Vehicle sideslip angle estimation via a Riccati equation based nonlinear filter

The vehicle sideslip angle is an important variable that contains information concerning the directional behaviour and stability of vehicles. As a consequence, it represents a very functional feedback for all the actual vehicle dynamics control systems. Since the measurement of the sideslip angle is expensive and unsuitable for common vehicles, its estimation is nowadays an important task. To this aim, several approaches have been adopted and the limits due to the nonlinear nature of the vehicle system are emerged. In order to overcome these limits, this paper focuses on an alternative nonlinear estimation method based on the State-Dependent-Riccati-Equation (SDRE). The technique is able to fully take into account the system nonlinearities and the measurement noise. A single track vehicle model has been employed for the synthesis of the estimator. Simulations have been conducted and comparisons with the largely used Extended Kalman Filter are illustrated. Performance of the estimator have subsequently been verified by means of experimental data acquired with an instrumented vehicle. The results show the effectiveness of the SDRE based technique, able to give an estimated sideslip angle fully in accordance with the measured one.     

惯性/卫星/里程计多信息融合方法及在铁路测绘中的应用

针对基于惯性技术对铁路基础设施进行精确测绘的需求提出一种多信息融合惯性基准方案,为测量测绘提供高精度位置和姿态参考。对载体运动特点和车载状态下惯性/里程组合导航航向角误差可观性进行分析,认为天向陀螺漂移和航向误差是导致测量精度下降的主要因素,针对该问题设计了基于双向滤波、双向平滑的多信息融合方案,针对缺乏绝对位置基准的应用情况,引入"正矢"概念和相对定位精度的评判方法。仿真及试验结果表明,在陀螺常值漂移0.2(°)/h条件下,该方案相对定位精度优于0.3 mm(300 m弦正矢),显著提高了车载铁路线路测绘位置、姿态基准精度,降低了对惯性器件的要求,利用中、低精度器件实现了高精度测量定位。     

Efficient generation of accurate mobility maps using machine learning algorithms

U.S Army’s mission is to develop, integrate, and sustain the right technology solutions for all manned and unmanned ground vehicles, and mobility is a key requirement for all ground vehicles. Mobility focuses on ground vehicles’ capabilities that enable them to be deployable worldwide, operationally mobile in all environments, and protected from symmetrical and asymmetrical threats. In order for military ground vehicles to operate in any combat zone, the planners require a mobility map that gives the maximum predicted speeds on these off-road terrains. In the past, empirical and semi-empirical techniques (Ahlvin and Haley, 1992; Haley et al., 1979) were used to predict vehicle mobility on off-road terrains such as the NATO Reference Mobility Model (NRMM). Because of its empirical nature, the NRMM method cannot be extrapolated to new vehicle designs containing advanced technologies, nor can it be applied to lightweight robotic vehicles.The mobility map is a function of different parameters such as terrain topology and profile, soil type (mud, snow, sand, etc.), vegetation, obstacles, weather conditions, and vehicle type and characteristics.A physics-based method such as the discrete element method (DEM) (Dasch et al., 2016) was identified by the NATO Next Generation NRMM Team as a potential high fidelity method to model the soil. This method allows the capture of the soil deformation as well as its non-linear behavior. Hence it allows the simulation of the vehicle on any off-road terrain and have an accurate mobility map generated. The drawback of the DEM method is the required simulation time. It takes several weeks to generate the mobility map because of the large number of soil particles (millions) even while utilizing high performance computing.One approach to reduce the computational time is to use machine learning algorithms to predict the mobility map. Machine learning (Boutell et al., 2004; Burges, 1998; Barber et al., 1997) can lead to very accurate mobility predictions over a wide range of terrains. Machine learning is divided into two categories: the supervised and the unsupervised learning. Supervised learning requires the training data to be labeled into predetermined classes, while the unsupervised learning does not require the training data to be labeled. Machine learning can help generate mobility maps using trained models created from a minimum number of simulation runs. In this study different supervised machine learning algorithms such as the support vector machine (SVM), the nearest neighbor classifier (k-NN), decision trees, and boosting methods were used to create trained models labeled as 2 classes for the ‘go/no-go’ map, 5 classes for the 5-speed map, and 7 classes for the 7-speed map. The trained models were created from the physics-based simulation runs of a nominal wheeled vehicle traversing on a cohesive soil.     

