Efficient Calculation of Tread Block Vibrations

A model is presented that allows to calculate the dynamics of tyre tread blocks. The numerical efficiency is achieved by the combination of static and important modal ansatz functions, also known as Hurty/Craig/Bampton transformation. Nonlinear single point contacts provide the contact forces and consider the surface roughness. The non-smooth friction characteristic is approximated an arctan function and a parameter study of the slope parameter is conducted. Typical stickslip limit cycles of the tread block are shown. These phenomena can have a part in the tyre/road noise. Experimental results qualitatively agree with the modelled tread block vibrations. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The vibrations of a free and loaded tyre

Using the model of a wheel with a reinforced tyre [Vil’ke VG, Kozhevnikov IF. A model of a wheel with a reinforced tyre. Vestnik MGU. Ser.1. Matematika Mekhanika 2004;4:37–45], the natural frequencies and natural forms of vibrations of a free or loaded tyre in the neighbourhood of the equilibrium position are determined. The spectrum of natural frequencies and natural forms of vibration are found analytically for a free (unloaded) tyre with a fixed disc. A similar problem is solved numerically in the case of a loaded tyre. The results of this analysis can be used to estimate the level of noise which occurs when a vehicle moves on an uneven surface.     

The rolling of a wheel with a pneumatic tyre on a planet

A model of a pneumatic tyre as a system with an infinite number of degrees of freedom is proposed, when its surface is represented by the deformed surface of a torus. Using a number of hypotheses a functional of the potential energy of the deformations of the tyre is obtained as a function of the deformations of its tread. A complete system of equations of motion is obtained, assuming that the wheel rolls without slipping in the area of contact of the tread with the plane, with respect to the previously unknown part of the tread. In two special cases of the rolling of a wheel with breakaway and on a banking, all the characteristics of the motion (the contact area, the tyre deformation, and the forces and moments applied to the disc of the wheel) are obtained.     

The rolling of a wheel with a reinforced tyre along a plane without slip

A model of a wheel with a reinforced tyre, whose surface is simulated by a flexible strip (tread) attached to parts of two tori (the sidewalls of the tyre) is considered. The disk of the wheel (a rigid body) has six degrees of freedom and is in contact with the plane along part of the tread. Based on several assumptions, the potential energy functional of the deformed wheel is found as a function of the deformations of the centre line of the tread. On the assumption that the wheel is rolling without slip in the region of contact of the tread with the plane along a previously unknown section of the tread, the complete system of equations of motion is obtained. The equilibrium of the wheel and the steady state of rolling in a straight line with given swivel and tilt are investigated, and all characteristics of the motion are found (the contact region, the tyre deformation, and the forces and torques applied to the wheel disk).     

Time transformed mixed integer optimal control problems with impacts

The solutions of mixed integer optimal control problems (MIOCPs) yield optimized trajectories for dynamical systems with instantly changing dynamical behavior. The instant change is caused by a changing value of the integer valued control function. For example, a changing integer value can cause a car to change the gear, or a mechanical system to close a contact. The direct discretization of a MIOCP leads to a mixed integer nonlinear program (MINLP) and can not be solved with gradient based optimization methods at once. We extend the work by Gerdts [1] and reformulate a MIOCP with integer dependent constraints as an ordinary optimal control problem (OCP). The discretized OCP can be solved using gradient based optimization methods. We show how the integer dependent constraints can be used to model systems with impact and present optimized trajectories of computational examples, namely of a lockable double pendulum and an acyclic telescope walker. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Cornerning radial tyres

An angular difference between direction of wheel motion and wheel plane produced a lateral force on a rolling tyre. A simple mechanism of shear stress generation in the contact area of tread is used. The coefficient of friction plays a limiting role. The resulting lateral force and self-aligning torque are computed by means of the belt model of a radial tyre. Finally, some numerical results are given to illustrate the theory.     

The motion of a car moving on a terrain: A kinematic model

This work deals with the kinematic model of the motion of a car moving on a general rigid terrain. It is assumed that at each instant, each of the car's four wheels is in contact with the ground. Based on this assumption, a kinematic model for the motion of the car is derived.     

