先期振动对高聚物胶凝堆石料动变形特性的影响

先期振动对土石坝地震变形影响显著。通过开展不同先期动应力作用下的动三轴试验,研究了先期振动对未加固堆石料和高聚物胶凝堆石料动变形特性的影响。结果表明:先期振动对未加固堆石料和高聚物胶凝堆石料的弹性轴应变无明显影响,但显著降低了其塑性轴应变;未加固堆石料和高聚物胶凝堆石料的残余变形在先期振动影响下显著减小,与未经受先期振动的试样相比,先期动应力为40%围压的试样,最大残余剪应变降低幅度和最大残余体应变降低幅度的平均值分别为48.1%和42.0%;先期动应力为80%围压的试样,最大残余剪应变降低幅度和最大残余体应变降低幅度的平均值分别为80.9%和71.6%。先期动应力幅值越大,再次经历动应力时未加固堆石料和高聚物胶凝堆石料产生的残余变形越小,抵抗变形能力提高越明显。最大残余变形的降低幅度与固结比、围压及高聚物含量无关。随后修正了沈珠江动残余变形模型,修正后的残余变形模型可以反映高聚物对堆石料残余剪应变和残余体应变的影响。与未经受先期振动的试样相比,先期动应力为40%围压的高聚物胶凝堆石料(高聚物质量比R_p=2%)的改进残余变形模型参数c₁和c₄分别降低了27.7%和61.2%;先期动应力为80%围压的高聚物胶凝堆石料(R_p=2%)的改进残余变形模型参数c₁和c₄分别降低了68.8%和79.3%。     

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。     

Economic and ecological optimization of electric bus charging considering variable electricity prices and CO2eq intensities

In many cities, diesel buses are being replaced by electric buses with the aim of reducing local emissions and thus improving air quality. The protection of the environment and the health of the population is the highest priority of our society. For the transport companies that operate these buses, not only ecological issues but also economic issues are of great importance. Due to the high purchase costs of electric buses compared to conventional buses, operators are forced to use electric vehicles in a targeted manner in order to ensure amortization over the service life of the vehicles. A compromise between ecology and economy must be found in order to both protect the environment and ensure economical operation of the buses.In this study, we present a new methodology for optimizing the vehicles’ charging time as a function of the parameters CO_2eq emissions and electricity costs. Based on recorded driving profiles in daily bus operation, the energy demands of conventional and electric buses are calculated for the passenger transportation in the city of Aachen in 2017. Different charging scenarios are defined to analyze the influence of the temporal variability of CO_2eq intensity and electricity price on the environmental impact and economy of the bus. For every individual day of a year, charging periods with the lowest and highest costs and emissions are identified and recommendations for daily bus operation are made. To enable both the ecological and economical operation of the bus, the parameters of electricity price and CO₂ are weighted differently, and several charging periods are proposed, taking into account the priorities previously set. A sensitivity analysis is carried out to evaluate the influence of selected parameters and to derive recommendations for improving the ecological and economic balance of the battery-powered electric vehicle.In all scenarios, the optimization of the charging period results in energy cost savings of a maximum of 13.6% compared to charging at a fixed electricity price. The savings potential of CO_2eq emissions is similar, at 14.9%. From an economic point of view, charging between 2 a.m. and 4 a.m. results in the lowest energy costs on average. The CO_2eq intensity is also low in this period, but midday charging leads to the largest savings in CO_2eq emissions. From a life cycle perspective, the electric bus is not economically competitive with the conventional bus. However, from an ecological point of view, the electric bus saves on average 37.5% CO_2eq emissions over its service life compared to the diesel bus. The reduction potential is maximized if the electric vehicle exclusively consumes electricity from solar and wind power.     

基于多点线圈联合数据的高速公路匝道影响范围识别

为准确识别高速公路匝道对主线车流的影响等级和范围，本文提出基于速度波动特性的高速公路匝道影响量化方法。通过建立改进加权速度排列熵指标以量化各服务水平下匝道对高速公路主线车流的影响，对建立的指标进行谱聚类分析来确定匝道的影响阈值。应用京昆高速及二广高速的99个平行式合流匝道和直接式分流匝道多点主线线圈检测器数据的分析结果表 明，所提出方法可识别高速公路主线车流受匝道的影响程度。合流匝道对主线最外侧车道的影响比次外侧车道高4%~69%；A~C级服务水平下，分流匝道对上游主线最外侧车道影响程度比次 外侧车道高6%~29%，D~F级服务水平下，最外侧车道受影响程度比次外侧车道低10%~13%。合流匝道的影响范围是合流点上游350m至下游550m；其中上游160m至下游100m和下游180~ 270m为核心影响范围。分流匝道影响范围为分流点至主线上游850m，其中750~850m、450~ 600m、100~300m为核心影响范围。研究成果可为高速公路匝道交通设计、管控策略和提升仿真可靠性提供依据，可有效降低设置匝道带来的影响。     