The Equations of Motion of a Rigid Body with Constraints Explicitly Depending on Time

The general equations of motion of a body for an observer in S ₀ (an inertial frame) or for an observer in S ₁ (an accelerated frame) are derived. They allow us to determine, in any case, the inertial and gyroscopic forces and to find the difference between them. If the vector that determines the position of the body in S ₀ depends explicitly on time in S ₀, the work-energy principle yields a supplementary condition and these equations can be shown to be equivalent to the Painleve integrals in the Lagrange formulation. Since we are dealing with inertial frames, gyroscopic forces rather than inertial forces are taken into account. If another reference frame is used, we can choose it so that the position vector depends implicitly on time in S ₁ and another set of equations can be obtained for the motion of the body in S ₁. The work-energy principle yields a supplementary condition, but inertial forces should be added. Since an explicit time dependence does not exist in S ₁, gyroscopic forces do not exist as well and instead we have Coriolis forces that behave like gyroscopic forces     

Stability boundaries of a spinning rotor with parametrically excited gyroscopic system

Some published papers used Bolotin's method for stability boundaries of spinning rotor with parametrically excited gyroscopic system. However, the original work of the method does not indicate that the method can be used to determine the stability of gyroscopic system. This paper intends to highlight the differences in the results using Bolotin's method. As counter examples, dynamic stability of a special case of the parametrically excited gyroscopic system, a simple gyroscopic rotor under parametric excitation and a rotating Timoshenko shaft subjected to periodic axial forces varying with time are analyzed and discussed by using Bolotin's method and Floquet's method respectively to indicate the differences. The causation of these differences is attributed to the differences in the assumptions of Bolotin's and Floquet's methods as that the assumption of Floquet multipliers in Bolotin's method cannot be satisfied for the gyroscopic system. In this paper it has been shown that the Bolotin's method will result with the enlargement of the instability region for the gyroscopic system, which may contradict the results based upon the Floquet's method.     

On the dynamics of rotating and rolling structures

The dynamics of rotating flexible bodies is influenced by gyroscopic effects, which yields complex-valued eigenvectors and a split of eigenfrequencies in comparison with a resting body depending on rotational speed. These phenomena, which have been well investigated for simple structures like elastic rings, also affect more complicated systems such as rolling drums in printing machines. The aim of this contribution is to give a clear introduction into the physics of rotating bodies, starting with a rather simple analytical model, followed by some basic experimental investigations and ending with a finite element approach of more complicated three-dimensional structures. Special care is taken for the numerical solution of complex eigenvalue problems. The results obtained in each step are discussed in detail regarding their physical meaning.     

ARNOLDI REDUCTION ALGORITHM FOR LARGE SCALE GYROSCOPIC EIGENVALUE PROBLEM

Based on Arnoldi's method, a version of generalized Arnoldi algorithm has been devel-oped for the reduction of gyroscopic eigenvalue problems. By utilizing the skew symmetry of systemmatrix, a very simple recurrence scheme, named gyroscopic Arnoldi reduction algorithm has been ob-tained, which is even simpler than the Lanczos algorithm for symmetric eigenvalue problems. Thecomplex number computation is completely avoided. A restart technique is used to enable the reductionalgorithm to have iterative characteristics. It has been found that the restart technique is not only ef-fective for the convergence of multiple eigenvalues but it also furnishes the reduction algorithm with atechnique to check and compute missed eigenvalues. By combining it with the restart technique, the al-gorithm is made practical for large-scale gyroscopic eigenvalue problems. Numerical examples are giv-en to demonstrate the effectiveness of the method proposed.     

