The paper presents a preview controller design for ATS （active trailer steering） systems to improve high-speed stability of AHVs （articulated heavy vehicles）. An AHV consists of a towing unit, namely tractor or tr...The paper presents a preview controller design for ATS （active trailer steering） systems to improve high-speed stability of AHVs （articulated heavy vehicles）. An AHV consists of a towing unit, namely tractor or truck, and one or more towed units which called trailers. Individual units are connected to one another at articulated joints by mechanical couplings. Due to the multi-unit configurations, AHVs exhibit unique unstable motion modes, including jack-knifing, trailer swing and rollover. These unstable motion modes are the leading cause of highway accidents. To prevent these unstable motion modes, the preview controller, namely the LPDP （lateral position deviation preview） controller, is proposed. For a truck/full-trailer combination, the LPDP controller is designed to control the steering of the front and rear axle wheels of the trailing unit. The calculation of the corrective steering angle of the trailer front axle wheels is based on the preview information of the lateral position deviation of the trajectory of the axle center from that of the truck front axle center. Similarly, the steering angle of the trailer rear axle wheels is calculated by using the lateral position deviation of the trajectory of the axle center from that of the truck front axle. To perform closed-loop dynamic simulations and evaluate the vehicle performance measure, a driver model is introduced and it ＇derives＇ the AHV model based on well-defined testing specifications. The proposed preview control scheme in the continuous time domain is developed by using the LQR （linear quadratic regular） technique. The closed-loop simulation results indicate that the performance of the AHV with the LPDP controller is improved by decreasing rearward amplification ratio from the baseline value of 1.28 to 0.98 and reducing transient off-tracking by 95.03%. The proposed LPDP control algorithm provides an alternative method for the design optimization of AHVs with ATS systems.展开更多
A multiresolution hexahedron element is presented with a new multiresolution analysis(MRA)framework.The MRA framework is formulated out of a mutually nesting displacement subspace sequence,whose basis functions are co...A multiresolution hexahedron element is presented with a new multiresolution analysis(MRA)framework.The MRA framework is formulated out of a mutually nesting displacement subspace sequence,whose basis functions are constructed of scaling and shifting on element domain of a basic node shape function.The basic node shape function is constructed from shifting to other seven quadrants around a specific node of a basic isoparametric element in one quadrant and joining the corresponding node shape functions of eight elements at the specific node.The MRA endows the proposed element with the resolution level(RL)to adjust structural analysis accuracy.As a result,the traditional 8-node hexahedron element is a monoresolution one and also a special case of the proposed element.The meshing for the monoresolution finite element model is based on the empiricism while the RL adjusting for the multiresolution is laid on the solid mathematical basis.The simplicity and clarity of shape function construction with the Kronecker delta property and the rational MRA enable the proposed element method to be more rational,easier and efficient in its implementation than the conventional mono-resolution solid element method or other MRA methods.The multiresolution hexahedron element method is more adapted to dealing with the accurate computation of structural problems.展开更多
文摘The paper presents a preview controller design for ATS （active trailer steering） systems to improve high-speed stability of AHVs （articulated heavy vehicles）. An AHV consists of a towing unit, namely tractor or truck, and one or more towed units which called trailers. Individual units are connected to one another at articulated joints by mechanical couplings. Due to the multi-unit configurations, AHVs exhibit unique unstable motion modes, including jack-knifing, trailer swing and rollover. These unstable motion modes are the leading cause of highway accidents. To prevent these unstable motion modes, the preview controller, namely the LPDP （lateral position deviation preview） controller, is proposed. For a truck/full-trailer combination, the LPDP controller is designed to control the steering of the front and rear axle wheels of the trailing unit. The calculation of the corrective steering angle of the trailer front axle wheels is based on the preview information of the lateral position deviation of the trajectory of the axle center from that of the truck front axle center. Similarly, the steering angle of the trailer rear axle wheels is calculated by using the lateral position deviation of the trajectory of the axle center from that of the truck front axle. To perform closed-loop dynamic simulations and evaluate the vehicle performance measure, a driver model is introduced and it ＇derives＇ the AHV model based on well-defined testing specifications. The proposed preview control scheme in the continuous time domain is developed by using the LQR （linear quadratic regular） technique. The closed-loop simulation results indicate that the performance of the AHV with the LPDP controller is improved by decreasing rearward amplification ratio from the baseline value of 1.28 to 0.98 and reducing transient off-tracking by 95.03%. The proposed LPDP control algorithm provides an alternative method for the design optimization of AHVs with ATS systems.
基金supported by the Foundation of Municipal Key Laboratory of Geomechanics and Geological Environment Protection at Chongqing Institute of Logistics Engineering of PLA(Grant No.GKLGGP 2013-02)the National Natural Science Foundation of China(Grant No.51178222)
文摘A multiresolution hexahedron element is presented with a new multiresolution analysis(MRA)framework.The MRA framework is formulated out of a mutually nesting displacement subspace sequence,whose basis functions are constructed of scaling and shifting on element domain of a basic node shape function.The basic node shape function is constructed from shifting to other seven quadrants around a specific node of a basic isoparametric element in one quadrant and joining the corresponding node shape functions of eight elements at the specific node.The MRA endows the proposed element with the resolution level(RL)to adjust structural analysis accuracy.As a result,the traditional 8-node hexahedron element is a monoresolution one and also a special case of the proposed element.The meshing for the monoresolution finite element model is based on the empiricism while the RL adjusting for the multiresolution is laid on the solid mathematical basis.The simplicity and clarity of shape function construction with the Kronecker delta property and the rational MRA enable the proposed element method to be more rational,easier and efficient in its implementation than the conventional mono-resolution solid element method or other MRA methods.The multiresolution hexahedron element method is more adapted to dealing with the accurate computation of structural problems.