面向新型混合交通流的智能交叉口网络布局优化

考虑网联自动驾驶车辆(Connected Autonomous Vehicle, CAV)应用先进的车联网与自动驾驶技术，可以采用智能交叉口的组织形式，大幅提升交叉口的通行效率，为降低CAV与人工驾驶车辆(Human-driven Vehicle, HV)混行条件下城市交通系统的整体出行成本，提出智能交叉口在城 市交通网络中的布局优化问题，建立数学优化模型并求解。首先，基于对两类车辆行驶特性的分析，建立混合用户均衡模型，描述CAV与HV的路径选择行为；其次，从交通规划者的角度，以系统最优为目标，整合混合用户均衡模型，建立面向新型混合交通流的智能交叉口网络布局优化模型，并利用改进的遗传算法求解；最后，选取Sioux-Falls交通网络作为案例分析，验证模型与算法的有效性，并研究CAV渗透率变化对优化结果的影响。研究表明，智能交叉口在城市路网中的合理规划极大地提高了新型混行场景下城市交通系统的出行效率，同时，大幅降低了由于网联自动 驾驶单方面技术优势带来的CAV与HV的出行效率差距，增进了出行公平性。     

感应充电路面技术研究现状与展望

以感应充电技术(Inductive Power Transfer,IPT)为主要特征的充电路面(Electrified Road,e-Road)近年来发展迅速，其可为行进中的电动汽车进行动态无线充电，有效解决电动汽车充电时间过长、续航里程不足等问题，是支撑未来公路交通电气化发展的重要储备技术。详细介绍了IPT系统的工作原理和性能特点，并总结了已有e-Road试验段的充电性能参数和技术就绪度水平。在此基础上，进一步从基础设施角度剖析了e-Road目前存在的主要工程问题及相关研究进展，内容包括：①深入分析了IPT系统工作时因高频磁场通过介电性路面材料所引起的电磁损耗对IPT系统充电效率的影响，并提出了可能的解决方法；②针对充电模块与普通沥青路面存在的力学兼容性问题，从结构受力原理、材料损伤特性等方面总结了e-Road复合结构产生力学损伤加剧效应的原因，并提出了耐久性优化措施；③针对e-Road环境可持续方面存在的不确定性，评估并对比了e-Road与传统道路的全生命周期环境效益，指出了e-Road环境性能研究对电动汽车全生命周期综合效益估算的重要性。此外，还从政策支持、安全性、价格因素等角度对e-Road进行了综合可行性评估，并对充电路面基础设施的未来发展进行了智能化展望，提出了e-Road与其他新型智能道路技术进行有机融合的可能途径。     

基于车辆自动定位数据的有轨电车运行效率分析与应用

结合有轨电车线路的现有车辆自动定位数据,分析有轨电车运行效率及其相关影响因素。其中,影响因素从站台、路段、交叉口3个方面进行考虑。定性分析了不同站台型式、站台位置、交叉口类型的属性特征,并量化不同路段的路段长度、所包含的交叉口个数,同时考虑了交叉口控制策略对有轨电车运行时间的影响。以某已运营的有轨电车线路为例,通过建立多元线性回归模型,从不同层面探究不同因素对已运营有轨电车线路运行效率的影响。最后用模型对有轨电车新建线路的运行效率进行预测,并提出建议。     

包头地区筑路材料的分布与选择

针对内蒙古包头地区筑路材料的分布特征，结合工程实践进行归纳分析，并提出相应的见解，可供设计时参考。     

旧水泥混凝土路面加铺沥青混凝土面层勘测设计

旧水泥混凝土路面加铺沥青混凝土面层，当没有路线设计资料时，需对旧有路线进行拟合，重新进行勘测设计，以获得与旧有路线一致的路线设计资料，为旧水泥混凝土路面加铺沥青混凝土面层提供设计依据。结合工程实践，介绍了拟合旧有路线时勘测设计的内容和方法。     

S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.