To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions...To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions of the track plate are important links in the contact between the driving mechanism of the DSMV and seabed soil.In this study,a numerical simulation is conducted using the coupled Eulerian–Lagrangian(CEL)large deformation numerical method to investigate the interaction between the track plate of the DSMV and the seabed soil under two working conditions:rotating condition and digging condition.First,a soil numerical model is established based on the elastoplastic mechanical characterization using the basic physical and mechanical properties of the seabed soil obtained by in situ sampling.Subsequently,the soil disturbance mechanism and the dynamic mechanical response of the track plate under rotating and digging conditions are obtained through the analysis of the sensitivity of the motion parameters,the grouser structure,the layered soil features and the soil heterogeneity.The results indicate that the above parameters remarkably influence the interaction between the DSMV and the seabed soil.Therefore,it is important to consider the rotating and digging motion of the DSMV in practical engineering to develop a detailed optimization design of the track plate.展开更多
Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonablenes...Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling.展开更多
To prevent early bridge failures, effective Structural Health Monitoring (SHM) is vital. Vibration-based damage assessment is a powerful tool in this regard, as it relies on changes in a structure’s dynamic character...To prevent early bridge failures, effective Structural Health Monitoring (SHM) is vital. Vibration-based damage assessment is a powerful tool in this regard, as it relies on changes in a structure’s dynamic characteristics as it degrades. By measuring the vibration response of a bridge due to passing vehicles, this approach can identify potential structural damage. This dissertation introduces a novel technique grounded in Vehicle-Bridge Interaction (VBI) to evaluate bridge health. It aims to detect damage by analyzing the response of passing vehicles, taking into account VBI. The theoretical foundation of this method begins with representing the bridge’s superstructure using a Finite Element Model and employing a half-car dynamic model to simulate the vehicle with suspension. Two sets of motion equations, one for the bridge and one for the vehicle are generated using the Finite Element Method, mode superposition, and D’Alembert’s principle. The combined dynamics are solved using the Newmark-beta method, accounting for road surface roughness. A new approach for damage identification based on the response of passing vehicles is proposed. The response is theoretically composed of vehicle frequency, bridge natural frequency, and a pseudo-frequency component related to vehicle speed. The Empirical Mode Decomposition (EMD) method is applied to decompose the signal into its constituent parts, and damage detection relies on the Intrinsic Mode Functions (IMFs) corresponding to the vehicle speed component. This technique effectively identifies various damage scenarios considered in the study.展开更多
Range is an important factor to the design of autonomous underwater vehicles (AUVs), while drag reduction efforts are pursued, the investigation of body-propeller interaction is another vital consideration. We present...Range is an important factor to the design of autonomous underwater vehicles (AUVs), while drag reduction efforts are pursued, the investigation of body-propeller interaction is another vital consideration. We present a numerical and experimental study of the hull-propeller interaction for deeply submerged underwater vehicles, using a proportional-integral- derivative (PID) controller method to estimate self-propulsion point in CFD environment. The hydrodynamic performance of hull and propeller at the balance state when the AUV sails at a fixed depth is investigated, using steady RANS solver of Star-CCM+. The proposed steady RANS solver takes only hours to reach a reasonable solution. It is more time efficient than unsteady simulations which takes days or weeks, as well as huge consumption of computing resources. Explorer 1000, a long range AUV developed by Shenyang Institute of Automation, Chinese Academy of Sciences, was studied as an object, and self-propulsion point, thrust deduction, wake fraction and hull efficiency were analyzed by using the proposed RANS method. Behind-hull performance of the selected propeller MAU4-40, as well as the hull-propeller interaction, was obtained from the computed hydrodynamic forces. The numerical results are in good qualitative and quantitative agreement with the experimental results obtained in the Qiandao Lake of Zhejiang province, China.展开更多
The self-excited vibration problems of maglev vehicle-bridge interaction system were addressed, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the...The self-excited vibration problems of maglev vehicle-bridge interaction system were addressed, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the whole system. Firstly, the coupled model containing the quintessential parts was built, and the mechanism of self-excited vibration was explained in terms of energy transmission from levitation system to bridge. Then, the influences of the parameters of the widely used integral-type proportion and derivation(PD) controller and the delay of signals on the stability of the interaction system were analyzed. The result shows that the integral-type PD control is a nonoptimal approach to solve the self-excited vibration completely. Furthermore, the differential-type PD controller can guarantee the passivity of levitation system at full band. However, the differentiation of levitation gap should be filtered by a low-pass filter due to noise of gap differentiation. The analysis indicates that a well tuned low-pass filter can still keep the coupled system stable.展开更多
