Reconstruction of road defects and road roughness classification using vehicle responses with artificial neural networks simulation

The road damage assessment methodology in this paper utilizes an artificial neural network that reconstructs road surface profiles from measured vehicle accelerations. The paper numerically demonstrates the capabilities of such a methodology in the presence of noise, changing vehicle mass, changing vehicle speeds and road defects. In order to avoid crowding out understanding of the methodology, a simple linear pitch-plane model is employed. Initially, road profiles from known roughness classes were applied to a physical model to calculate vehicle responses. The calculated responses and road profiles were used to train an artificial neural network. In this way, the network renders corresponding road profiles on the availability of fresh data on model responses. The results show that the road profiles and associated defects can be reconstructed to within a 20% error at a minimum correlation value of 94%.     

Parametric resonance,stability and heteroclinic bifurcation in a nonlinear oscillator with time-delay: Application to a quarter-car model

This work examines dynamical behavior of a nonlinear oscillator with symmetric potential that models a quarter-car forced by the road profile under parametric excitation. The parametric resonance of a harmonically excited nonlinear quarter-car model with position and velocity time-delayed active control are investigated. We focus on the influence of delay and parametric excitation in the system. The influence of parametric excitation, time-delay and feedback gain parameters on the stability of the steady state response are investigated. By means of Melnikov's method, conditions for onset of chaos resulting from heteroclinic bifurcation is derived analytically and numerically.     

A comparative study of destructive effects resulting from road profile acting on off-road towed vehicles

The more extreme conditions the vehicle is exposed to, the sooner it wears out and deteriorates. In order to determine the forces affecting the lifespan of vehicles we need to know the environmental conditions eliciting these forces.This research aims at elaborating and testing a method which can help to conduct a comparative analysis of forces acting on towed vehicles used in different terrain conditions. Excitation forces acting on a vehicle being towed across terrain cause vibrations which lead to wear and structural deterioration. The rate of deterioration depends on the activating forces resulting from the road profile geometry and the dynamic properties of the vehicle. A knowledge of the relationship between the towed vehicle and the terrain profile will enable the design of an artificial road profile for fatigue testing with which similar stresses arise as during normal use. With the developed comparative method, a connection can be established between stochastic road profiles and road profiles containing artificially built obstacles.     

Reconstruction of road defects and road roughness classification using Artificial Neural Networks simulation and vehicle dynamic responses: Application to experimental data

This paper reports the performance of an Artificial Neural Network based road condition monitoring methodology on measured data obtained from a Land Rover Defender 110 which was driven over discrete obstacles and Belgian paving. In a previous study it was demonstrated, using data calculated from a numerical model, that the neural network was able to reconstruct road profiles and their associated defects within good levels of fitting accuracy and correlation. A nonlinear autoregressive network with exogenous inputs was trained in a series–parallel framework. When compared to the parallel framework, the series–parallel framework offered the advantage of fast training but had a shortcoming in that it required feed-forward of true road profiles. In this study, the true profiles are not available and the test data are obtained from field measurements. Training data are numerically generated by making minor adjustments to the real measured profiles and applying them to a full vehicle model of the Land Rover. This is done to avoid using the same road profile and acceleration data for training and testing or validating the neural network. A static feed-forward neural network is trained and consequently tested on the real measured data. The results show very good correlations over both the discrete obstacles and the Belgian paving. The random nature of the Belgian paving necessitated correlations to be made using their displacement spectral densities as well as evaluations of RMS error percent values of the raw road profiles. The use of displacement spectral densities is considered to be of much more practical value than the road profiles since they can easily be interpreted into road roughness measures by plotting them over an internationally recognized standard roughness scale.     

Transition to chaos and escape phenomenon in two-degrees-of-freedom oscillator with a kinematic excitation

We study the dynamics of a two-degrees-of-freedom (two-DOF) nonlinear oscillator representing a quarter-car model excited by a road roughness profile. Modeling the road profile by means of a harmonic function, we derive the Melnikov criterion for a system transition to chaos or escape. The analytically obtained estimations are confirmed by numerical simulations. To analyze the transient vibrations, we used recurrences.     

