Fuzzy Chaos Control for Vehicle Lateral Dynamics Based on Active Suspension System

The existing research of the active suspension system（ASS） mainly focuses on the different evaluation indexes and control strategies. Among the different components, the nonlinear characteristics of practical systems and control are usually not considered for vehicle lateral dynamics. But the vehicle model has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, the nonlinear dynamic model of lateral system is considered and also the adaptive neural network of tire is introduced. By nonlinear analysis methods, such as the bifurcation diagram and Lyapunov exponent, it has shown that the lateral dynamics exhibits complicated motions with the forward speed. Then, a fuzzy control method is applied to the lateral system aiming to convert chaos into periodic motion using the linear-state feedback of an available lateral force with changing tire load. Finally, the rapid control prototyping is built to conduct the real vehicle test. By comparison of time response diagram, phase portraits and Lyapunov exponents at different work conditions, the results on step input and S-shaped road indicate that the slip angle and yaw velocity of lateral dynamics enter into stable domain and the results of test are consistent to the simulation and verified the correctness of simulation. And the Lyapunov exponents of the closed-loop system are becoming from positive to negative. This research proposes a fuzzy control method which has sufficient suppress chaotic motions as an effective active suspension system.

Sliding behaviors of the trapezoidal roof rock block under a lateral dynamic disturbance

The surrounding rock of underground space is always affected by external dynamic disturbance from the side position,such as blasting vibration from a stope at the same level or seismic waves from adjacent strata.A series of laboratory tests,numerical simulations and theoretical analyses were carried out in this study to disclose the sliding mechanism of roof rock blocks under lateral disturbance.Firstly,the experiments on trapezoidal key block under various clamping loads and disturbance were conducted,followed by numerical simulations using the fast Lagrangian analysis of continua(FLAC3D).Then,based on the conventional wave propagation model and the classical shear-slip constitutive model,a theoretical model was proposed to capture the relative displacement between blocks and the sliding displacement of the key block.The results indicate that the sliding displacement of the key block increased linearly with the disturbance energy and decreased exponentially with the clamping load when the key block was disturbed to slide(without instability).Meanwhile,when the key block was disturbed to fall,two types of instability process may appear as immediate type or delayed type.In addition,the propagation of stress waves in the block system exhibited obvious low-velocity and lowfrequency characteristics,resulting in the friction reduction effect appearing at the contact interface,which is the essential reason for the sliding of rock blocks.The results can be applied to practical underground engineering and provide valuable guidance for the early detection and prevention of rockfalling disasters.

Lateral dynamic flight stability of hovering insects: theory vs. numerical simulation

In the present paper, the lateral dynamic flight stability properties of two hovering model insects are predicted by an approximate theory based on the averaged model, and computed by numerical simulation that solves the complete equations of motion coupled with the Naviertokes equations. Comparison between the theoretical and simulational results provides a test to the validity of the assumptions made in the theory. One of the insects is a model dronefly which has relatively high wingbeat frequency （164Hz） and the other is a model hawkmoth which has relatively low wingbeat frequency （26 Hz）. The following conclusion has been drawn. The theory based on the averaged model works well for the lateral motion of the dronefly. For the hawkmoth, relatively large quantitative differences exist between theory and simulation. This is because the lateral non-dimensional eigenvalues of the hawkmoth are not very small compared with the non-dimensional flapping frequency （the largest lateral non-dimensional eigenvalue is only about 10% smaller than the non-dimensional flapping frequency）. Nevertheless, the theory can still correctly predict variational trends of the dynamic properties of the hawkmoth＇s lateral motion.

Experimental study on DX pile performance in frozen soils under lateral loading

Experiments about working mechanism and mechanical characteristics of the DX model pile foundation under lateral dynamic and static loading were conducted by using a model system of the dynamic frozen soil-pile interaction. The horizontal displacement-force relationship of the pile head and bending moment distribution along the body in frozen soils of different temperatures were discussed. According to test results, both the horizontal disp!acement-force relationship of the DX pile head and bending moment distribution of the DX pile body are smaller than that of equal-diameter piles under same lateral loads. The piles with different plate positions show different displacements and bending moments. This phenomenon is mainly related to the soil temperature and bearing plates locations. Thus, dynamic response analysis of the pile foundation should be taken into account.

