Investigation on full vehicle height control algorithm using feedback linearization method

Aiming to improve the control accuracy of the vehicle height for the air suspension system, deeply analyzing the processes of variable mass gas thermodynamics and vehicle dynamics, a nonlinear height control model of the air suspension vehicle was built. To deal with the nonlinear characteristic existing in the lifting and lowering processes, the nonlinear model of vehicle height control was linearized by using a feedback linearization method. Then, based on the linear full vehicle model, the sliding model controller was designed to achieve the control variables. Finally, the nonlinear control algorithm in the original coordinates can be achieved by the inverse transformation of coordinates. To validate the accuracy and effectiveness of the sliding mode controller, the height control processes were simulated in Matlab, i.e., the lifting and lowering processes of the air suspension vehicle were taken when vehicle was in stationary and driving at a constant speed. The simulation results show that, compared to other controllers, the designed sliding model controller based on the feedback linearization can effectively solve the "overshoot" problem, existing in the height control process, and force the vehicle height to reach the desired value, so as to greatly improve the speed and accuracy of the height control process. Besides, the sliding mode controller can well regulate the roll and pitch motions of the vehicle body, thereby improving the vehicle''s ride comfort.     

Rigid-Flexible Coupling Dynamic Analysis of Sub-Launched Vehicle During the Vertical Tube-Exit Stage

During the launching stage,hydrodynamic pressure and adapters’ reaction loads can influence the vehicle’s rigid motion as well as cause its structural vibration,which is a typical rigid-flexible coupling dynamic problem. This paper presents a 2-D rigid-flexible coupling model to calculate the vehicle’s dynamic responses in that period.The vehicle was equivalent to a flexure beam with axial deformation. Hybrid coordinate and modal superposition methods were used to describe its large rigid displacement and small deformation. By the second Lagrange equation,the vehicle centroid’s displacements,rotational angle and modal coordinates were chosen as generalized coordinates and then the vehicle ’s rigid-flexible coupling dynamic equations were obtained. By numerical simulation,the results of vehicle’s motion parameters and transverse internal loads were acquired.The calculation results showed that differences of the vehicle’s motion parameters between the rigid-flexible coupling model and the rigid body assumption are noticeable and the peak magnitude of the vehicle’s transverse internal loads in the rigid-flexible coupling model is higher remarkably than that in the rigid body assumption.     

Research and Application of Dynamic Equation for Full Frontal Impact

Full frontal impact theory needs researching and exploring to satisfy the primary safety design of occupant restraint system,avoiding the increasingly "engineering"trend in order to develop and design safety vehicle. After occupant restraint system is simulated by using linear elastic stiffness k,the occupant-vehicle frontal rigid barrier impact model is established. Dynamic equation of dummy chest coupling vehicle is built for full frontal impact based on ordinary vehicle deceleration by Hooke law,and the equation is solved by comparing coefficient and satisfying boundary qualifications. While relative vehicle characteristic parameters are kept unchanging,the actual vehicle deceleration is fitted to the simplified equivalent square wave( ESW),tipped equivalent square wave( TESW) and equivalent dual trapezoids wave( EDTW). Phase angle  and amplitude A of dynamic equations based on ESW,TESW and EDTW are calculated and deduced. The results show that: the dynamic equation of dummy chest coupling vehicle can be well utilized to instruct the primary safety design of full frontal impact for objective vehicle to satisfy chest deceleration demands and the equation based on TESW is best for this design.     

混杂PVA-ECC配合比优化设计及力学性能试验研究

为了降低工程用水泥基复合材料(ECC, Engineered Cementitious Composites)制造成本,使ECC能够在实际工程中大规模应用,将中国产PVA纤维和日本产PVA纤维以一定的比例混合,配制混杂PVA-ECC。基于ECC的材料设计理论,兼顾抗压强度和受拉能力,对掺有硅粉的混杂PVA-ECC中的纤维体积含量进行了优化设计。通过四点弯曲试验和轴心抗压试验,研究了混杂PVA-ECC在不同龄期下的弯曲性能和抗压性能。试验结果表明,混杂PVA-ECC试件均表现出明显的应变硬化和多缝开裂的特征,此外,其抗压强度后期增长明显。基于UM法,提出一种改进的反分析方法,可利用四点弯曲试验结果推导ECC的极限拉伸应变,并与试验结果进行了比较,结果表明,通过建议的反分析方法得到的预测值与试验值吻合较好。     

并联混合有源电力滤波器的参数设计与仿真

针对有源滤波器技术的实际工程需要,探讨了并联混合型有源电力滤波器的参数设计,主要包括无源滤波器的参数设计和IGBT模块的组合分析,并根据一个变电站实测的电流数据,建立了仿真研究模型,仿真结果验证了设计的正确性和可行性.     

