The identification of maximum road friction coefficient and optimal slip ratio is crucial to vehicle dynamics and control.However,it is always not easy to identify the maximum road friction coefficient with high robus...The identification of maximum road friction coefficient and optimal slip ratio is crucial to vehicle dynamics and control.However,it is always not easy to identify the maximum road friction coefficient with high robustness and good adaptability to various vehicle operating conditions.The existing investigations on robust identification of maximum road friction coefficient are unsatisfactory.In this paper,an identification approach based on road type recognition is proposed for the robust identification of maximum road friction coefficient and optimal slip ratio.The instantaneous road friction coefficient is estimated through the recursive least square with a forgetting factor method based on the single wheel model,and the estimated road friction coefficient and slip ratio are grouped in a set of samples in a small time interval before the current time,which are updated with time progressing.The current road type is recognized by comparing the samples of the estimated road friction coefficient with the standard road friction coefficient of each typical road,and the minimum statistical error is used as the recognition principle to improve identification robustness.Once the road type is recognized,the maximum road friction coefficient and optimal slip ratio are determined.The numerical simulation tests are conducted on two typical road friction conditions（single-friction and joint-friction）by using CarSim software.The test results show that there is little identification error between the identified maximum road friction coefficient and the pre-set value in CarSim.The proposed identification method has good robustness performance to external disturbances and good adaptability to various vehicle operating conditions and road variations,and the identification results can be used for the adjustment of vehicle active safety control strategies.展开更多
针对新疆某油田超深井在更换密封件提起采油四通时,发现井口悬挂器卡瓦夹持处套管断裂的问题,结合现场X1井使用的ø232.5 mm W型卡瓦悬挂器结构,建立了悬挂器坐挂-卡瓦夹持套管的三维有限元模型。根据第四强度理论推导出卡瓦效应的...针对新疆某油田超深井在更换密封件提起采油四通时,发现井口悬挂器卡瓦夹持处套管断裂的问题,结合现场X1井使用的ø232.5 mm W型卡瓦悬挂器结构,建立了悬挂器坐挂-卡瓦夹持套管的三维有限元模型。根据第四强度理论推导出卡瓦效应的套管极限载荷计算公式,并通过有限元计算得到了理论公式的修正系数为0.913,同时得到在套管坐挂时,X1井卡瓦效应的套管极限载荷为6400 kN。有限元计算结果表明:卡瓦部分套管上的应力呈现非均匀分布,尤其是套管外壁非均匀程度较严重,且外壁牙痕上的应力集中是套管损伤、裂纹起裂和断裂的主要原因;如果存在较高的环空压力,在卡瓦部分或过渡区套管均有可能发生断裂失效破坏。建议选择无齿痕的卡瓦夹持套管,或者采用全金属密封的心轴式悬挂器,避免卡瓦悬挂器造成套管损伤破坏。研究方法和成果可为深井超深井卡瓦悬挂器套管的安全评价提供理论指导。展开更多
基金Supported by National Hi-tech Research and Development Program of China(863 Program,Grant No.2006AA110101)
文摘The identification of maximum road friction coefficient and optimal slip ratio is crucial to vehicle dynamics and control.However,it is always not easy to identify the maximum road friction coefficient with high robustness and good adaptability to various vehicle operating conditions.The existing investigations on robust identification of maximum road friction coefficient are unsatisfactory.In this paper,an identification approach based on road type recognition is proposed for the robust identification of maximum road friction coefficient and optimal slip ratio.The instantaneous road friction coefficient is estimated through the recursive least square with a forgetting factor method based on the single wheel model,and the estimated road friction coefficient and slip ratio are grouped in a set of samples in a small time interval before the current time,which are updated with time progressing.The current road type is recognized by comparing the samples of the estimated road friction coefficient with the standard road friction coefficient of each typical road,and the minimum statistical error is used as the recognition principle to improve identification robustness.Once the road type is recognized,the maximum road friction coefficient and optimal slip ratio are determined.The numerical simulation tests are conducted on two typical road friction conditions（single-friction and joint-friction）by using CarSim software.The test results show that there is little identification error between the identified maximum road friction coefficient and the pre-set value in CarSim.The proposed identification method has good robustness performance to external disturbances and good adaptability to various vehicle operating conditions and road variations,and the identification results can be used for the adjustment of vehicle active safety control strategies.
文摘针对新疆某油田超深井在更换密封件提起采油四通时,发现井口悬挂器卡瓦夹持处套管断裂的问题,结合现场X1井使用的ø232.5 mm W型卡瓦悬挂器结构,建立了悬挂器坐挂-卡瓦夹持套管的三维有限元模型。根据第四强度理论推导出卡瓦效应的套管极限载荷计算公式,并通过有限元计算得到了理论公式的修正系数为0.913,同时得到在套管坐挂时,X1井卡瓦效应的套管极限载荷为6400 kN。有限元计算结果表明:卡瓦部分套管上的应力呈现非均匀分布,尤其是套管外壁非均匀程度较严重,且外壁牙痕上的应力集中是套管损伤、裂纹起裂和断裂的主要原因;如果存在较高的环空压力,在卡瓦部分或过渡区套管均有可能发生断裂失效破坏。建议选择无齿痕的卡瓦夹持套管,或者采用全金属密封的心轴式悬挂器,避免卡瓦悬挂器造成套管损伤破坏。研究方法和成果可为深井超深井卡瓦悬挂器套管的安全评价提供理论指导。