In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on t...In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on the passive Radio-Frequency IDentification(RFID)technology to precisely track the pose of a handheld controller,and then transfer the pose information to navigate the UAV.A prototype of the handheld controller is created by attaching three or more Ultra High Frequency(UHF)RFID tags to a board.A Commercial Off-The-Shelf(COTS)RFID reader with multiple antennas is deployed to collect the observations of the tags.First,the precise positions of all the tags can be obtained by our proposed method,which leverages a Bayesian filter and Channel State Information(CSI)phase measurements collected from the RFID reader.Second,we introduce a Singular Value Decomposition(SVD)based approach to obtain a 6-DoF(Degrees of Freedom)pose of the controller from estimated positions of the tags.Furthermore,the pose of the controller can be precisely tracked in a real-time manner,while the user moves the controller.Finally,control commands will be generated from the controller's pose and sent to the UAV for navigation.The performance of the RFHUI is evaluated by several experiments.The results show that it provides precise poses with 0.045m mean error in position and 2.5∘mean error in orientation for the controller,and enables the controller to precisely and intuitively navigate the UAV in an indoor environment.展开更多
The so called "alterable-element method" (AEM) was introduced to deal with the coupling interac-tion of vehicle and sub-structure considering the actual transient jump of wheel, while the classical "con...The so called "alterable-element method" (AEM) was introduced to deal with the coupling interac-tion of vehicle and sub-structure considering the actual transient jump of wheel, while the classical "contact all along" assumption based on which wheels and lower structure are always contact was abandoned. The alterable element used in this method is a conceptional element, which is used to calculate the coupling interaction of upper and lower structures and has some typical characteristics: firstly it flows along with the moving of contact point; secondly whether it is used for calculation depends on the contact state; thirdly its sizes could change according to specific problems and so on. VISUAL FORTRAN program was coded, and different moving vehicle models were presented taking into consideration the effects of random corrugation in the numerical study. The numerical solutions are favored comparing with the results obtained by alternative methods when there is no jump phenomenon existed. With abrupt irregularity, the transient jump of wheel was studied using the present method.展开更多
An investigation is undertaken of an integrated mechanical-electromagnetic coupling system consisting of a rigid vehicle with heave, roll, and pitch motions, four electromagnetic energy harvesters and four tires subje...An investigation is undertaken of an integrated mechanical-electromagnetic coupling system consisting of a rigid vehicle with heave, roll, and pitch motions, four electromagnetic energy harvesters and four tires subject to uneven road excitations in order to improve the passengers' riding comfort and harvest the lost engine energy due to uneven roads. Following the derived mathematical formulations and the proposed solution approaches, the numerical simulations of this interaction system subject to a continuous sinusoidal road excitation and a single ramp impact are completed. The simulation results are presented as the dynamic response curves in the forms of the frequency spectrum and the time history, which reveals the complex interaction characteristics of the system for vibration reductions and energy harvesting performance. It has addressed the coupling effects on the dynamic characteristics of the integrated system caused by: (1) the natural modes and frequencies of the vehicle; (2) the vehicle rolling and pitching motions; (3) different road excitations on four wheels; (4) the time delay of a road ramp to impact both the front and rear wheels, etc., which cannot be tackled by an often used quarter vehicle model. The guidelines for engineering applications are given. The developed coupling model and the revealed concept provide a means with analysis idea to investigate the details of four energy harvester motions for electromagnetic suspension designs in order to replace the current passive vehicle isolators and to harvest the lost engine energy. Potential further research directions are suggested for readers to consider in the future.展开更多
