液压模块组合挂车装载问题研究

为了车辆设计和指导安全运输装载, 研究了任意轴线液压模块组合挂车装载问题, 分析了装载量与装载跨距之间的关系, 推导出任意轴线组合挂车装载计算公式. 利用推导的公式对典型车型进行装载计算并绘制出装载图.     

基于ED-LSTM的智能汽车神经网络横向动力学建模与控制

车辆动力学建模过程中通常会进行简化和假设, 导致模型在某些工况下无法准确反映车辆的实际动态特性, 影响控制精度甚至安全性. 鉴于此, 该文提出了一种基于数据驱动的非线性建模与控制方法, 建立了新型神经网络车辆横向动力学多步预测模型, 实现了智能汽车对参考轨迹的跟踪控制. 首先, 在分析车辆单轨模型并考虑轮胎非线性和纵向负载转移的基础上, 基于编码器?解码器结构设计神经网络横向动力学模型. 其中, 使用串行排列来扩展微分方程描述不完全的动力学信息, 隐藏层神经元学习车辆的高度非线性和强耦合特性, 进而提高模型全局计算精度. 利用所构建的数据集进行模型训练和测试, 结果表明, 相比于物理模型, 所提出的模型在不同路面附着系数条件下均具有更高的建模精度, 具有隐式预测路面摩擦条件能力. 其次, 利用提出的模型设计轨迹跟踪控制算法, 根据车辆稳态转向假设, 计算所需的前轮转向角和稳态质心侧偏角, 将稳态质心侧偏角纳入基于路径误差的转向反馈中, 实现参考轨迹跟踪控制. 最后, 使用CarSim/Simulink联合仿真及HIL实验测试进行不同工况试验的对比分析, 对所提出的基于神经网络模型的控制算法进行评价, 结果表明, 该模型能够实现智能汽车在高速下精确的跟踪控制效果, 并具有良好的横向稳定性.      

斜靠式拱桥结构侧倾失稳分析的Ritz法

采用Ritz法,首次推导了主拱肋拱脚铰接、稳定拱肋拱脚固接边界条件下,斜靠式拱桥的侧倾失稳临界荷载系数的计算公式,并通过有限元法验证了该计算公式的正确性.进一步分析了稳定拱肋弯曲变形能和扭转变形能、主拱肋与稳定拱肋间横撑切向和径向弯曲变形能及吊杆非保向力位势和桥面系侧向弯曲变形能对斜靠式拱桥侧倾失稳临界荷载系数λcr的影响.研究结果表明:稳定拱肋的侧向弯曲变形能对斜靠式拱桥侧倾失稳临界荷载系数λcr有一定的影响,而扭转变形对侧倾失稳临界荷载系数λcr影响甚微;若忽略横撑的所有变形能,侧倾失稳临界荷载系数λcr降低65％～83％,即横撑对斜靠式拱桥侧倾失稳临界荷载系数λcr的影响非常显著;随着稳定拱肋倾角的增加,侧倾失稳临界荷载系数λcr呈增大趋势,且增设稳定拱肋对提高斜靠式拱桥的侧向稳定性大有帮助.     

正交异性钢桥面板轮载横向效应的解析分析方法

在分析正交异性钢桥面板构造特点的基础上,将轮载影响范围内的桥面板简化为弹性支撑的平面框架,建立了正交异性钢桥面轮载横向效应的解析分析模型,推导了纵肋弹性支撑刚度和车轮荷载集度等效计算方法,提出了桥面板与U肋交接位置处横向弯曲应力的解析公式,讨论并明确了影响桥面板横向弯曲应力峰值的关键敏感影响因素,并以某钢箱梁为例证明了本文算法的合理性。研究发现,本文方法计算得到桥面板与U肋相交位置的横向应力值与有限元结果相差不超过10%,证实了本文算法的正确性,也为正交异性钢桥面的初步设计提供了极大的方便;正交异性钢桥面板的横向轮载应力随U肋厚度和高度增加而增大,但随顶板厚度和横隔板间距增大而减小;相对而言,顶板内横向拉应力受顶板厚度的影响最为显著,对腹板倾角和U肋腹板厚度的变化并不敏感。     

