THE CONDITIONS AND INFLUENCING FACTORS OF TRUCKS' ROLL-OVER DURING TURNING

因重心高、载重大,大货车在弯道行驶时,如果速度过高,很容易发生侧翻。针对货车转弯侧翻这一物理现象,本文利用动静法建立了其动力学模型。引入了描述侧翻的两个物理量——倾斜临界速度和侧翻临界速度,在给定参数下对车的受力和运动进行了数值计算,并分析了车重、车的质心高度和转弯半径等因素对转弯侧翻的影响。并对如何避免大货车转弯侧翻,给出了定性的驾驶指导建议。     

Mathematical modelling and control of a nonholonomic spherical robot on a variable-slope inclined plane using terminal sliding mode control

In this paper, the three degrees-of-freedom motion of a two-dimensional rectangular liquid tank under wave action is simulated by the boundary element method in time domain. The coupling effects between tank motion and internal sloshing flow are investigated in partially filled conditions. The fourth-order Runge–Kutta method is adopted to update the wave shape and velocity potential on the free surface. The fully nonlinear mutual dependence of the incident wave, tank motion and internal sloshing flow is decoupled through an auxiliary function method, by which the liquid tank acceleration can be obtained directly without knowing the pressure distribution. The corresponding validation of numerical model is carried out and indicates that the accuracy of the present method is satisfactory to evaluate the dynamic responses of tank and sloshing motion. The corresponding response amplitude operators of tank motions for various wave frequencies, amplitudes and filling conditions are obtained, and the nonlinear coupling effects of sloshing flow on the tank responses are analyzed. It is found that the coupling effects have significant influence on sway and roll motion while have little impact on heave motion. The most important coupling effects on roll motion are the split of peak. In addition, due to the nonlinearity of sloshing flow, the roll motion amplitude is not linearly proportional to wave amplitude.     

Impact of liquid sloshing on the behaviour of vehicles carrying liquid cargo

The purpose of this paper is to study the stability and the behaviour of the dynamics of tank vehicles carrying liquid fuel cargo. Liquid forces and moments due to liquid sloshing is one of the most serious problems strongly related to the instability of tank vehicles. In this paper, a simplified analytical model of liquid sloshing is developed using the Navier–Stokes equations. Simulation results obtained using the full complex Navier–Stokes equations modulated with numerical commercial software are compared to the simplified analytical model. The comparison highlights the validity assumptions used on the analytical model. The results show a good correlation under single or double lane change and turning manoeuvres. In the second part for this paper, a full dynamic vehicle is coupled with the analytical liquid model. This simulation result is compared to a rigid vehicle cargo.     

Sloshing dynamics-modulated fluid angular momentum and moment fluctuations driven by orbital gravity gradient and jitter accelerations in microgravity

The dynamical behavior of spacecraft propellant affected by the asymmetric combined gravity gradient and jitter acceleration are studied. In particular the effect of surface tension on partially-filled rotating fluids applicable to a full-scale Gravity Probe-B Spacecraft dewar tank has been investigated. Three different cases of orbital accelerations: (a) gravity gradient-dominated, (b) equally weighted between gravity gradients and jitter, and (c) gravity jitter-dominated accelerations are considered. Fluctuations of angular momentum, fluid moment and bubble mass center caused by slosh wave excitations driven by gravity gradient and jitter accelerations are also investigated.     

