A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to impro...A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom(DOF) vehicle model. A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions. A pseudo-inverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector. If one or more actuators were saturated or in a failure state, the control inputs are re-allocated by the algorithm. The algorithm was evaluated in Matlab/Simulink by using an 8-DOF nonlinear vehicle model. Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control. The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectory-tracking performance than the vehicle controlled by the sliding mode control. The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation.展开更多
Stability analysis of gravity retaining wall was currently based on the assumption that the wall had no embedment depth. The effect of earth berm was usually neglected. The present work highlighted the importance of e...Stability analysis of gravity retaining wall was currently based on the assumption that the wall had no embedment depth. The effect of earth berm was usually neglected. The present work highlighted the importance of embedment depth when assessing the seismic stability of gravity retaining walls with the pattern of pure rotation. In the framework of upper bound theorem of limit analysis, pseudo-static method was applied into two groups of parallel rigid soil slices methods in order to account for the effect of embedment depth on evaluating the critical acceleration of wall-soil system. The present analytical solution is identical to the results obtained from using limit equilibrium method, and the two methods are based on different theory backgrounds. Parameter analysis indicates that the critical acceleration increases slowly when the ratio of the embedment depth to the total height of the wall is from 0 to 0.15 and increases drastically when the ratio exceeds 0.15.展开更多
Cliff deformation behavior after conservation is of great significance for evaluating the conservation effect and discovering the dynamical law of soil. Modeling on deformation behavior is beneficial to the quantitati...Cliff deformation behavior after conservation is of great significance for evaluating the conservation effect and discovering the dynamical law of soil. Modeling on deformation behavior is beneficial to the quantitative evaluation of interactions between soil mass and structures as well as the forecast. Based on cliff conservation engineering of Jiaohe Ruins （the largest raw soil heritage site in the world）, data of horizontal deformation of the upper cliff were obtained by using Nanrui-made NDW-50 displacement device （precision： 0.01 mm, frequency： 15 min^-l）. Regression analysis indicates that deformation behavior models include exponential growth, linear growth and parabolic growth types, while daily deformation presents more intense periodicity （24 h）. The deformation is less than 1.5 mm during monitoring period, which has no impact on the stability of cliff. Deformation behavior provides the mutual duress and interaction between soil and engineering intervention. In addition, deformation mode attaches tensely to the damage pattern of the cliff. The conclusions are of importance to the stability evaluation of the carrier along Silk Road.展开更多
基金Project(51175015)supported by the National Natural Science Foundation of ChinaProject(2012AA110904)supported by the National High Technology Research and Development Program of China
文摘A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom(DOF) vehicle model. A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions. A pseudo-inverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector. If one or more actuators were saturated or in a failure state, the control inputs are re-allocated by the algorithm. The algorithm was evaluated in Matlab/Simulink by using an 8-DOF nonlinear vehicle model. Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control. The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectory-tracking performance than the vehicle controlled by the sliding mode control. The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation.
基金Project(41472245)supported by the National Natural Science Foundation of ChinaProject(CQGT-KJ-2014049)supported by the Chongqing Administration of Land,Resources and Housing,ChinaProject(106112014CDJZR200009)supported by the Fundamental Research Funds for the Central Universities,China
文摘Stability analysis of gravity retaining wall was currently based on the assumption that the wall had no embedment depth. The effect of earth berm was usually neglected. The present work highlighted the importance of embedment depth when assessing the seismic stability of gravity retaining walls with the pattern of pure rotation. In the framework of upper bound theorem of limit analysis, pseudo-static method was applied into two groups of parallel rigid soil slices methods in order to account for the effect of embedment depth on evaluating the critical acceleration of wall-soil system. The present analytical solution is identical to the results obtained from using limit equilibrium method, and the two methods are based on different theory backgrounds. Parameter analysis indicates that the critical acceleration increases slowly when the ratio of the embedment depth to the total height of the wall is from 0 to 0.15 and increases drastically when the ratio exceeds 0.15.
基金Project(2010BAK67B16) supported by the National Science and Technology Pillar Program during the 11th Five-Year Plan Period of China
文摘Cliff deformation behavior after conservation is of great significance for evaluating the conservation effect and discovering the dynamical law of soil. Modeling on deformation behavior is beneficial to the quantitative evaluation of interactions between soil mass and structures as well as the forecast. Based on cliff conservation engineering of Jiaohe Ruins （the largest raw soil heritage site in the world）, data of horizontal deformation of the upper cliff were obtained by using Nanrui-made NDW-50 displacement device （precision： 0.01 mm, frequency： 15 min^-l）. Regression analysis indicates that deformation behavior models include exponential growth, linear growth and parabolic growth types, while daily deformation presents more intense periodicity （24 h）. The deformation is less than 1.5 mm during monitoring period, which has no impact on the stability of cliff. Deformation behavior provides the mutual duress and interaction between soil and engineering intervention. In addition, deformation mode attaches tensely to the damage pattern of the cliff. The conclusions are of importance to the stability evaluation of the carrier along Silk Road.