基于DRBF-EKF算法的车辆质心侧偏角与路面附着系数动态联合估计

车辆质心侧偏角和路面附着系数是实现车辆底盘智能化所需要的关键参数. 车辆质心侧偏角对于提高车辆安全性和操控性至关重要, 轮胎-路面附着系数决定轮胎力的峰值, 进而确定汽车的动力学稳定性边界. 本文针对四轮独立驱动电动汽车提出了一种基于惯性测量单元、轮毂电机内置转速/转角传感器的车辆质心侧偏角和路面附着系数动态联合估计方法. 对四轮独立驱动电动汽车进行车辆动力学分析, 结合Dugoff轮胎计算模型得到车辆质心侧偏角估计器; 利用机器学习中高维数据降维PCA多元分析方法, 提取主元特征参数, 建立路面附着系数估计器. 采用可自适应调节网络结构的双径向基神经网络和扩展卡尔曼滤波DRBF-EKF方法, 通过K-means算法改进RBF神经网络结构, 扩展卡尔曼滤波进行噪声滤波提高估计精度, 实现车辆质心侧偏角和路面附着系数的动态联合估计. 通过仿真和实车实验表明, 所设计的DRBF-EKF动态联合估计器实时性和估计精度均优于扩展卡尔曼滤波算法, 可以适应车辆行驶过程中路面附着特性与车速的变化, 表现出较强的鲁棒性; 与DRBF方法相比, 显著提高了估计精度; 并且分析了可以同时满足估计精度和实时性要求的最佳隐含层神经元个数.      

液压作用下套管柱临界屈曲载荷计算的能量法

推导了内外液压作用下套管柱微弯时的能量平衡公式,并计算了其屈曲临界载荷计算公式。得到的结果低于目前已发表的结果。内外液压对套管稳定性的影响相当于在套管底端作用一个附加的轴向力和一个沿轴线均布的线载荷。对含有内压的两端封堵的细长管柱,内压对临界屈曲载荷没有影响。结果可供油井设计及作业参考。     

用通用单元计算板的固有振动和弹性稳定

本文用依据二类变量广义变分原理构造的一种新型的考虑横向剪切影响的任意四边形四节点通用单元[8],研究板的固有振动和弹性稳定问题,计算了各种类型板的固有频率、振型和临界载荷,得到了满意的结果,此单元具有通用性好、公式推导和程序编制简单等特点,并有显式的刚度矩阵和质量矩阵,可节省计算时间。     

含万向铰偏斜旋转轴的组合共振及其稳定性分析

基于欧拉方程推导出了含万向铰偏斜旋转轴的横向振动模型,利用多尺度方法对该模型进行求解,得出了该偏斜系统可能出现的多种共振模式,进而对含万向铰偏斜轴系横向振动和型组合共振、差型组合共振进行稳定性分析,并对该类偏斜系统横向振动和型组合共振响应进行数值计算与仿真,检验所得稳定性理论分析结果。研究表明:对于和型组合共振而言,其稳定性边界与输入扭矩T0、支撑轴承安装位置l、轴承刚度Kx2和Ky2等因素有关;当轴承安装位置距万向铰中心较近或者轴承弹簧刚度系数较小时,系统在频率(ω10+ω20)/2附近产生和型组合共振的区域减小,即能够抑制系统和型组合共振的产生。该研究可为偏斜轴系振动与噪声抑制提供理论支持。     

捷联惯性测量组合误差系数的软件补偿法研究

针对捷联惯性测量组合误差的数学模型,提出了惯性组合误差补偿的计算方法,推导了计算过程,得到了陀螺和加速度计误差补偿公式.通过补偿计算,能够得到弹体在采样时间间隔内运动的视速度增量和角增量.该算法能够满足应用的精度要求,对捷联惯性测量系统的误差补偿有一定的有效性和可行性.     