Boundary optimal control for nonlinear antiplane problems

We consider a nonlinear antiplane problem which models the deformation of an elastic cylindrical body in frictional contact with a rigid foundation. The contact is modelled with Tresca’s law of dry friction in which the friction bound is slip dependent.The aim of this article is to study an optimal control problem which consists of leading the stress tensor as close as possible to a given target, by acting with a control on the boundary of the body. The existence of at least one optimal control is proved. Next we introduce a regularized problem, depending on a small parameter ρ, and we study the convergence of the optimal controls when ρ tends to zero. An optimality condition is delivered for the regularized problem.     

Dynamic optimization of the operation of single-car elevator systems with destination hall call registration: Part I. Formulation and simulations

The purpose of this two-part study is to investigate the operation problem of single-car elevator systems with destination hall call registration. Destination hall call registration is such a system in which passengers register their destination floors at elevator halls before boarding the car, while in the ordinary systems passengers specify only the directions of their destination floors at elevator halls and register destination floors after boarding the car. In this part of the study, we formulate the operation problem as a dynamic optimization problem and demonstrate by computer simulations that dynamically optimized operation considerably improves the transportation capability compared to conventional selective collective operation. How to solve the dynamic optimization problem is given in the second part of this study.     

An optimization model and a solution algorithm for the many-to-many car pooling problem

Car pooling is one method that can be easily instituted and can help to resolve a variety of problems that continue to plague urban areas, ranging from energy demands and traffic congestion to environmental pollution. Although car pooling is becoming more common, in practice, participant matching results are still being obtained by an inefficient manual approach, which may possibly result in an inferior solution. In the past, when car pooling studies have been done the problem has been treated as either a to-work problem (from different origins to the same destination) or return-from-work problem (from the same origin to different destinations). However, in this study we employ a time-space network flow technique to develop a model for the many-to-many car pooling problem with multiple vehicle types and person types. The model is formulated as an integer multiple commodity network flow problem. Since real problem sizes can be huge, it could be difficult to find optimal solutions within a reasonable period of time. Therefore, we develop a solution algorithm based on Lagrangian relaxation, a subgradient method, and a heuristic for the upper bound solution, to solve the model. To test how well the model and the solution algorithm can be applied to real world, we randomly generated several examples based upon data reported from a past study carried out in northern Taiwan, on which we performed numerical tests. The test results show the effectiveness of the proposed model and solution algorithm.     

Two local search approaches for solving real-life car sequencing problems

The NP-hard problem of car sequencing appears as the heart of the logistic process of many car manufacturers. The subject of the ROADEF’2005 challenge addressed a car sequencing problem proposed by the car manufacturer RENAULT, more complex than the academic problem generally addressed in the literature. This paper describes two local search approaches for this problem. In the first part, a new approach by very large-scale neighborhood search is presented. This approach, designed during the qualification stage preceding the final, is based on an original integer linear programming formulation. The second part is dedicated to the approach which enabled us to win the ROADEF’2005 challenge. Inspired by the latest works on the subject, this one is based on very fast explorations of small neighborhoods. Our contribution here is mainly algorithmic, in particular by showing how much exploiting invariants speeds up the neighborhood evaluation and contributes to the diversification of the search. Finally, the two approaches are compared and discussed through an extensive computational study on RENAULT’s benchmarks. The main conclusion drawn at this point is that sophisticated metaheuristics are useless to solve car sequencing problems. More generally, our victory on ROADEF’2005 challenge demonstrates that algorithmic aspects, sometimes neglected, remain the key ingredients for designing and engineering high-performance local search heuristics.     

p-Hub approach for the optimal park-and-ride facility location problem

Park and Ride facilities (P&R) are car parks at which users can transfer to public transportation to reach their final destination. We propose a mixed linear programming formulation to determine the location of a fixed number of P&R facilities so that their usage is maximized. The facilities are modeled as hubs. Commuters can use one of the P&R facilities or choose to travel by car to their destinations, and their behavior follows a logit model. We apply a p-hub approach considering that users incur in a known generalized cost of using each P&R facility as input for the logit model. For small instances of the problem, we propose a novel linearization of the logit model, which allows transforming the binary nonlinear programming problem into a mixed linear programming formulation. A modification of the Heuristic Concentration Integer (HCI) procedure is applied to solve larger instances of the problem. Numerical experiments are performed, including a case in Queens, NY. Further research is proposed.     

