效解的La-grange型最优性条件.     

路段环境交通容量优化模型与算法研究

在分析路段环境交通容量主要影响因素的基础上,探讨了路段的污染控制约束条件,以及通行能力约束条件,建立了通行能力和污染控制约束的环境交通容量优化模型,构建了基于增广拉格朗日松弛和辅助问题原则法的模型求解算法.实例结果表明,构建的算法能够快速有效地求解这类环境交通容量优化模型.