随机车辆冲击作用下简支梁桥疲劳可靠度评估

为了研究考虑随机车辆冲击效应的简支梁桥疲劳安全水平,提出了基于车-桥耦合振动与随机车流的桥梁疲劳应力谱模拟方法,并应用于疲劳可靠度评估。基于某高速公路桥梁动态称重数据建立随机车流模型,采用小样本车辆数据拟合桥梁等效疲劳应力范围的插值响应函数,最后由高斯混合模型拟合大样本随机车流作用于桥梁构件的疲劳应力谱。分析了25 m标准跨径简支T梁桥底部普通钢筋的疲劳应力谱,评估了考虑路面劣化与交通量增长的桥梁疲劳可靠度。数值分析结果表明,基于随机车流模拟的疲劳应力谱具有典型的多峰分布特征,包含了超载车辆产生的疲劳应力;车辆对桥梁的冲击效应致使等效疲劳应力放大系数略大于冲击系数,当路面等级为一般时,采用规范冲击系数将低估车辆冲击效应的疲劳损伤;路面劣化与交通量增长均会导致桥梁运营期内的疲劳可靠指标显著降低,由路面劣化导致车辆对简支梁桥的冲击效应不可忽略。     

Optimization of improved suspension system with inerter device of the quarter-car model in vibration analysis

In this paper, we analyze an improved suspension system with the incorporated inerter device of the quarter-car model to obtain optimal design parameters for maximum comfort level for a driver and passengers. That is achieved by finding the analytical solution for the system of ordinary differential equations, which enables us to generate an optimization problem whose objective function is based on the international standards of admissible acceleration levels (ISO 2631-1, Mechanical Vibration and Shock—Evaluation of Human Exposure to Whole-Body Vibration–Part 1, 1997). The considered approach ensures the highest level of comfort for the driver and passengers due to a favorable reduction in body vibrations. Numerical examples, based on actually measured road profiles, are presented at the end of the paper to prove the validity of the proposed approach and its suitability for the problem at hand.     

基于非齐次复合Poisson过程的正交异性钢桥面板细节疲劳裂纹随机扩展研究

传统的正交异性钢桥面板疲劳损伤评估常采用确定性和可靠性分析方法,忽略了疲劳裂纹扩展的随机性影响,针对这一问题,提出钢桥面板细节疲劳随机扩展分析方法。本文以南溪长江大桥为工程背景,基于长期车辆荷载监测数据,建立了车辆荷载非齐次复合Poisson过程模型。建立钢桥面板有限元模型,采用瞬态分析方法将随机车辆荷载转化成细节疲劳应力,基于线弹性断裂力学理论推导U肋-顶板焊接细节疲劳裂纹扩展时变微分方程,实现宏观关系式疲劳应力幅次数-疲劳损伤至微观表达式应力时间序列-疲劳损伤转换,讨论了车载次序及超载对疲劳裂纹扩展的影响。研究结果表明,非齐次复合泊松过程模型能够较好描述随机车流运营状态,车辆荷载的次序对疲劳裂纹扩展速率的影响不可忽略,重车排序靠前时能够促使疲劳裂纹扩展增速,南溪长江大桥细节点的车辆超载迟滞效应修正系数取值0.804。     

柔性路面的各向异性疲劳损伤数值模型研究

根据柔性路面在交通荷载作用下的力学响应特点,推导了一个各向异性疲劳损伤本构方程,并基于ABAQUS软件及其二次开发平台,建立了考虑各向异性疲劳损伤的路面结构有限元模型。通过建立的模型计算车辆作用下路面结构的疲劳寿命,其结果与试验数据吻合良好,误差最高仅为3.8%,证明该模型精确可靠。最后,分析了疲劳损伤的演化规律,以及路面结构参数对疲劳性能的影响。结果表明,路面纵向疲劳损伤演化速率比横向大得多,随着车辆循环作用,路面结构的各向异性逐渐增强,进而又加剧疲劳损伤的演化。另外,沥青层越厚、土基弹性模量越大,路面疲劳损伤演化得越慢;而当土基较弱、沥青层较薄时,增加级配碎石层厚度可以显著延缓柔性路面的疲劳开裂。     

Autocorrelation model of road roughness

Road surface roughness is the excitation source for the dynamic response of a moving vehicle system. Driving comfort is indicated by either the driver absorbed power level or the vehicle vertical acceleration level. An autocorrelation function model for road roughness is proposed to specify the road surface random characteristics. Subsequently, the power spectral densities (PSDs) for both road roughness and vehicle response, the driver-absorbed power level, are formulated. A road quality index (RQI) in accordance with such energy considerations is defined to catalog the road grade. The laboratory test results show the applicability of the RQI method for road classification using the ISO criteria as a comparison check.     