基于速度辅助的车载卫星定向模糊度动态确定方法

针对车载双天线卫星定向系统的载波相位模糊度动态确定,探讨了速度辅助对模糊度搜索空间的约束性能,首次提出主天线速度矢量方向与车体纵轴之间偏离角的定量表达式,从而实现了准确设置卫星定向模糊度解算中的航向搜索范围。对实际车载数据的分析验证了该方法的有效性,不但适用于车载纯卫星定向系统,而且适用于多天线卫星定向（定姿）/IMU组合车载航姿确定系统,可显著提高卫星定向动态模糊度搜索速度及成功率,尤其增强车辆机动时的模糊度初始化性能。     

一种提高车载定位定向系统定位精度的方法

在车载定位定向系统中,通常采用停车修正或引入GPS等外信息校正系统,这会降低陆地武器装备的战场生存能力和自主性。基于上述情况,分析了惯导系统以及与里程计构成的航位推算系统的误差模型,得出了惯导系统短时间内定位精度高以及航位推算系统定位误差随时间增长缓慢的规律。据此推导并提出了一种提高系统定位精度的方法,该方法不需要停车或外部信息,首先利用惯导系统对航位推算系统进行校正,估计出里程计标度因数误差和载车的安装误差并进行补偿;之后利用航位推算系统对惯导系统进行校正;采用加权函数对系统位置输出进行加权优化处理。理论分析和仿真实验表明利用此方法在2 min内能估计出里程计标度因数误差和载车的安装误差,估计精度在90%以上;加权后的位置输出精度在0.2%D(D为里程)以上。     

Experimental analysis of passive bio-inspired covert feathers for stall and post-stall performance enhancement

Technologies inspired by the functioning and behavior of biological beings are commonly developed for aircraft flight. Among the bio-inspired approaches that have grown in interest, particularly for unmanned aerial vehicle flight, is based on the behavior of bird’s cover feathers under higher angles of attack. The covert feathers, when activated by separated flows, promote lift increment that helps in certain maneuvers. This work investigates the benefit in the stall and post-stall performance of employing bio-inspired covert feathers devices attached to an airfoil’s upper surface. To fill the gaps in the recent technical literature, experimental analysis of an SD7003 airfoil was executed in a wind tunnel with the application of bio-inspired covert feathers of different shapes and tapes in three chordwise positions. The bio-inspired devices were conceived to resemble the feathers’ lightness and discrete-distribution along with the wing model. Experiments were carried out measuring the aerodynamic forces and moment at Reynolds number around 170,000 for static and dynamic ramp-up and hold pitching motion. It has been confirmed that the use of bio-inspired covert feathers brought benefits to the stall and post-stall behavior of the airfoil. The maximum lift has increased, and the transition from attached to stalled flow around the airfoil tends to be smoother when the devices were used. Four shapes for the bio-inspired devices and three positions in chordwise direction were considered. The best performance among the case was encountered for a jagged bio-inspired device taped at a quarter-chord position. Indeed, the most forward position for all the devices resulted in higher maximum lift and increment to the respective angle of attack. Ramp-up and hold wind tunnel tests also confirmed the best performance of jagged bio-inspired devices nearer the leading edge. The aerodynamic response to the pitching motion showed that the stall and post-stall regime occur much smoother, indicating that the approach presents good potential for dynamic stall or gust response passive control.