This article lays out a unified theory for dynamics of vehicle-pavement interaction under moving and stochastic loads. It covers three major aspects of the subject: pavement surface, tire-pavement contact forces, and...This article lays out a unified theory for dynamics of vehicle-pavement interaction under moving and stochastic loads. It covers three major aspects of the subject: pavement surface, tire-pavement contact forces, and response of continuum media under moving and stochastic vehicular loads. Under the subject of pavement surface, the spectrum of thermal joints is analyzed using Fourier analysis of periodic function. One-dimensional and two-dimensional random field models of pavement surface are discussed given three different assumptions. Under the subject of tire-pavement contact forces, a vehicle is modeled as a linear system. At a constant speed of travel, random field of pavement surface serves as a stationary stochastic process exciting vehicle vibration, which, in turn, generates contact force at the interface of tire and pavement. The contact forces are analyzed in the time domain and the frequency domains using random vibration theory. It is shown that the contact force can be treated as a nonzero mean stationary process with a normal distribution. Power spectral density of the contact force of a vehicle with walking-beam suspension is simulated as an illustration. Under the subject of response of continuum media under moving and stochastic vehicular loads, both time-domain and frequency-domain analyses are presented for analytic treatment of moving load problem. It is shown that stochastic response of linear continuum media subject to a moving stationary load is a nonstationary process. Such a nonstationary stochastic process can be converted to a stationary stochastic process in a follow-up moving coordinate.展开更多
A theoretical model has been developed to investigate vertical dynamic interactions between railway vehicles and tracks. Wheel rail forces and dynamic responses of vehicle and track components can be simulated with...A theoretical model has been developed to investigate vertical dynamic interactions between railway vehicles and tracks. Wheel rail forces and dynamic responses of vehicle and track components can be simulated with the model. The model has been applied to the study of high speed and heavy haul railway dynamic problems. In order to verify the model completely, a full scale field experiment was performed on the Chinese Datong Qinhuangdao railway. Accelerations of rail, sleeper and ballast were measured and compared with the simulated results both in time domain and in frequency domain.展开更多
Track quality is a determinant factor for evaluating the overall performance of vehicle track interaction with respect to safety, ride quality and maintenance. Important parameters specifying the general quality of th...Track quality is a determinant factor for evaluating the overall performance of vehicle track interaction with respect to safety, ride quality and maintenance. Important parameters specifying the general quality of the track include track geometry (undamped) and track stiffness (damped), which can be evaluated by measurements taken along with track sections. A new co-simulation model based on Finite Element Method (FEM) and Multi Body Simulation (MBS) is built for the detailed description of track quality and its contribution to vehicle track interaction without simplifying the track structure as interconnected single elements. The simulation models and tools have been validated with the help of measured track geometry, track stiffness and dynamic wheel rail forces along the track sections of high speed lines. A comparative study between high speed lines using conventional ballasted track and ballastless track showed a significantly better quality in ballastless track sections. The dynamic forces which were determined by simulations and verified by measurements along the ballastless track section were comparatively less than the specified limits by German regulations for ballastless track design. Lower levels of dynamic forces can be utilized for optimization of track design and installation procedures with respect to lower initial costs.展开更多
Bridge frequency(BF)identification using the vehicle scanning method has attracted considerable attention during the last two decades.However,most previous studies have adopted unrealistic vehicle models,thus finding ...Bridge frequency(BF)identification using the vehicle scanning method has attracted considerable attention during the last two decades.However,most previous studies have adopted unrealistic vehicle models,thus finding limited practical applications.This study proposes a smartphone-based BF identification method that uses the contact-point acceleration response of a four degree-of-freedom vehicle model.The said response can be inferred from the vehicle body response measured by a smartphone.For realizing practical applications,this method is incorporated into a self-developed smartphone app to obtain data smoothly and identify BFs in a timely manner.Numerical and experimental investigations are performed to verify the effectiveness of the proposed method.In particular,the robustness of this method is investigated numerically against various factors,including the vehicle speed,bridge span,road roughness,and bridge type.Furthermore,laboratory calibration tests are performed to investigate the accuracy of the smartphone gyroscope in measuring the angular velocity,where anomalous data are detected and eliminated.Laboratory experiment results for a simply supported bridge indicate that the proposed method can be used to identify the first two BFs with acceptable accuracy.展开更多