MPS与GPU结合数值模拟LNG液舱晃荡

液舱晃荡是一种在外部激励作用下部分装载的液舱内液体的波动现象,它会对液舱结构强度和运输船舶稳性产生危害.移动粒子半隐式法(moving particle semi-implicit,MPS)是一种典型的无网格粒子类方法,可以有效地模拟剧烈的液舱晃荡问题.但MPS方法存在计算效率低的缺点,难以模拟大规模三维问题,而GPU并行加速技术已广泛应用于科学计算领域.因此,本文将MPS方法与GPU并行加速技术相结合,采用CUDA程序语言编写,自主开发了MPSGPU-SJTU求解器,对三维液化天然气(liquefiednatural gas, LNG)型液舱晃荡进行了数值模拟.通过三种不同粒子间距的数值模拟,验证了求解器的收敛性,其中最大计算粒子数达到了200多万.与其他研究结果相比,MPSGPU-SJTU求解器能够准确地预测壁面砰击压力,并且捕捉晃荡过程中自由面的大幅度变形和强非线性破碎现象.相比CPU求解器的计算时间,GPU并行加速技术可以大幅度地减小计算时长,提高MPS方法的计算效率.本文将LNG型液舱与方型液舱的晃荡进行对比,结果表明在高充液率下LNG型液舱可以有效地减小晃荡幅值和壁面砰击压力.但在中低充液率下,LNG型液舱则会加剧晃荡,自由面呈现明显的三维特征.本文还进一步研究了水和LNG两种不同介质的液舱晃荡现象,数值模拟结果表明二者的流场基本相似,砰击压力则正比于液体密度.      

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.     

Asymmetric slosh wave excitation in a liquid-vapor interface under microgravity

The dynamical behavior of fluids affected by the asymmetric gravity jitter oscillations, in particular, the effect of surface tension on partially-filled rotating fluids in a Dewar tank imposed by time-dependent directions of background reduced gravity accelerations is investigated. Results show that the greater the components of background reduced gravity in radial and circumferential directions, the greater will be the tendency toward increasing amplitude and degrees of asymmetry of the liquid-vapor interface profiles.     

软弱顺倾岩体爆破层裂的准静态力学模型应用研究

针对顺倾岩质边坡爆破引起软弱夹层冲刷、压密而影响边坡稳定的问题,应用爆轰气体等熵绝热膨胀理论,建立深孔爆破过程中软弱顺倾边坡的准静态力学模型,导出了爆炸作用在软弱夹层内形成爆腔后的准静态压力和软弱层临界层裂长度计算公式。通过分析爆轰气体楔入层面内对边坡岩体产生的抬动作用,推得了边坡潜在滑体的稳定系数与装药参数、岩体力学参数和边坡几何尺寸的定量关系。将提出的准静态力学模型应用于两个典型顺倾岩质边坡的爆破动力稳定分析,得到了与工程实际相符合的计算结果。     

TNT内爆炸准静态压力特性

为研究密闭空间内TNT爆炸准静态压力特性,通过理论分析得到了准静态压力计算模型,以爆炸罐和爆炸舱室为典型密闭空间环境开展了系列TNT内爆炸实验。结果表明,准静态压力的上升伴随着内爆炸冲击波的多次反射,反射结束后准静态压力到达峰值,药量-容积比是准静态压力的主要影响因素,准静态压力峰值及上升速率随着药量-容积比的增加而增加;基于实验数据拟合得到了TNT内爆炸准静态压力峰值经验公式,可用于准静态压力峰值预估及内爆炸威力评估。     

An experimental investigation of roll waves in high pressure two-phase inclined pipe flows

This paper examines the effects of small upward inclinations on the formation of roll waves and the properties of fully developed roll waves at high pressure conditions. A total of 984 experiments were conducted at six positive pipe inclinations θ = 0.00°, 0.10°, 0.25°, 1.00°, 2.50° and 5.00° using a 25 m long 10 cm i.d. pipe. Sulfur hexafluoride (SF₆) was used at 8 bara giving a gas density of 50 kg/m³. Two independent mechanisms for the formation of roll waves were identified; (1) interaction between 2D shallow water waves and (2) a visible long wavelength instability of the stratified layer. Viscous long wavelength linear stability analysis predicted the critical liquid flow rate and liquid height for the initiation of roll waves when roll waves were formed due to the second mechanism. A simple equation from shallow water wave theory agreed with measurements for critical liquid flow rate when roll waves were formed due to the first mechanism. Shallow water wave speed agreed with critical wave speeds at transition and nonlinear wave speeds for fully developed roll waves in certain cases. The increase in interfacial friction due to the presence of large waves was compared with models from the literature.     