Evolutionary algorithm-based PID controller tuning for nonlinear quarter-car electrohydraulic vehicle suspensions

The basic challenge associated with the design of vehicle suspension system is the attainment of an optimal trade-off between the various design objectives. This study presents the design of proportional-integral-derivative (PID) controller for a quarter-car active vehicle suspension system (AVSS) using evolutionary algorithms (EA) such as the particle swarm optimization (PSO), genetic algorithm (GA) and differential evolution (DE). Each of the EA-based PID controllers showed overall improvement in suspension travel, ride comfort, settling time and road holding from the manually tuned controller and the passive vehicle suspension system. These improvements were, however, achieved at the cost of increased actuator force, power consumption and spool-valve displacement. DE-optimized PID control resulted in the best minimized suspension performance, followed by the GA and PSO, respectively. Frequency-domain analysis showed that all the signals were attenuated within the whole body vibration frequency range and the EA-optimized controllers had RMS frequency weighted body acceleration of the vehicle within allowable limits for vibration exposure. Robustness analysis of the DE-optimized PID-controlled AVSS to model uncertainties is carried out in the form of variation in vehicle sprung mass loading, tyre stiffness and speed.     

基于CT扫描的环氧树脂基混凝土裂缝观测与冲击损伤演化研究

环氧树脂基混凝土是一种新型路面铺装材料。本文估算了道路使用过程发生"跳车"现象时货车车轮对路面产生的冲击荷载,根据计算结果,利用落锤冲击试验机对含有不同程度初始损伤的环氧树脂基混凝土试件进行多次冲击试验,研究其冲击疲劳现象。为了准确描述环氧树脂基混凝土的初始损伤,采用CT(计算机断层)扫描技术重构了试件的立体图像,对其中的内部裂缝进行了统计,建立了初始损伤裂缝体积占试件体积的百分比与基于材料弹性模量衰减的损伤变量之间的关系。通过追踪经受一定次数冲击后试件的弹性模量,分析了不同程度初始损伤下环氧树脂基混凝土的冲击损伤随冲击次数的变化规律;结合多次冲击荷载下环氧树脂基混凝土弹性模量的衰减,研究了初始损伤对环氧树脂基混凝土冲击疲劳过程中损伤演化规律的影响。     

Modeling the effect of liquid movement on the center of gravity calculation of agricultural vehicles

Due to a high center of gravity (CG) location, agricultural vehicles are more vulnerable to overturns. The CG location can be calculated using the lifting axle method of ISO 16231-2:2015. But, as a vehicle is lifted, its liquid payloads are not entirely contained. The liquids will shift both in position and form, affecting the CG height calculation.A mathematical model was developed to predict the effect of liquid movement on the CG height calculation of a tilted vehicle. The model was validated using an agricultural utility tractor and a prototype. The developed model was applied to calculate the CG location considering the effect of the liquid shift.Results showed tilting produced a higher calculated center of gravity due to liquid movement, but by increasing the tilting angle, the calculated CG height decreased. The effect of the liquid shift on CG height measurement for the wagon with 16.0% liquid mass was 14.8% and for the tractor with 1.2% liquid mass was 0.41%. The model error was less than 1.3% for all tests. Considering the effect of the liquid shift in CG height calculation, the error in CG height calculation decreased from 11.9% to 2.6% for the wagon.     

考虑人载的汽车多自由度3维动力学模型

在目前的汽车柔顺性分析中,通常使用的2/4/7自由度动力学模型一般都未考虑车中人载质量,而在有人载与无人载时,汽车的动力学模型是不同的,它们代表了不同的动力学系统。因此未考虑人载质量的汽车动力学模型不能全面、准确地给出汽车的动力学特性,不能准确地反映柔顺性所包含的车身垂直方向、俯仰与侧倾振动,以及车轮跳动的加速度等物理量的变化。本文提出了考虑车中人载质量-座椅附加系统的汽车振动分析的3维动力学模型,给出了系统相应的动力学方程,并以轿车为例,给出了不同模型的动力学特性与响应的仿真分析结果,说明了汽车在考虑了人载-座椅附加系统后的多自由度3维动力学模型的正确性与必要性。     

