Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots...Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.展开更多
The aerodynamic performances of a passenger car and a box car with different heights of windbreak walls under strong wind were studied using the numerical simulations, and the changes of aerodynamic side force, lift f...The aerodynamic performances of a passenger car and a box car with different heights of windbreak walls under strong wind were studied using the numerical simulations, and the changes of aerodynamic side force, lift force and overturning moment with different wind speeds and wall heights were calculated. According to the principle of static moment balance of vehicles, the overturning coefficients of trains with different wind speeds and wall heights were obtained. Based on the influence of wind speed and wall height on the aerodynamic performance and the overturning stability of trains, a method of determination of the load balance ranges for the train operation safety was proposed, which made the overturning coefficient have nearly closed interval. A min(|A1|+|A2|), s.t. |A1|→|A2|(A1 refers to the downwind overturning coefficient and A2 refers to the upwind overturning coefficient)was found. This minimum value helps to lower the wall height as much as possible, and meanwhile, guarantees the operation safety of various types of trains under strong wind. This method has been used for the construction and improvement of the windbreak walls along the Lanzhou–Xinjiang railway(from Lanzhou to Urumqi, China).展开更多
Analysis of the aerodynamic performance of high-speed trains in special cuts would provide references for the critical overturning velocity and complement the operation safety management under strong winds.This work w...Analysis of the aerodynamic performance of high-speed trains in special cuts would provide references for the critical overturning velocity and complement the operation safety management under strong winds.This work was conducted to investigate the flow structure around trains under different cut depths,slope angles using computational fluid dynamics(CFD).The high-speed train was considered with bogies and inter-carriage gaps.And the accuracy of the numerical method was validated by combining with the experimental data of wind tunnel tests.Then,the variations of aerodynamic forces and surface pressure distribution of the train were mainly analyzed.The results show that the surroundings of cuts along the railway line have a great effect on the crosswind stability of trains.With the slope angle and depth of the cut increasing,the coefficients of aerodynamic forces tend to reduce.An angle of 75°is chosen as the optimum one for the follow-up research.Under different depth conditions,the reasonable cut depth for high-speed trains to run safely is 3 m lower than that of the conventional cut whose slope ratio is 1:1.5.Furthermore,the windward slope angle is more important than the leeward one for the train aerodynamic performance.Due to the shield of appropriate cuts,the train body is in a minor positive pressure environment.Thus,designing a suitable cut can contribute to improving the operation safety of high-speed trains.展开更多
基金Project(60775060) supported by the National Natural Science Foundation of ChinaProject(F200801) supported by the Natural Science Foundation of Heilongjiang Province,China+1 种基金Project(200802171053,20102304110006) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2012RFXXG059) supported by Harbin Science and Technology Innovation Talents Special Fund,China
文摘Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.
基金Project(U1334203) supported by the National Natural Science Foundation of China
文摘The aerodynamic performances of a passenger car and a box car with different heights of windbreak walls under strong wind were studied using the numerical simulations, and the changes of aerodynamic side force, lift force and overturning moment with different wind speeds and wall heights were calculated. According to the principle of static moment balance of vehicles, the overturning coefficients of trains with different wind speeds and wall heights were obtained. Based on the influence of wind speed and wall height on the aerodynamic performance and the overturning stability of trains, a method of determination of the load balance ranges for the train operation safety was proposed, which made the overturning coefficient have nearly closed interval. A min(|A1|+|A2|), s.t. |A1|→|A2|(A1 refers to the downwind overturning coefficient and A2 refers to the upwind overturning coefficient)was found. This minimum value helps to lower the wall height as much as possible, and meanwhile, guarantees the operation safety of various types of trains under strong wind. This method has been used for the construction and improvement of the windbreak walls along the Lanzhou–Xinjiang railway(from Lanzhou to Urumqi, China).
基金Projects(51075401,U1334205)supported by the National Natural Science Foundation of ChinaProject supported by the Scholarship Award for Excellent Innovative Doctoral Student granted by Central South University of ChinaProject(132014)supported by the Fok Ying Tong Education Foundation,China
文摘Analysis of the aerodynamic performance of high-speed trains in special cuts would provide references for the critical overturning velocity and complement the operation safety management under strong winds.This work was conducted to investigate the flow structure around trains under different cut depths,slope angles using computational fluid dynamics(CFD).The high-speed train was considered with bogies and inter-carriage gaps.And the accuracy of the numerical method was validated by combining with the experimental data of wind tunnel tests.Then,the variations of aerodynamic forces and surface pressure distribution of the train were mainly analyzed.The results show that the surroundings of cuts along the railway line have a great effect on the crosswind stability of trains.With the slope angle and depth of the cut increasing,the coefficients of aerodynamic forces tend to reduce.An angle of 75°is chosen as the optimum one for the follow-up research.Under different depth conditions,the reasonable cut depth for high-speed trains to run safely is 3 m lower than that of the conventional cut whose slope ratio is 1:1.5.Furthermore,the windward slope angle is more important than the leeward one for the train aerodynamic performance.Due to the shield of appropriate cuts,the train body is in a minor positive pressure environment.Thus,designing a suitable cut can contribute to improving the operation safety of high-speed trains.