Simulation of large amplitude waves in a slug tracking scheme compared to roll wave experiments at high pressure

Due to the similarities between large amplitude roll waves and slug flow in two-phase gas–liquid pipe flow, a slug tracking scheme is presented with the addition of a simplified model for roll waves. The waves are treated in a similar way to slugs, modelled as objects moving at the wave velocity and with a pressure variation across them. The two-fluid model is solved on a stationary staggered grid in stratified sections between moving waves and slugs. The model is dynamic meaning that the growth and decay of waves and slugs can be simulated. The wave model implementation within the tracking scheme is discussed and demonstrated in comparison to existing experimental data on wave velocities and averaged pressure drops. The results from the tracking scheme compared well to the experiments when waves were initiated with the experimental frequency. Wave initiation remains as a modelling challenge.     

Dynamic response of tank trains to random track irregularities

This paper presents a dynamic analytical model for tank train vibrations. The train is considered as a system of 27 degrees of freedom consisting of lateral, roll, yaw, vertical, and pitch motions for the vehicle body and its two bogies and lateral, roll and vertical motions for the four wheel-sets. Liquid sloshing in the tank is modeled using an equivalent mechanical mass-spring model. Coupling between the vehicle system and the railway track is realized through the interaction forces between the train and the rail, where the vertical and lateral irregularity profiles of the track are regarded as stationary ergodic Gaussian random processes and simulated by polynomial functions. Random vibration theory is used to obtain the response power spectral densities. Finally, numerical results for a typical test case including natural frequencies of a coupled system, frequency response functions, and output power spectral densities are presented.     

圆柱形弹性贮液容器的自振特性分析

贮液容器,无论是由钢材制成的或是由钢筋混凝土建造的。在工业或工程上都有着广泛的应用,如石油化工工业中的储油罐,给水工程中的水即为典型例子。在核动力工程中的压水堆或快增残堆,所用的主容器都可看成为一种特殊的贮液容器。它与一般容器很大的区别在于除贮液外,在堆内还设置一些构件。这对结构分析计算速写为不小的困难。本文根据剪切悬壁梁理论且考虑液动压力效应,建立了弹性圆柱形贮液容器的自振方程及相关特征值矩阵,     

一种新型后装式垃圾车结构优化设计

首先对后装式压缩垃圾车的车厢截面形状进行优化,设计出一种具有椭圆截面车厢的新型后装式垃圾车.给出椭圆截面车厢的自重、惯性、压缩、挤入、推出等压缩垃圾载荷的数学表达.而后对车厢与填科器结构进行多种危险工况的有限元分析,采用导重法对结构构件尺寸进行优化设计,在保证结构应力小于许用应力的前提下,本新型椭圆截面后装武垃圾车结构质量比原来的矩形截面压缩垃圾车减少了33.5%,是同类后装武压缩垃圾车中的最轻者.     

Motion stability dynamics for spacecraft coupled with partially filled liquid container

This paper presents a canonical Hamiltonian model of liquid sloshing for the container coupled with spacecraft. Elliptical shape of rigid body is considered as spacecraft structure. Hamiltonian system is an important form of mechanical system. It mostly used to stabilize the potential shaping of dynamical system. Free surface movement of liquid inside the container is called sloshing. If there is uncontrolled resonance between the motion of tank and liquid-frequency inside the tank then such sloshing can be a reason of attitude disturbance or structural damage of spacecraft. Equivalent mechanical model of simple pendulum or mass attached with spring for sloshing is used by many researchers. Mass attached with spring is used as an equivalent model of sloshing to derive the mathematical equations in terms of Hamiltonian model. Analytical method of Lyapunov function with Casimir energy function is used to find the stability for spacecraft dynamics. Vertical axial rotation is taken as the major axial steady rotation for the moving rigid body.     

