Browse Topic: Vehicle dynamics

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Hierarchical Yaw–Roll Stability Control of Semi-Trailers Based on Joint Estimation of Equivalent Parameters02-20-01-00018/19/2026
Semi-trailers are widely used in highway freight transportation because of their large payload capacity and high transport efficiency. However, structural characteristics such as a high center of gravity (CG), heavy loads, and the dynamic coupling between the tractor and trailer make them prone to yaw instability and rollover under complex conditions. To solve these problems, this article proposes a hierarchical stability control architecture for semi-trailers based on the joint estimation of equivalent parameters. First, a six-degree-of-freedom (6-DOF) theoretical dynamic model is established. This model includes the lateral, yaw, and roll motions of both the tractor and trailer to provide desired reference states. Second, a parameter estimation method combining a genetic algorithm (GA) with a forgetting-factor recursive least squares (RLS) algorithm is designed. It dynamically identifies eight unknown equivalent parameters, specifically the tire cornering stiffness and suspension damping. Next, a hierarchical controller is developed. The upper layer uses model predictive control (MPC) to calculate the required additional yaw moments, while the lower layer allocates these moments through quadratic programming (QP) based on vehicle steering characteristics. Co-simulation results, evaluated using error metrics that compare control outputs directly against TruckSim reference outputs, show that the fusion GA-RLS method offers better accuracy and adaptability than a standalone GA. Furthermore, the stability controller prevents rollover in high-speed maneuvers and reduces peak state indicators by over 41.2% in low-speed scenarios. Robustness tests also confirm its effectiveness under low-adhesion road conditions and heavy payloads. Compared with a conventional fixed-parameter MPC, the proposed adaptive architecture improves key stability indicators by 19% to 25%, effectively enhancing the dynamic safety of semi-trailers.
Song, Dafeng, Ni, Lixin, Duan, Chaosheng, Zeng, Xiaohua
Design and On-Vehicle Validation of a Clutchless Electro-Pneumatic Gear-Shifting System for a Formula Student Race Car2026-01-50698/14/2026
Gear-shift execution is critical to power delivery, vehicle acceleration, and driver workload in Formula Student racing vehicles. Conventional shifting solutions for sequential gearboxes are often limited by driver-dependent operation, insufficient actuator authority, incomplete torque coordination, or the absence of closed-loop gear-state confirmation. This study develops and validates a clutchless electro-pneumatic gear-shifting system for a CF700-powered Formula Student vehicle equipped with an integrated sequential dog-engagement gearbox. The system is treated as a shift-assist form of automated manual transmission, in which the driver retains gear-selection authority while shift actuation and engine torque coordination are performed electronically. Although pneumatic shifting systems are already established in motorsport applications, the present work focuses on their vehicle-specific integration through measured shift-load characterization, geometry-based actuator design, gear-position-based closed-loop control, and electronic-throttle-assisted torque intervention. Vehicle tests were conducted under straight-line acceleration, high-speed obstacle-avoidance, and endurance-oriented training conditions. Across 76 recorded shift events, no failed gear transition or missed target-gear confirmation was observed. In straight-line acceleration tests, the mean target-gear confirmation time for recorded upshifts was 96 ± 5 ms, and the representative gear-position transition interval was approximately 20 ms. The full Engine Control Unit (ECU)-controlled upshift event was 0.50 ± 0.10 s because it included the calibrated low-torque dwell and torque-recovery phase, and should therefore be interpreted as a control-event window rather than the mechanical shift duration. After powertrain-specific actuation and torque-control calibration, the developed system provides an implementation basis for similar electronically controlled sequential-gearbox racing platforms, with potential to reduce shift time and driver workload and to support improved autocross drivability and performance.