In present-day highly-automated vehicles, there are occasions when the driving system disengages and the human driver is required to take-over. This is of great importance to a vehicle's safety and ride comfort. I...In present-day highly-automated vehicles, there are occasions when the driving system disengages and the human driver is required to take-over. This is of great importance to a vehicle's safety and ride comfort. In the U.S state of California, the Autonomous Vehicle Testing Regulations require every manufacturer testing autonomous vehicles on public roads to submit an annual report summarizing the disengagements of the technology experienced during testing. On 1 January 2016,seven manufacturers submitted their first disengagement reports:Bosch, Delphi, Google, Nissan, Mercedes-Benz, Volkswagen, and Tesla Motors. This work analyses the data from these disengagement reports with the aim of gaining abetter understanding of the situations in which a driver is required to takeover, as this is potentially useful in improving the Society of Automotive Engineers(SAE) Level 2 and Level 3 automation technologies.Disengagement events from testing are classified into different groups based on attributes and the causes of disengagement are investigated and compared in detail. The mechanisms and time taken for take-over transition occurred in disengagements are studied. Finally, recommendations for OEMs, manufacturers, and government organizations are also discussed.展开更多
With the problem of global energy shortage and people’s awareness of energy saving, electric vehicles receive world-wide attention from government to business. Then the load of the power grid will rapidly increase in...With the problem of global energy shortage and people’s awareness of energy saving, electric vehicles receive world-wide attention from government to business. Then the load of the power grid will rapidly increase in a short term, and a series of effects will bring to the power grid operation, management, production and planning. With the large-scale penetration of electric vehicles and distributed energy gradually increased, if they can be effectively controlled and regulated, they can play the roles of load shifting, stabling intermittent renewable energy sources, providing emergency power supply and so on. Otherwise they may have a negative impact, which calls for a good interaction of electric vehicles and power grid. Analyzed the status of the current study on the interaction between the electric vehicles and the power grid, this paper builds the material basis, information architecture and the corresponding control method for the interaction from the aspect of the energy and information exchanging, and then discusses the key issues, which makes a useful exploration for the further research.展开更多
With the increasing demand for petroleum resources and environmental issues,new energy electric vehicles are increasingly being used.However,the large number of electric vehicles connected to the grid has brought new ...With the increasing demand for petroleum resources and environmental issues,new energy electric vehicles are increasingly being used.However,the large number of electric vehicles connected to the grid has brought new challenges to the operation of the grid.Firstly,A novel bidirectional interaction model is established based on modulation theory with nonlinear loads.Then,the electric energy measuring scheme of EVs for V2G is derived under the conditions of distorted power loads.The scheme is composed of fundamental electric energy,fundamental-distorted electric energy,distorted-fundamental electric energy and distorted electric energy.And the characteristics of each electric energy are analyzed.Finally,the correctness of the model and energy measurement method is verified by three simulation cases:the impact signals,the fluctuating signals,and the harmonic signals.展开更多
A few typical models of theory on rolling contact of bodies are reviewed, and the advantages and disadvantages in the applications to the dynamics of railway vehicles and the wheel/rail r...A few typical models of theory on rolling contact of bodies are reviewed, and the advantages and disadvantages in the applications to the dynamics of railway vehicles and the wheel/rail rolling contact are discussed in detail in the present paper.展开更多
With the rapid development of high-speed railways around the globe,the safety of vehicles running on bridges during earthquakes has been paid more attention to.In the design of railway bridges,in addition to ensuring ...With the rapid development of high-speed railways around the globe,the safety of vehicles running on bridges during earthquakes has been paid more attention to.In the design of railway bridges,in addition to ensuring the safety of the bridge structure in earthquake,the vehicle safety should also be ensured.Previous studies have focused on the detailed analysis of vehicle derailment on bridges,proposing complex numerical algorithms for wheel-rail contact analysis as well as for parametric analysis,but they are inconvenient for designers.Intensity measure(IM)used in performance-based earthquake engineering is introduced in this study.A method to evaluate the vehicle safety on bridges under earthquakes is proposed with respect to the optimal IM.Then,the vehicle derailment case of the Kumamoto earthquake in Japan verifies the decoupling method of vehicle-bridge interaction model.In the assessment of vehicle derailments,eight IMs are systematically compared:the IMs of bridge deck motion are generally better than those of ground motion;the variation coefficient of spectral intensity of the bridge deck is the smallest at different frequencies.Finally,the derailment fragility cloud map is presented to evaluate the vehicle safety on bridges during earthquakes.展开更多
基金supported by the Natural Science Foundation of Hainan Province(Grant No.520LH015)the Fundamental Research Funds for the Central Universities and the Major Projects of Strategic Emerging Industries in Shanghai(Grant No.BH3230001).
