The grade crossings and adjacent pavements of urban trams are generally subjected to complex load conditions and are susceptible to damage.Therefore,in this study,a novel pavement structure between tram tracks and roa...The grade crossings and adjacent pavements of urban trams are generally subjected to complex load conditions and are susceptible to damage.Therefore,in this study,a novel pavement structure between tram tracks and roads constructed using polyurethane(PU)elastic concrete and ultra-high-performance concrete(UHPC),referred to as a track-road transitional pavement(TRTP),is proposed.Subsequently,its performance and feasibility are evaluated using experimental and numerical methods.First,the mechanical properties of the PU elastic concrete are evaluated.The performance of the proposed structure is investigated using a three-dimensional finite element model,where vehicleinduced dynamic and static loads are considered.The results show that PU elastic concrete and the proposed combined TRTP are applicable and functioned as intended.Additionally,the PU elastic concrete achieved sufficient performance.The recommended width of the TRTP is approximately 50 mm.Meanwhile,the application of UHPC under a PU elastic concrete layer significantly reduces vertical deformation.Results of numerical calculations confirmed the high structural performance and feasibility of the proposed TRTP.Finally,material performance standards are recommended to provide guidance for pavement design and the construction of tram-grade crossings in the future.展开更多
传统纯跟踪控制器在面向实际应用时往往难以较好地处理传感器信号延时、执行器响应滞后等因素带来的控制滞后问题以及欠缺内外部扰动干预下的自主抗干扰能力;同时在跟踪临近终点的目标点时,因前视距离作为控制律的分母且逐渐减小,导致...传统纯跟踪控制器在面向实际应用时往往难以较好地处理传感器信号延时、执行器响应滞后等因素带来的控制滞后问题以及欠缺内外部扰动干预下的自主抗干扰能力;同时在跟踪临近终点的目标点时,因前视距离作为控制律的分母且逐渐减小,导致输入转角值发生突变且伴随方向盘出现不稳定地晃动现象,影响行驶稳定性及人员乘坐体验感。针对此,提出了一种基于改进纯跟踪的路径跟踪控制器。首先,构建了纯跟踪控制器的基础模型并为改善纯跟踪控制的滞后影响,建立了一种结合规划路径和规划速度信息的道路预瞄模型。然后考虑系统因内部及外部环境影响产生的未知干扰并设计非线性扩张状态观测器(nonlinear expanded state observer,NESO)进行扰动估计及实时补偿,以提升纯跟踪控制器的抗干扰能力。并进一步通过转向稳定调节模型以改善纯跟踪控制器临近终点时的转角突变问题。最终,基于软件在环动力学仿真平台以不同初始航向及存在初始偏差工况下测试所提控制器的有效性,并进一步在实车平台进行闭环测试验证,实验结果表明改进的纯跟踪算法具有良好的跟踪精度和转向平顺性。展开更多
文摘The grade crossings and adjacent pavements of urban trams are generally subjected to complex load conditions and are susceptible to damage.Therefore,in this study,a novel pavement structure between tram tracks and roads constructed using polyurethane(PU)elastic concrete and ultra-high-performance concrete(UHPC),referred to as a track-road transitional pavement(TRTP),is proposed.Subsequently,its performance and feasibility are evaluated using experimental and numerical methods.First,the mechanical properties of the PU elastic concrete are evaluated.The performance of the proposed structure is investigated using a three-dimensional finite element model,where vehicleinduced dynamic and static loads are considered.The results show that PU elastic concrete and the proposed combined TRTP are applicable and functioned as intended.Additionally,the PU elastic concrete achieved sufficient performance.The recommended width of the TRTP is approximately 50 mm.Meanwhile,the application of UHPC under a PU elastic concrete layer significantly reduces vertical deformation.Results of numerical calculations confirmed the high structural performance and feasibility of the proposed TRTP.Finally,material performance standards are recommended to provide guidance for pavement design and the construction of tram-grade crossings in the future.
文摘传统纯跟踪控制器在面向实际应用时往往难以较好地处理传感器信号延时、执行器响应滞后等因素带来的控制滞后问题以及欠缺内外部扰动干预下的自主抗干扰能力;同时在跟踪临近终点的目标点时,因前视距离作为控制律的分母且逐渐减小,导致输入转角值发生突变且伴随方向盘出现不稳定地晃动现象,影响行驶稳定性及人员乘坐体验感。针对此,提出了一种基于改进纯跟踪的路径跟踪控制器。首先,构建了纯跟踪控制器的基础模型并为改善纯跟踪控制的滞后影响,建立了一种结合规划路径和规划速度信息的道路预瞄模型。然后考虑系统因内部及外部环境影响产生的未知干扰并设计非线性扩张状态观测器(nonlinear expanded state observer,NESO)进行扰动估计及实时补偿,以提升纯跟踪控制器的抗干扰能力。并进一步通过转向稳定调节模型以改善纯跟踪控制器临近终点时的转角突变问题。最终,基于软件在环动力学仿真平台以不同初始航向及存在初始偏差工况下测试所提控制器的有效性,并进一步在实车平台进行闭环测试验证,实验结果表明改进的纯跟踪算法具有良好的跟踪精度和转向平顺性。