Relaxing mixed integer optimal control problems using a time transformation

Mixed integer control systems are used to model dynamical behavior that can change instantly, for example a driving car with different gears. Changing a gear corresponds to an instant change of the differential equation what is achieved in the model by changing the value of the integer control function. The optimal control of a mixed integer control system by a discretize-then-optimize approach leads to a mixed integer optimization problem that is not differentiable with respect to the integer variables, such that gradient based optimization methods can not be applied. In this work, differentiability with respect to all optimization variables is achieved by reformulating the mixed integer optimal control problem (MIOCP). A fixed integer control function and a time transformation are introduced. The combination of both allows to change the sequence of active differential equations by partially deactivating the fixed integer control function. In contrast to other works, here different fixed integer control functions are taken into account. Advantages of so called control consistent (CC) fixed integer control functions are discussed and confirmed on a numerical example. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Trajectory stabilization of a model car via fuzzy control

This paper deals with trajectory stabilization of a computer simulated model car via fuzzy control. Stability conditions of fuzzy systems are given in accordance with the definition of stability in the sense of Lyapunov. First, we approximate a computer simulated model car, whose dynamics is nonlinear, by T-S (Takagi and Sugeno) fuzzy model. Fuzzy control rules, which guarantee stability of the control system under a condition, are derived from the approximated fuzzy model. The simulation results show that the fuzzy control rules effectively realize trajectory stabilization of the model car along a given reference trajectory from all initial positions under a condition and the dynamics of the approximated fuzzy model agrees well with that of the model car.     

Solving a multi periodic stochastic model of the rail–car fleet sizing by two-stage optimization formulation

We propose a formulation and solution procedure for optimizing the fleet size and freight car allocation under uncertainty demands. There are important interactions between decisions on sizing a rail–car fleet and utilizing that fleet. Consequently, the optimum use of empty rail–cars for demands response in the length of the time periods one of advantages the proposed model. The model also provides rail network information such as yard capacity, unmet demands, and number of loaded and empty rail–car at any given time and location. Consequently, the model helping managers or decision makers of any train company for planning and decision making. We propose two-stage solution procedure for solve rail–car fleet sizing problem. Numerical examples are given to illustrate the model and solution methodology.     

A model of a reinforced tyre with a rod protector

A tyre design consisting of a steel-cord-reinforced rigid bond with sides connected to the wheel disc and a protector(tread) in contact with the road is examined. The tread is in the form of a set of rods connected by one end to the band, with the other end either free or in contact with the road. The rod end in contact with the road is acted upon by a force applied from the road, represented by a force normal to the road plane and a shear force due to dry friction. If the modulus of the shear force does not exceed the magnitude of the normal force multiplied by the dry friction coefficient, there is no slip at the contact point. In the opposite case, the rod end will be displaced along the road by an amount sufficient to distribute the normal and shear forces. The dynamics of longitudinal and transverse strains of the rods in contact with the road is analysed using the motion separation method in the quasi-static approximation. The behaviour of the tread rods as a function of the vertical displacement of the wheel centre is investigated, the contact area is found and the conditions are determined under which the contact area is divided into parts in which either slip of the rod ends occurs or does not occur, depending on the magnitude of the longitudinal displacement of the wheel centre or its turning relative to the horizontal axis. An analogue of a continuous model of a rod-like tread is considered, and the magnitudes of the forces and moments are found as a function of the wheel disc displacements. The equations of wheel rolling are obtained, and the conditions under which steady motions exist are found.