The influence of the soil stratification on free field traffic-induced vibrations

Summary  This paper deals with the influence of the soil stratification on the free field vibrations generated by the passage of a vehicle on an uneven road. A two-stage solution procedure is applied for the numerical prediction of the free field traffic-induced vibrations. First, a 2D vehicle model is used for the calculation of the axle loads from the longitudinal road profile. Next, the free field response is calculated with the dynamic Betti-Rayleigh reciprocity theorem, using a transfer function between the road and the receiver. The dynamic road-soil interaction problem is solved with a substructure method. The road is modelled as a beam of infinite length, while the boundary element method, based on the Green's functions for a horizontally layered linear elastic halfspace is used for the soil. The influence of the soil stratification is demonstrated by a numerical example where the free field vibrations during the passage of a vehicle on a traffic plateau are calculated. Three different cases are considered for the layering of the soil: a homogeneous halfspace, a layer built in at its base and a layer on a halfspace. Special emphasis goes to the dynamic interaction between the road and the soil. It is demonstrated that the stratification of the soil has a considerable influence on both the peak particle velocity and the frequency content of the free field vibrations. Received 28 November 2000; accepted 24 April 2001     

疲劳线性累积损伤理论的α值实验验证

对疲劳累积损伤临界值进行了实验验证.首先进行了某构件三种随机载荷谱下的疲劳试验,测定了其谱载下的疲劳寿命T;再对载荷谱进行雨流计数,得到了各应力水平的循环次数n;利用疲劳性能Sα-Sm-N曲面,确定了构件在各应力水平单独作用下的疲劳寿命N;最后,根据 Miner公式,估算出各构件的疲劳累积损伤临界值（α值）.根据分析结果推测:α值是一个均值为1的随机变量.     

Interface damage and its effect on vibrations of slab track under temperature and vehicle dynamic loads

This paper presents a three-dimensional finite element model to investigate the interface damage occurred between prefabricated slab and CA (cement asphalt) mortar layer in the China Railway Track System (CRTS-II) slab track system. In the finite element model, a cohesive zone model with a non-linear constitutive law is introduced and utilized to model the damage, cracking and delamination at the interface. Combining with the temperature field database obtained from the three-dimensional transient heat transfer analysis, the interface damage evolution as a result of temperature change is analyzed. A three-dimensional coupled dynamic model of a vehicle and the slab track is then established to calculate the varying rail-supporting forces which are utilized as the inputs to the finite element model. The non-linearities of the wheel–rail contact geometry, the wheel–rail normal contact force and the wheel–rail tangential creep force are taken into account in the model. Setting the maximum interface damaged state calculated under temperature change as the initial condition, the interface damage evolution and its influence on the dynamic response of the slab track are investigated under the joint action of the temperature change and vehicle dynamic load. The analysis indicates that the proposed model is capable of predicting the initiation and propagation of cracks at the interface. The prefabricated slab presents lateral warping, resulting in severe interface damage on both the sides of the slab track along the longitudinal direction during temperature drop process, while the interface damage level does not change significantly under vehicle dynamic loads. The interface damage has great effects on the dynamic responses of the slab track.     

A cohesive zone model for fatigue crack growth allowing for crack retardation

A damage-based cohesive model is developed for simulating crack growth due to fatigue loading. The cohesive model follows a linear damage-dependent traction–separation relation coupled with a damage evolution equation. The rate of damage evolution is characterized by three material parameters corresponding to common features of fatigue behavior captured by the model, namely, damage accumulation, crack retardation and stress threshold. Good agreement is obtained between finite element solutions using the model and fatigue test results for an aluminum alloy under different load ratios and for the overload effect on ductile 316 L steel.     

An optimization method designed to improve 3-D vehicle comfort and road holding capability through the use of active and semi-active suspensions

The primary purpose of this paper is to analyze the effects of vibrations on the comfort and road holding capability of road vehicles as observed in the variation of different parameters such as suspension coefficients, road disturbances, and the seat position. This study required the development of a mathematical model to simulate the dynamic behavior of a 3-D vehicle. With this model, various types of non-linear suspensions such as active and semi-active suspensions may be investigated. The results obtained from the simulation of the 3-D vehicle demonstrate that the use of active and semi-active suspension models on road vehicles prove to be beneficial for comfort without unduly compromising road holding capability.