Thermocapillary migration of a fluid droplet inside a drop in a space laboratory

The thermocapillary migration of a fluid droplet located inside a liquid drop in a space laboratory is analyzed. The quasi-static momentum and energy equations are solved at the instant when the droplet passes the center of the drop. Results are presented for prescribed axisymmetric distributions of temperature on the drop surface.     

Haul road defect identification using measured truck response

Current management techniques for the maintenance of mine haul roads, such as ad hoc blading, scheduled blading and even maintenance management systems, have shortcomings in complex mining environments. This paper investigates the possibility of using the response of haul trucks to aid the management of haul road maintenance. The question arises as to whether truck response data can be used to recognize road defects at specific locations, in terms of type and size. This is important since different defect types require different road maintenance strategies. A modeling methodology based on dynamic equilibrium of the unsprung mass of a haul truck is proposed and investigated.     

Dynamics of vehicles with high gravity centre

The vehicles with high gravity centre are more prone to roll over. The paper deals with a method of dynamics analysis of fire engines which is an example of these types of vehicle. Algorithms for generating the equations of motion have been formulated by homogenous transformations and Lagrange's equation. The model presented in this article consists of a system of rigid bodies connected one with another forming an open kinematic chain. Road maneuvers such as a lane change and negotiating a circular track have been presented as the main simulations when a car loses its stability. The method has been verified by comparing numerical results with results obtained by experimental measurements performed during road tests.     

A new study of chaotic behavior and the existence of Feigenbaum’s constants in fractional-degree Yin–Yang Hénon maps

hing dynamics in a square tank are numerically investigated when the tank is subjected to horizontal, narrowband random ground excitation. The natural frequencies of the two predominant sloshing modes are identical and therefore 1:1 internal resonance may occur. Galerkin’s method is applied to derive the modal equations of motion for nonlinear sloshing including higher modes. The Monte Carlo simulation is used to calculate response statistics such as mean square values and probability density functions (PDFs). The two predominant modes exhibit complex phenomena including “autoparametric interaction” because they are nonlinearly coupled with each other. The mean square responses of these two modes and the liquid elevation are found to differ significantly from those of the corresponding linear model, depending on the characteristics of the random ground excitation such as bandwidth, center frequency and excitation direction. It is found that the direction of the excitation is a significant factor in predicting the mean square responses. The frequency response curves for the same system subjected to equivalent harmonic excitation are also calculated and compared with the mean square responses to further explain the phenomena. Changing the liquid level causes the peak of the mean square response to shift. Furthermore, the risk of the liquid overspill from the tank is discussed by showing the three-dimensional distribution charts of the mean square responses of liquid elevations.     

模拟立式拱顶油罐内油气爆炸实验研究

为探究立式拱顶油罐内油气体积分数、点火位置和液位对爆炸超压特性参数与火焰发展的影响规律,开展了一系列的实验研究,得到以下结果:（1）1.7%是任一工况下的最危险油气体积分数,内场超压发展都可以分为超压上升、超压泄放和振荡衰减3个阶段。爆炸过程中CH、C₂、OH等自由基的生成和空间分布,使得不同初始油气体积分数下或不同爆炸阶段的火焰呈现不同的颜色变化。（2）点火位置对油气爆炸超压特性参数的影响较大,位置越靠下,爆炸威力越大。罐底中心点火时,内外场平均升压速率取得最大值,分别为0.46和0.05 MPa/s。（3）液位变化对油气爆炸内外场超压的影响较大,油罐侧壁上部位置点火时,50%液位是最危险的液位。任意液位下外场超压随比例距离的增大都呈现幂指数衰减规律,不同液位下油气爆炸外场冲击波超压峰值与距离和油气混合物体积的关系可以用一个公式统一表示。相比于气相空间,液相空间的超压变化具有延后性、负压增强和振荡衰减更快的特点。