Lateral Pressure of RC Silos with Static and Dynamic Granular Materials

This paper aims at analyzing material-induced lateral pressure of RC cylinder silo in both static and dynamic condition using the finite element method( FEM). In the finite element software ABAQUS,concrete material is modeled by concrete damaged plasticity model,and stored materials in silo is modeled by the hypoplastic theory.In terms of numerical model,shell elements( S4R) and solid elements( C3D8) are applied for model silo wall and stored materials respectively. The interaction between silo wall and stored materials is simulated by Coulomb friction model and penalty contact constrain provided by ABAQUS.The numerical results are verified with the existing experimental data that are designed to ensure the validation of such numerical model using FEM and it obtains good agreements between numerical results and experimental data. Then the material parameters are analyzed in both static and dynamic condition.According to the analysis,it is clear that critical friction angle,initial void ratio and minimum void ratio have an obvious effect on static lateral pressure while all the material parameters affect dynamic lateral pressure at different levels. In addition,differences of silo wall between elastic and plastic state are analyzed in dynamic condition. The numerical results show that it contributes to increasing dynamic pressure when silo wall enters into the plastic state. Finally,this paper discusses the time-history lateral pressure at different heights along silo wall,and analytical results indicate that larger acceleration values play main roles in producing the maximum lateral pressure at higher part of the silo wall.

An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption,a multisensor network configuration is presented to cooperatively measure the vehicular yaw rate,and further compute local state and fault estimates.Toward this aim,an augmented descriptor vehicle model is first established,where the unknown sensor fault is modeled as an auxiliary state of the system model.Then,a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises.Furthermore,a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained.Finally,simulation results are provided to validate the effectiveness of the proposed approach.

Neural-Fuzzy-Based Adaptive Sliding Mode Automatic Steering Control of Vision-based Unmanned Electric Vehicles

This paper presents a novel neural-fuzzy-based adaptive sliding mode automatic steering control strategy to improve the driving performance of vision-based unmanned electric vehicles with time-varying and uncertain parameters.Primarily,the kinematic and dynamic models which accurately express the steering behaviors of vehicles are constructed,and in which the relationship between the look-ahead time and vehicle velocity is revealed.Then,in order to overcome the external disturbances,parametric uncertainties and time-varying features of vehicles,a neural-fuzzy-based adaptive sliding mode automatic steering controller is proposed to supervise the lateral dynamic behavior of unmanned electric vehicles,which includes an equivalent control law and an adaptive variable structure control law.In this novel automatic steering control system of vehicles,a neural network system is utilized for approximating the switching control gain of variable structure control law,and a fuzzy inference system is presented to adjust the thickness of boundary layer in real-time.The stability of closed-loop neural-fuzzy-based adaptive sliding mode automatic steering control system is proven using the Lyapunov theory.Finally,the results illustrate that the presented control scheme has the excellent properties in term of error convergence and robustness.

Assessment of pipeline stability in the Gulf of Mexico during hurricanes using dynamic analysis

Pipelines are the critical link between major offshore oil and gas developments and the mainland. Any inadequate on-bottom stability design could result in disruption and failure, having a devastating impact on the economy and environment. Predicting the stability behavior of offshore pipelines in hurricanes is therefore vital to the assessment of both new design and existing assets. The Gulf of Mexico has a very dense network of pipeline systems constructed on the seabed. During the last two decades, the Gulf of Mexico has experienced a series of strong hurricanes, which have destroyed, disrupted and destabilized many pipelines. This paper first reviews some of these engineering cases. Following that, three case studies are retrospectively simulated using an in-house developed program. The study utilizes the offshore pipeline and hurricane details to conduct a Dynamic Lateral Stability analysis, with the results providing evidence as to the accuracy of the modeling techniques developed.

Studies on sensitivity to tension and gating pathway of MscL by molecular dynamic simulation

Mechanosensitive（MS） ion channels play an important role in various physiological processes.Although the determination of the structure of mechanosensitive channel of large conductance（MscL） makes the simulation study possible,it has not so far been possible to directly simulate the gating mechanism of MscL in atomic detail.In this article,MscL has been studied via molecular dynamic（MD） simulations to gain a detailed description of the sensitivity to lateral tension and the gating pathway.MscL undergoes conformational rearrangement in sustaining lateral tension,and the open state is obtained when 2.0 MPa lateral tension is directly applied on the pure protein.During the opening process,Loop region responds to tension first,and the mechanical sensitivity is followed by S1 domain.Transmembrane（TM） bundle is the key position for channel opening,and the motion of TM1 helices finally realizes the significant expansion of the constricted gating pore.C-terminus domain presents expansion later during the TM opening.In our study,return of the whole protein to the initial closed state is achieved only in the early opening stage.During the relaxation from the open state,the TM helices are the most mobile domain,which is different from the opening process.