激光多普勒测振仪在炸药加载冲量测量中的应用

在采用炸药加载模拟锥壳结构遭受X射线辐照的结构响应实验中,利用激光多普勒测振仪测量了锥壳表面特征点的水平方向速度曲线.并从载荷的侧向余弦分布特点出发,推导了根据锥壳刚体运动的质心水平方向初速计算加载比冲量峰值的公式.同时根据锥壳表面的质点运动特征,提出了截取结构响应基本结束之后的曲线段进行算术平均,通过理论计算修正得到锥壳刚体运动的质心水平方向初速的数据处理方法.最后给出并分析了测量结果,结果表明采用激光多普勒测振仪可以测量炸药加载下结构的刚体运动速度,从而可进一步计算分析结构受到的载荷大小,其精度可以满足工程测量的要求.     

The lateral stability of tractor and trailer combinations

A model has been developed to predict the lateral stability characteristics of tractor and unbalanced trailer combinations. For present combinations, stability deteriorates with speed culminating in instability at forward speeds in the region of 18 m/s. The effect of tractor and trailer size and other parameter variations on this speed dependent instability are examined.The effect of braking with and without axle locking are analysed. The stability of the combination is sensitive to the braking distribuion between the axles, which affect the hitch forces developed. Locking the tractor rear or trailer axle results in instabilities, commonly termed jack-knifing and trailer swing respectively. Jack-knifing is the more hazardous instability, whereas trailer swing although potentially dangerous has a divergence approximately an order of magnitude less.The potential of the model for predicting lateral dynamic behaviour of design concepts for future high speed farm transport which would operate at higher speeds than the current maximum of 9 m/s for tractor and trailer combinations is discussed. The scope for generalizing the model to examine other aspects of lateral behaviour, such as steering response is restricted by the limited amount of data available on the side force generated by tyres in agricultural conditions.     

A mathematical model for sideways overturning performance of tractor and trailer combinations

A mathematical model for sideways overturns of wheel-tractor and trailer combinations, by the conventional method of disassembly and assembly of system components supplemented with a method of energy symmetry, devised for the present purpose to take care of the singularity range of the roll angle, was developed with a corresponding digital computer program and verified with tests on a 1/4.5 scaled, self-powered remote-controlled test model with agreeable results.     

Theoretical analysis of a wheel driven root crop harvester

A prototype of a wheel driven trailer was developed to simulate a wheel driven trailed root crop harvester. The mobility of the prototype tractor-trailer system was improved by driving the trailer wheels by a mounted engine. A mathematical model to predict the mobility and the stability of the system was developed. The model was validated by field experiments conducted in plowed, rotary tilled and untilled fields. The model was found to predict performance with a high accuracy. Parameter studies were conducted to investigate the effects of several design parameters, such as the peripheral velocity ratio (R_s), the weight of the trailer (m₁), the trailer's C.G. location (L_L) and the height of a hitch point (h), on the mobility and the stability of the system.     

Some stability and control problems with trailed farm tankers on slopes

Trailed farm tankers in Britain, which are generally used either for slurry spreading or crop spraying, have become very large in recent years. The fluid contents, which may be three times as heavy as the towing tractor, will move under gravity inside a partly full tanker and this introduces problems while driving on slopes, which have not been recognised previously. The fluid movement will affect both the stability of the tanker and the control of the tractor and trailer combination. Recent accidents where tankers overturned due to loss of stability, and where tractor and trailer combinations slid downhill due to loss of control, led to extensive research on tankers. In this paper, the centre of gravity analysis of fluid in tanks and the stability analysis of tankers are both reviewed, a full treatment being given elsewhere. The control analysis of tractor and trailer combinations is presented, and this is followed by a discussion of the problems facing tractor drivers with trailed tankers. Tankers behave unpredictably because the characteristics change continuously while the contents are emptied, for example during slurry spreading. The most dangerous condition for working on slopes may be when the tanker is nearly empty, unlike other trailers which are normally safe when nearly empty.     