文摘To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions of the track plate are important links in the contact between the driving mechanism of the DSMV and seabed soil.In this study,a numerical simulation is conducted using the coupled Eulerian–Lagrangian(CEL)large deformation numerical method to investigate the interaction between the track plate of the DSMV and the seabed soil under two working conditions:rotating condition and digging condition.First,a soil numerical model is established based on the elastoplastic mechanical characterization using the basic physical and mechanical properties of the seabed soil obtained by in situ sampling.Subsequently,the soil disturbance mechanism and the dynamic mechanical response of the track plate under rotating and digging conditions are obtained through the analysis of the sensitivity of the motion parameters,the grouser structure,the layered soil features and the soil heterogeneity.The results indicate that the above parameters remarkably influence the interaction between the DSMV and the seabed soil.Therefore,it is important to consider the rotating and digging motion of the DSMV in practical engineering to develop a detailed optimization design of the track plate.
文摘Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling.
文摘To prevent early bridge failures, effective Structural Health Monitoring (SHM) is vital. Vibration-based damage assessment is a powerful tool in this regard, as it relies on changes in a structure’s dynamic characteristics as it degrades. By measuring the vibration response of a bridge due to passing vehicles, this approach can identify potential structural damage. This dissertation introduces a novel technique grounded in Vehicle-Bridge Interaction (VBI) to evaluate bridge health. It aims to detect damage by analyzing the response of passing vehicles, taking into account VBI. The theoretical foundation of this method begins with representing the bridge’s superstructure using a Finite Element Model and employing a half-car dynamic model to simulate the vehicle with suspension. Two sets of motion equations, one for the bridge and one for the vehicle are generated using the Finite Element Method, mode superposition, and D’Alembert’s principle. The combined dynamics are solved using the Newmark-beta method, accounting for road surface roughness. A new approach for damage identification based on the response of passing vehicles is proposed. The response is theoretically composed of vehicle frequency, bridge natural frequency, and a pseudo-frequency component related to vehicle speed. The Empirical Mode Decomposition (EMD) method is applied to decompose the signal into its constituent parts, and damage detection relies on the Intrinsic Mode Functions (IMFs) corresponding to the vehicle speed component. This technique effectively identifies various damage scenarios considered in the study.
基金financially supported by the National Natural Science Foundation of China(Grant No.41806122)the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant No.XDA11040102)+2 种基金the State Key Laboratory of Robotics of China(Grant No.2017-Z08)Youth Innovation Promotion Association,CASJiang Xinsong Innovation Fund
文摘Range is an important factor to the design of autonomous underwater vehicles (AUVs), while drag reduction efforts are pursued, the investigation of body-propeller interaction is another vital consideration. We present a numerical and experimental study of the hull-propeller interaction for deeply submerged underwater vehicles, using a proportional-integral- derivative (PID) controller method to estimate self-propulsion point in CFD environment. The hydrodynamic performance of hull and propeller at the balance state when the AUV sails at a fixed depth is investigated, using steady RANS solver of Star-CCM+. The proposed steady RANS solver takes only hours to reach a reasonable solution. It is more time efficient than unsteady simulations which takes days or weeks, as well as huge consumption of computing resources. Explorer 1000, a long range AUV developed by Shenyang Institute of Automation, Chinese Academy of Sciences, was studied as an object, and self-propulsion point, thrust deduction, wake fraction and hull efficiency were analyzed by using the proposed RANS method. Behind-hull performance of the selected propeller MAU4-40, as well as the hull-propeller interaction, was obtained from the computed hydrodynamic forces. The numerical results are in good qualitative and quantitative agreement with the experimental results obtained in the Qiandao Lake of Zhejiang province, China.