     

The user and terrain-machine system research

Designing off-road equipment to meet user requirements assumes that research results are brought to bear on real design problems, that the user has been identified, and that the user's needs are communicated to the designer. In the area of military vehicles, these conditions are met. The U.S. Army Mobility Model is an example of how this is done.The Army Mobility Model, a computer simulation technique, allows terrain, vehicle, and driver characteristics to be combined to predict the performance of vehicles according to various criteria such as speed, fuel consumption, etc. The results of the computer analysis appear in map form, and there are also special techniques for finding the optimum route between two points. The data base has been validated by actual vehicle performance measurements.Several recent applications of the Army Mobility Model are discussed. These applications demonstrate that the need for a systematic application of terrain-vehicle research results to vehicle design has been at least partly fulfilled. This simulation technique has developed a stronger communication link between the vehicle designer and user. Establishing this link has created a new demand for a wide variety of vehicle performance predictions for which many predictive relations are not yet fully developed and validated. Adequate research will be necessary to ensure further progress in this direction.     

Dynamic analysis of the variable stiffness support rotor system with elastic rings

Nonlinear Dynamics - Elastic rings are common rotor supporting structure, which have been widely used in aeroengine rotor support system. However, large inertia force and gyroscopic moment may...     

Influence of acoustic radiation on the sensors of a gyrostabilized platform

The paper analyzes the joint effect of acoustic radiation and angular motion of a launch vehicle on the gyroscopic sensors of a three-axis gyroplatform and the operation of the stabilizer under synchronous and asynchronous swinging.Translated from Prikladnaya Mekhanika, Vol. 40, No. 10, pp. 122–130, October 2004.     

Reducing Huge Gyroscopic Eigenproblems by Automated Multi-level Substructuring

Simulating numerically the sound radiation of a rolling tire requires the solution of a very large and sparse gyroscopic eigenvalue problem. Taking advantage of the automated multi-level substructuring (AMLS) method it can be projected to a much smaller gyroscopic problem, the solution of which however is still quite costly since the eigenmodes are non-real and complex arithmetic is necessary. This paper discusses the application of AMLS to huge gyroscopic problems and the numerical solution of the AMLS reduction. A numerical example demonstrates the efficiency of AMLS.     

考虑间隙反馈控制时滞的磁浮车辆稳定性研究

常导磁吸型(EMS)磁悬浮列车在悬浮控制中的每个环节,时滞是不可避免的,当时滞超过一定程度后,系统有可能失稳.本文针对EMS磁浮列车控制环节的临界时滞与车辆参数(如运行速度、反馈控制增益、导轨参数和悬挂参数)的关系开展研究.建立了磁浮车辆/导轨耦合动力学模型,车辆包含1节车辆和4个磁浮架,考虑车辆的10个自由度,每个磁浮架上包含4个悬浮电磁铁.导轨模拟为一系列简支Bernoulli-Euler梁,采用模态叠加法对导轨振动方程进行求解.采用传统线性电磁力模型实现车辆和轨道的耦合.采用比例-微分控制算法对电磁铁电流进行反馈控制,实现车辆稳定悬浮,并假设时滞均发生在控制环节,且只考虑间隙反馈控制环节的时滞.采用四阶龙格库塔法对耦合系统动力学方程进行求解,编写了数值仿真程序,计算得到车辆导轨耦合系统在考虑间隙反馈控制时滞时的响应.将系统运动发散时的时滞大小视为临界时滞,开展了参数规律影响分析.通过分析,给出了提高时滞条件下车辆稳定性的方法,包括增大导轨的弯曲刚度和阻尼比,减小间隙反馈控制增益并增大速度反馈控制增益,以及增大二系悬挂阻尼.      

The theory of stability of an orbiting observatory with gyroscopic stabilization of motion

The method of Lyapunov’s matrix functions is used to establish the stability conditions for a spacecraft. A control system with exesutive devices in the form of three gyroscopic frames orients the spacecraft in inertial space. Translated from Prikladnaya Mekhanika, Vol. 36, No. 5, pp. 131–138, May, 2000.     