A roll stability performance measure for off-road vehicles

The roll stability is significant for both road and off-road commercial vehicles, while the majority of reported studies focus on road vehicles neglecting the contributions of uneven off-road terrains. The limited studies on roll stability of off-road vehicles have assessed the stability limits using performance measures derived for road vehicles. This study proposes an alternative performance measure for assessing roll stability limits of off-road vehicles. The roll dynamics of an off-road mining vehicle operating on random rough terrains are investigated, where the two terrain-track profiles are synthesized considering coherency between them. It is shown that a measure based on steady-turning root-mean-square lateral acceleration corresponding to the sustained period of unity lateral-load-transfer-ratio prior to the absolute-rollover, could serve as a reliable measure of roll stability of the vehicle operating on random rough terrains. The robustness of proposed performance measure is demonstrated considering sprung mass center height variations and different terrain excitations. The simulation results revealed adverse effects of terrain elevation magnitude on the roll stability, while a relatively higher coherency resulted in lower terrain roll-excitation and thereby enhanced vehicle roll stability. Terrains with relatively higher waviness increased the magnitude of lower spatial frequency components, which resulted in reduced roll stability limits.     

范德华力对磁头/硬盘系统气体润滑特性的影响

通过数值方法分析范德华力对磁头承载力的影响以及随飞行姿态的变化规律.结果表明,范德华力主要作用在磁头滑块尾部的凸台上,当飞行高度低于10 nm后,范德华力使得滑块的承载能力明显降低,从而导致飞行高度下降.范德华力主要与飞行高度和俯仰角有关,随着飞行高度和俯仰角减小,范德华力使承载能力和俯仰转矩明显减小.范德华力对侧翻角的影响不敏感,随着侧翻角的增加,范德华力使滑块的承载能力和侧翻转矩略微减小.在磁头设计时,通过增加俯仰角和减小尾部凸台面积可以减小范德华力的影响.     

A QUASI-STATIC EQUIVALENT MECHANICAL MODEL FOR ROLL STABILITY OF PARTIALLY-FILLED TANKER TRUCKS

非满载液罐车转向行驶时,液体重心会发生偏移现象,对液罐车的侧倾稳定性造成不利影响。以椭圆形截面液罐车为例,分析了液罐车转向时发生侧翻的力学机理,将液面变化近似符合准静态过程,确定压力中心位置,计算液体对罐体壁的总压力,得到非满载液罐车转向侧倾稳定性准静态等效力学模型。研究结果表明,液罐车侧倾稳定性与罐体横截面形状、液体充装率等因素相关,为提高液罐车侧倾稳定性提供了理论分析依据。     

Two noncircular cross-section bodies and a high wing-body configuration at incidence in a low subsonic free stream

This experimental study examines the flow characteristics over a square cross-section body with sharp edges, a rectangular one with rounded edges, and a high wing-body configuration, in a low subsonic free stream. Pressure, velocity, force measurements and flow visualization provide a picture of the flow behaviour, locally and globally. Flow visualization and velocity measurements clearly depict the presence of two axial counter-rotating vortices in the leeside of the first two bodies, being mainly responsible for the asymmetric loading at nonzero roll angles, maximizing the side-force at a roll angle of about 25°. For all body orientations there is always a recirculation region at the nose-afterbody junction leeside area, the extent of which depends mainly on the roll angle. Pressure gradients take high values at the corners of the after body cross-section, even when these are rounded. No asymmetries were practically detected for a zero roll angle and pitch angles up to 20° for the examined three models. The wing-body configuration exhibits a higher lift slope and a more negative zero lift angle, compared to the wing-alone case, and the side-force increases monotonically with the roll angle, without showing any maximum in contrast to the other two models.     

循环接触下安定状态问题的研究

基于线性随动强化理论,运用算子分离技术,研究将弹塑性问题转换为弹性问题和残余问题的分析方法,且针对循环载荷接触安定状态,建立了计算机分析程序,该研究能够分析计算弹塑性接触载荷在安定状态下的应力、残余累积应变及残余应力,分析计算了不同载荷的安定状态,并探讨其残余应力场的分析方法。