基金Projects(60404003,11202230)supported by the National Natural Science Foundation of China
文摘The self-excited vibration problems of maglev vehicle-bridge interaction system were addressed, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the whole system. Firstly, the coupled model containing the quintessential parts was built, and the mechanism of self-excited vibration was explained in terms of energy transmission from levitation system to bridge. Then, the influences of the parameters of the widely used integral-type proportion and derivation(PD) controller and the delay of signals on the stability of the interaction system were analyzed. The result shows that the integral-type PD control is a nonoptimal approach to solve the self-excited vibration completely. Furthermore, the differential-type PD controller can guarantee the passivity of levitation system at full band. However, the differentiation of levitation gap should be filtered by a low-pass filter due to noise of gap differentiation. The analysis indicates that a well tuned low-pass filter can still keep the coupled system stable.
文摘In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on the passive Radio-Frequency IDentification(RFID)technology to precisely track the pose of a handheld controller,and then transfer the pose information to navigate the UAV.A prototype of the handheld controller is created by attaching three or more Ultra High Frequency(UHF)RFID tags to a board.A Commercial Off-The-Shelf(COTS)RFID reader with multiple antennas is deployed to collect the observations of the tags.First,the precise positions of all the tags can be obtained by our proposed method,which leverages a Bayesian filter and Channel State Information(CSI)phase measurements collected from the RFID reader.Second,we introduce a Singular Value Decomposition(SVD)based approach to obtain a 6-DoF(Degrees of Freedom)pose of the controller from estimated positions of the tags.Furthermore,the pose of the controller can be precisely tracked in a real-time manner,while the user moves the controller.Finally,control commands will be generated from the controller's pose and sent to the UAV for navigation.The performance of the RFHUI is evaluated by several experiments.The results show that it provides precise poses with 0.045m mean error in position and 2.5∘mean error in orientation for the controller,and enables the controller to precisely and intuitively navigate the UAV in an indoor environment.
基金the Science and Technology Commissionof Shanghai Municipality (No. 03DZ12017)the Shang-hai Municipal Informatization Commission
文摘The so called "alterable-element method" (AEM) was introduced to deal with the coupling interac-tion of vehicle and sub-structure considering the actual transient jump of wheel, while the classical "contact all along" assumption based on which wheels and lower structure are always contact was abandoned. The alterable element used in this method is a conceptional element, which is used to calculate the coupling interaction of upper and lower structures and has some typical characteristics: firstly it flows along with the moving of contact point; secondly whether it is used for calculation depends on the contact state; thirdly its sizes could change according to specific problems and so on. VISUAL FORTRAN program was coded, and different moving vehicle models were presented taking into consideration the effects of random corrugation in the numerical study. The numerical solutions are favored comparing with the results obtained by alternative methods when there is no jump phenomenon existed. With abrupt irregularity, the transient jump of wheel was studied using the present method.
基金supporting S. Zhou to visit University of Southampton for one year to engage in this researchHarbin Engineering University for supporting J. T. Xing to visit Harbin Engineering University (Grant HEUCF160104)
文摘An investigation is undertaken of an integrated mechanical-electromagnetic coupling system consisting of a rigid vehicle with heave, roll, and pitch motions, four electromagnetic energy harvesters and four tires subject to uneven road excitations in order to improve the passengers' riding comfort and harvest the lost engine energy due to uneven roads. Following the derived mathematical formulations and the proposed solution approaches, the numerical simulations of this interaction system subject to a continuous sinusoidal road excitation and a single ramp impact are completed. The simulation results are presented as the dynamic response curves in the forms of the frequency spectrum and the time history, which reveals the complex interaction characteristics of the system for vibration reductions and energy harvesting performance. It has addressed the coupling effects on the dynamic characteristics of the integrated system caused by: (1) the natural modes and frequencies of the vehicle; (2) the vehicle rolling and pitching motions; (3) different road excitations on four wheels; (4) the time delay of a road ramp to impact both the front and rear wheels, etc., which cannot be tackled by an often used quarter vehicle model. The guidelines for engineering applications are given. The developed coupling model and the revealed concept provide a means with analysis idea to investigate the details of four energy harvester motions for electromagnetic suspension designs in order to replace the current passive vehicle isolators and to harvest the lost engine energy. Potential further research directions are suggested for readers to consider in the future.