微小型航姿测量系统及其数据融合方法

以小型无人机航姿测量系统的微小型化为背景,利用MEMS惯性测量元件研制了一种低成本微型航姿测量系统.针对MEMS器件用于载体航姿测量时精度低、易发散的问题,提出一种计算量小、实时性强的加速度信息、磁场强度信息、陀螺信息的融合方法.采用卡尔曼滤波器对系统的俯仰角、滚转角和航向角的误差进行最优估计;设计数据融合的判别准则,并根据判据的判断结果调整卡尔曼滤波器中的量测信息,使系统可用于小型无人机的定高自主飞行.实验结果表明,系统输出航姿的更新频率可达100Hz,航姿测量误差小于0.6°,航姿标准差小于0.09°;将其应用于某小型固定翼飞行器的飞行控制系统中进行自主飞行实验,完成了预定的飞行任务.     

Performance and robustness analysis of a Hardware In the Loop full-scale roller-rig for railway braking and traction testing

Traditionally, braking and traction on-board subsystems, such as traction systems, braking plants and safety subsystems (e.g. WSP devices) can be tested and verified through fullscale roller-rigs, to avoid expensive on-track tests. In this work the authors investigate the test-rig built in the research center “Centro di Dinamica Sperimentale Osmannoro-Firenze (CDSO)” by Rete Ferroviaria Italiana (RFI), in which the braking and traction systems are tested using an innovative Hardware In the Loop (HIL) architecture able to perform the simulation of a known wheel-rail adhesion pattern (in particular degraded adhesion condition). The objective of this work is to study, starting from the knowledge of the system characteristics, the performances and the robustness of the HIL architecture during a simulation of braking and traction phases under degraded adhesion conditions. This work has been developed in collaboration with Italcertifer S.p.a. and Trenitalia S.p.a. that provided the technical data of the test rig and the considered railway vehicle (the E464 locomotive).     

轮对系统的Hopf分岔研究

针对轮对系统中的非线性动力学问题, 本文基于Hopf分岔代数判据得到考虑陀螺效应的轮对系统Hopf分岔点解析表达式, 即轮对系统蛇形失稳的线性临界速度解析表达式. 基于分岔理论得到轮对系统的第一、第二Lyapunov系数表达式, 并结合打靶法分别得到不同纵向刚度下, 考虑陀螺效应与不考虑陀螺效应的轮对系统分岔图. 通过对比有无陀螺效应的轮对系统分岔图发现, 在同一纵向刚度下, 考虑陀螺效应的轮对系统线性临界速度和非线性临界速度均大于不考虑陀螺效应的轮对系统, 即陀螺效应可以提高轮对系统的运动稳定性. 基于Bautin分岔理论, 以纵向刚度和纵向速度作为参数, 分别得到考虑陀螺效应和不考虑陀螺效应的轮对系统, 从亚临界Hopf分岔到超临界Hopf分岔, 再从超临界Hopf分岔到亚临界Hopf分岔的迁移机理拓扑图. 通过对比有、无陀螺效应的轮对系统Bautin分岔拓扑图发现, 陀螺效应将改变轮对系统的退化Hopf分岔点, 但对于轮对系统Bautin分岔拓扑图的影响不大.      

一种车辆模型辅助的MEMS-SINS导航方法

针对城市环境中GNSS因遮挡导致MEMS-SINS精度快速降低的问题,在车辆运动学约束的基础上,结合四通道ABS轮速传感器和方向盘转角信息,提出一种新的适用于陆地车辆的MEMS-SINS导航方法。该方法通过分析车辆转弯和运动约束特性,构建角速度和加速度观测量,从而实现基于模型辅助的MEMS误差在线补偿;其次,ABS轮速信息与非完整约束条件结合可额外增加三维车体速度观测量,进一步维持卫星失效时组合滤波器的量测更新。跑车实验表明,在GNSS信号频繁丢失甚至长时间无法定位时,低精度MEMS惯性器件引起的快速误差积累得到有效抑制,与经典车体约束结合里程计算法相比,航向精度提高约70%,位置、速度精度也有相应的提高,验证了算法的有效性。