58 research outputs found

    Path following for a target point attached to a unicycle type vehicle

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    In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allows global stabilization without restrictions on initial conditions. The effectiveness of this controller is illustrated through simulations

    Modelling ground vibrations induced by harmonic loads

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    A finite-element model combining the frequency domain thin-layer method with paraxial boundary conditions to simulate the semi-infinite extent of a soil medium is presented in this paper. The combined numerical model is used to deal with harmonic vibrations of surface rigid foundations on non-horizontal soil profiles. The model can deal with soil media over rigid bedrock or significant depths of half-space. Structured finite elements are used to mesh simple geometry soil domains, whereas unstructured triangular mesh grids are employed to deal with complex geometry problems. Dynamic responses of homogeneous as well as layered soil profiles are simulated and validated against analytical and approximate solutions. Finally, the model is used to deal with surface ground vibration reduction, in which it is first validated against published results and then followed by an example involving a bridge

    Dynamic calibration of slab track models for railway applications using full-scale testing

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    Research and development of technology for railways has found new impetus as society continues to search for cost effective and sustainable means of transport. This tasks engineers with using the state-of-the-art science and engineering for rolling stock development and advanced technologies for building high performance, reliable and cost-effective rail infrastructures. The main goal of this work is to develop detailed and validated three-dimensional slab track models using a finite element formulation, which include all components of the infrastructure. For this purpose, the parameters of the computational models are identified by performing full-scale tests of the fastening system and of the slab track, including all its material layers. The computational model proposed here is calibrated using this approach and a good agreement is obtained between experimental and numerical results. This work opens good perspectives to use this reliable track model to study the interaction with railway vehicles in realistic operation scenarios in order to assess the dynamic behaviour of the trains and to predict the long-term performance of the infrastructure and of its components
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