基金sponsored in part by the National Science Foundationby National Natural Science Foundation of China+1 种基金by Ministry of Communication of Chinaby Jiangsu Natural Science Foundation
文摘This article lays out a unified theory for dynamics of vehicle-pavement interaction under moving and stochastic loads. It covers three major aspects of the subject: pavement surface, tire-pavement contact forces, and response of continuum media under moving and stochastic vehicular loads. Under the subject of pavement surface, the spectrum of thermal joints is analyzed using Fourier analysis of periodic function. One-dimensional and two-dimensional random field models of pavement surface are discussed given three different assumptions. Under the subject of tire-pavement contact forces, a vehicle is modeled as a linear system. At a constant speed of travel, random field of pavement surface serves as a stationary stochastic process exciting vehicle vibration, which, in turn, generates contact force at the interface of tire and pavement. The contact forces are analyzed in the time domain and the frequency domains using random vibration theory. It is shown that the contact force can be treated as a nonzero mean stationary process with a normal distribution. Power spectral density of the contact force of a vehicle with walking-beam suspension is simulated as an illustration. Under the subject of response of continuum media under moving and stochastic vehicular loads, both time-domain and frequency-domain analyses are presented for analytic treatment of moving load problem. It is shown that stochastic response of linear continuum media subject to a moving stationary load is a nonstationary process. Such a nonstationary stochastic process can be converted to a stationary stochastic process in a follow-up moving coordinate.
文摘A theoretical model has been developed to investigate vertical dynamic interactions between railway vehicles and tracks. Wheel rail forces and dynamic responses of vehicle and track components can be simulated with the model. The model has been applied to the study of high speed and heavy haul railway dynamic problems. In order to verify the model completely, a full scale field experiment was performed on the Chinese Datong Qinhuangdao railway. Accelerations of rail, sleeper and ballast were measured and compared with the simulated results both in time domain and in frequency domain.
文摘Track quality is a determinant factor for evaluating the overall performance of vehicle track interaction with respect to safety, ride quality and maintenance. Important parameters specifying the general quality of the track include track geometry (undamped) and track stiffness (damped), which can be evaluated by measurements taken along with track sections. A new co-simulation model based on Finite Element Method (FEM) and Multi Body Simulation (MBS) is built for the detailed description of track quality and its contribution to vehicle track interaction without simplifying the track structure as interconnected single elements. The simulation models and tools have been validated with the help of measured track geometry, track stiffness and dynamic wheel rail forces along the track sections of high speed lines. A comparative study between high speed lines using conventional ballasted track and ballastless track showed a significantly better quality in ballastless track sections. The dynamic forces which were determined by simulations and verified by measurements along the ballastless track section were comparatively less than the specified limits by German regulations for ballastless track design. Lower levels of dynamic forces can be utilized for optimization of track design and installation procedures with respect to lower initial costs.
基金National Natural Science Foundation of China under Grant Nos.51978215 and 52378295National Key R&D Program of China under Grant No.2019YFC1511100+1 种基金Guangdong Basic and Applied Basic Research Foundation under Grant No.2022A1515110587Shenzhen S&T Project under Grant Nos.JCYJ20200109112816582 and KQTD20210811090112003。
文摘Bridge frequency(BF)identification using the vehicle scanning method has attracted considerable attention during the last two decades.However,most previous studies have adopted unrealistic vehicle models,thus finding limited practical applications.This study proposes a smartphone-based BF identification method that uses the contact-point acceleration response of a four degree-of-freedom vehicle model.The said response can be inferred from the vehicle body response measured by a smartphone.For realizing practical applications,this method is incorporated into a self-developed smartphone app to obtain data smoothly and identify BFs in a timely manner.Numerical and experimental investigations are performed to verify the effectiveness of the proposed method.In particular,the robustness of this method is investigated numerically against various factors,including the vehicle speed,bridge span,road roughness,and bridge type.Furthermore,laboratory calibration tests are performed to investigate the accuracy of the smartphone gyroscope in measuring the angular velocity,where anomalous data are detected and eliminated.Laboratory experiment results for a simply supported bridge indicate that the proposed method can be used to identify the first two BFs with acceptable accuracy.
