With photoelectric tracking system as the research object,based on the theorem of moment of momentum and Euler dynamic equation,Nonlinear biaxial coupling dynamic model of tracking turntable is established.Effects of ...With photoelectric tracking system as the research object,based on the theorem of moment of momentum and Euler dynamic equation,Nonlinear biaxial coupling dynamic model of tracking turntable is established.Effects of moment of inertia coupling,speed coupling and the dynamic coupling between tracking turntable shafts were studied,the analytical relation between them was given in theory.Verify the change trend of theoretical model.And it provides the theory reference and model base,for the future design of the high precision tracking controller And control parameter selection and optimization.In the end,specific measures are made for structure optimization.展开更多
The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the ...The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.展开更多
This paper studies the title problem including an analysis of the gyroscopic effects of the wheels of a rail-car travelling at high-speed around a level, horizontal curve. The analysis is based upon the fundamental pr...This paper studies the title problem including an analysis of the gyroscopic effects of the wheels of a rail-car travelling at high-speed around a level, horizontal curve. The analysis is based upon the fundamental principles of dynamics. The result is a design formula for the minimum curve radius needed to prevent derailment. Aside from the rail car geometric and physical properties, the minimum curve radius depends upon the square the train speed. An illustrative example shows that the wheel gyroscopic effect is destabilizing and additive to the centrifugal force derailment tendency. From a track design perspective, however, the gyroscopic effect is relatively small compared with the centrifugal force effect.展开更多
文摘With photoelectric tracking system as the research object,based on the theorem of moment of momentum and Euler dynamic equation,Nonlinear biaxial coupling dynamic model of tracking turntable is established.Effects of moment of inertia coupling,speed coupling and the dynamic coupling between tracking turntable shafts were studied,the analytical relation between them was given in theory.Verify the change trend of theoretical model.And it provides the theory reference and model base,for the future design of the high precision tracking controller And control parameter selection and optimization.In the end,specific measures are made for structure optimization.
基金Supported by National Natural Science Foundation of China(Grant Nos.51575103,11672127,U1664258)Fundamental Research Funds for the Central Universities of China(Grant No.NT2018002)+1 种基金China Postdoctoral Science Foundation(Grant Nos.2017T100365,2016M601799)the Fundation of Graduate Innovation Center in NUAA(Grant No.k j20180207)
文摘The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.
文摘This paper studies the title problem including an analysis of the gyroscopic effects of the wheels of a rail-car travelling at high-speed around a level, horizontal curve. The analysis is based upon the fundamental principles of dynamics. The result is a design formula for the minimum curve radius needed to prevent derailment. Aside from the rail car geometric and physical properties, the minimum curve radius depends upon the square the train speed. An illustrative example shows that the wheel gyroscopic effect is destabilizing and additive to the centrifugal force derailment tendency. From a track design perspective, however, the gyroscopic effect is relatively small compared with the centrifugal force effect.