混合动力车制动工况分析与储能装置参数匹配

为提高混合动力系统整体性能,实现高效能量回收,分析某重型越野车辆驾驶循环工况中制动过程的功率与能量分布,从制动能量回收率与电机参数出发讨论对储能装置的性能要求. 提出电池组-超级电容复合储能装置的参数匹配方法,针对21 t级试验样车混合动力系统进行实例计算,论证锂离子电池组与超级电容组成的复合储能装置的性能. 实例计算与道路试验结果表明:匹配的复合储能装置符合车辆整体性能与制动能量回收的要求,体积、重量满足总体设计约束;匹配超级电容后,储能装置的瞬时功率能力大幅提升,可显著提高车辆的制动能力和制动能量回收率.     

均布荷载作用下保温龙骨足尺墙体的抗弯性能

为研究腹板开孔的轻钢龙骨墙体在均布荷载作用下的抗弯性能,考虑腹板高度的影响,进行3.0 m×3.0 m足尺试件试验研究．分析了不同腹板高度的墙体在均布荷载作用下的破坏模式及腹板高度对墙体抗弯性能的影响．在此基础上,采用ABAQUS建立墙体的有限元模型,与试验结果进行对比分析,验证了有限元模型的可靠性．分析结果表明:石膏板可很好地限制竖龙骨的整体屈曲,当龙骨腹板高度为150 mm时,墙体竖龙骨在支座附近发生腹板剪切屈曲,同时在跨中位置发生畸变与局部屈曲的相关屈曲破坏;当龙骨腹板高度为100 mm时,墙体竖龙骨在跨中位置发生畸变与局部屈曲的相关屈曲破坏;当不考虑窗洞口影响时,腹板高度为100 mm的保温龙骨外围护墙体可满足我国全部地区建筑高度不超过50 m的城市建筑外围护墙体的抗风要求．     

On the Survivability of Self-repairing Control System for a Hybrid Underwater Vehicle

A hybrid remotely operated underwater vehicle （HROV） capable of working to the full ocean depth has been developed. In order for the vehicle to achieve a certain survivability level, a self-repairing control system （SRCS） has been designed. It consists of two basic technologies, fault diagnosis and isolation （FDI） and reconfigurable control. For F＇DI, a model-based hierarchical fault diagnosis system is designed for the HROV. Then, control strategies which reconfigure the control system at intervals according to information from the FDI system are presented. Combining the two technologies, it can obtain the fundamental frame of SRCS for the HROV. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, an assessment of the HROV＇ s survivability is vitally needed before it enters operational service. This paper presents a new definition of survivability for underwater vehicles and develops a simple survivability model for the SRCS. As a result of survivability assessment for the SRCS, we are able to figure out the survivability of SRCS and make further optimization about it. The methodology developed herein is also applicable to other types of underwater vehicles.     

Control strategy for energy recovery system in hybrid forklift

After analyzing the working condition of the conventional diesel forklift, an energy recovery system in hybrid forklift is considered and its simulation model is built. Then, the control strategy for the proposed energy recovery system is discussed, which is validated and evaluated by simulation. The simulation results show that the proposed control strategy can achieve balance of the power and keep the state of charge （SOC） of ultra capacitor in a reasonable range, and the fuel consumption can be reduced by about 20.8% compared with the conventional diesel forklift. Finally, the feasibility of the simulation results is experimentally verified based on the lifting energy recovery system.     

混合动力客车动力系统参数匹配与仿真优化

针对目前混合动力城市客车所具有的优势,本文以某款城市客车为例,在3种混合动力驱动形式的基础上,确定了本车串联混合动力的驱动形式;并对动力系统各部件参数进行了匹配设计,同时利用ADVISOR软件及其自动尺寸设计功能进行优化仿真。仿真结果表明,优化后的参数,虽电池组数目相差不大,但发动机、发电机和电动机的功率均有所减小,从而使3个部件的尺寸、质量和体积都有所减小,因此,整车的总质量也将随之减小,整车的经济性比参数优化前好。该研究满足了混合动力城市客车对动力性能的要求,达到了参数优化的目的。该研究为发展混合动力客车提供了理论依据。