基金supported by Jaguar Land Roverthe UK-EPSRC grant EP/N012089/1 as part of the jointly funded Towards Autonomy:Smart and Connected Control(TASCC)Programme
文摘In present-day highly-automated vehicles, there are occasions when the driving system disengages and the human driver is required to take-over. This is of great importance to a vehicle's safety and ride comfort. In the U.S state of California, the Autonomous Vehicle Testing Regulations require every manufacturer testing autonomous vehicles on public roads to submit an annual report summarizing the disengagements of the technology experienced during testing. On 1 January 2016,seven manufacturers submitted their first disengagement reports:Bosch, Delphi, Google, Nissan, Mercedes-Benz, Volkswagen, and Tesla Motors. This work analyses the data from these disengagement reports with the aim of gaining abetter understanding of the situations in which a driver is required to takeover, as this is potentially useful in improving the Society of Automotive Engineers(SAE) Level 2 and Level 3 automation technologies.Disengagement events from testing are classified into different groups based on attributes and the causes of disengagement are investigated and compared in detail. The mechanisms and time taken for take-over transition occurred in disengagements are studied. Finally, recommendations for OEMs, manufacturers, and government organizations are also discussed.
文摘With the problem of global energy shortage and people’s awareness of energy saving, electric vehicles receive world-wide attention from government to business. Then the load of the power grid will rapidly increase in a short term, and a series of effects will bring to the power grid operation, management, production and planning. With the large-scale penetration of electric vehicles and distributed energy gradually increased, if they can be effectively controlled and regulated, they can play the roles of load shifting, stabling intermittent renewable energy sources, providing emergency power supply and so on. Otherwise they may have a negative impact, which calls for a good interaction of electric vehicles and power grid. Analyzed the status of the current study on the interaction between the electric vehicles and the power grid, this paper builds the material basis, information architecture and the corresponding control method for the interaction from the aspect of the energy and information exchanging, and then discusses the key issues, which makes a useful exploration for the further research.
基金This work is supported by China Postdoctoral Science Foundation(2021M690798)Guizhou Province Science and Technology Plan Project(No.[2021]General 085)+1 种基金National Natural Science Foundation of China(No.61603034)the Fundamental Research Funds for the Central Universities(Nos.FRF-BD-19-002A,FRF-DF-20-14).
文摘With the increasing demand for petroleum resources and environmental issues,new energy electric vehicles are increasingly being used.However,the large number of electric vehicles connected to the grid has brought new challenges to the operation of the grid.Firstly,A novel bidirectional interaction model is established based on modulation theory with nonlinear loads.Then,the electric energy measuring scheme of EVs for V2G is derived under the conditions of distorted power loads.The scheme is composed of fundamental electric energy,fundamental-distorted electric energy,distorted-fundamental electric energy and distorted electric energy.And the characteristics of each electric energy are analyzed.Finally,the correctness of the model and energy measurement method is verified by three simulation cases:the impact signals,the fluctuating signals,and the harmonic signals.
文摘A few typical models of theory on rolling contact of bodies are reviewed, and the advantages and disadvantages in the applications to the dynamics of railway vehicles and the wheel/rail rolling contact are discussed in detail in the present paper.
基金supported by the National Natural Science Foundation of China(Grant No.51678490)the National Science Fund for Distinguished Young Scholars(51525804)。
文摘With the rapid development of high-speed railways around the globe,the safety of vehicles running on bridges during earthquakes has been paid more attention to.In the design of railway bridges,in addition to ensuring the safety of the bridge structure in earthquake,the vehicle safety should also be ensured.Previous studies have focused on the detailed analysis of vehicle derailment on bridges,proposing complex numerical algorithms for wheel-rail contact analysis as well as for parametric analysis,but they are inconvenient for designers.Intensity measure(IM)used in performance-based earthquake engineering is introduced in this study.A method to evaluate the vehicle safety on bridges under earthquakes is proposed with respect to the optimal IM.Then,the vehicle derailment case of the Kumamoto earthquake in Japan verifies the decoupling method of vehicle-bridge interaction model.In the assessment of vehicle derailments,eight IMs are systematically compared:the IMs of bridge deck motion are generally better than those of ground motion;the variation coefficient of spectral intensity of the bridge deck is the smallest at different frequencies.Finally,the derailment fragility cloud map is presented to evaluate the vehicle safety on bridges during earthquakes.