Cao, Yuanyi
Design of Adaptive Overtorsion Sliding Mode Observer Based on Logarithmic Gain Law and Estimation of Satellite Disturbance Torque2026-99-03158/14/2026
The vigorous rate of new spacecraft being launched has made the accurate estimation of in-orbit environmental disturbances torques paramount to reducing attitude control performance corrosion. Leveraging telemetry from an asset in low-earth-orbit, we present a novel Adaptive Super-Twisting Sliding-Mode Observer, which interlinks three techniques heretofore decoupled: 1) saturation-constrained angular-acceleration adaptation; 2) Kalman-filter preconditioning of angular velocity; and 3) state-weighted logarithmic gain with dual leakage. Denoising of raw Euler angle sequences and detection of quasi-steady epochs are achieved with a customized Kalman update, while an adaptive band-pass stage isolates the torque-related acceleration signature. Casting these filtered data into the super-twisting form, we update the log gain on-the-fly, and twin leakage terms remove excess energy with accompanying chatter rejection—without compromising bandwidth. Head-to-head telemetry tests show a positive margin headroom on noise attenuation that has to be compared with the power-gain type counterpart and that increases with the signal roughness, thereby validating the fact that this technique refines environment torque estimates and hence strengthens robustness design envelopes in next-generation attitude-control systems.
Yin, Xu, Deng, Yuhui, Chi, Dongxiang
Comparative Analysis of CDTire Model and FTire Model in Vehicle Comfort and Durability Simulation2026-99-03018/14/2026
Applicability of the CDTire tire model in vehicle handling and stability simulations is studied in this paper by comparison with the PAC2002 tire model. Based on the physical tire 245/50 R20, corresponding CDTire and PAC2002 models are established and assembled on the multibody dynamics model of an SUV. After simulating 5 handling and stability conditions, it is found that the CDTire calculation is more time-consuming compared with PAC2002, but the increased time cost does not exceed 10%. In addition, the relative errors of the 17 evaluation indices obtained based on CDTire compared to PAC2002 do not exceed 5%. Therefore, in terms of both computational accuracy and efficiency, CDTire is suitable for application in vehicle handling and stability simulation.
Gao, Fengling, Wu, Wenwen, Fei, Yuanjun
Research on Optimizing Mars Atmospheric Capture Approach Trajectories Based on the Adaptive Differential Evolution Algorithm2026-99-03078/14/2026
To strictly balance orbital insertion precision with engineering constraints during Mars aerocapture, we present an angle-of-attack (AoA) trajectory optimization framework based on adaptive differential evolution. First, a three-degree-of-freedom flight dynamics model was established utilizing the Mars-GRAM 2024 atmospheric standard. Subsequently, we formulated a penalty function centered on apoapsis altitude deviation to enable constraint-oriented dynamic optimization. Within this framework, we introduced an adaptive, direction-guided mutation strategy that integrates global optimal individuals with elite solutions. Furthermore, a parameter update mechanism driven by mutation success rates was developed to significantly enhance algorithmic robustness and computational efficiency. The AoA command sequence for the capture phase was parameterized using a piecewise constant formulation. Comparative simulations under ±30% atmospheric uncertainty demonstrate that, within critical velocity ranges, our improved algorithm elevates the trajectory altitude by approximately 36 km compared to fixed AoA methods. Notably, it reduces convergence time by 50% while strictly adhering to spacecraft physical performance boundaries. These results underscore the method's capability to provide robust, high-precision orbital adjustment support for aerocapture missions in uncertain atmospheric environments.
Tao, Kemeng
Analysis of the Influence of the Centroid Distribution of the Raft on the Shafting Alignment2026-99-03048/14/2026
Aiming at the problem of shaft alignment disturbed by the centroid distribution of the raft in the ship propulsion system, the quantitative influence of centroid offset on bearing load distribution and axis deformation is revealed. Based on the theory of an elastically supported continuous beam, the finite element model of the raft-shaft coupling system is established. By adjusting the position of the raft counterweight mass point (longitudinal offset range ±0.5 m) to simulate the centroid change, the static solution algorithm is used to analyze the key parameters, such as bearing load and axis alignment accuracy, under multiple groups of centroid offset conditions. It is concluded that when the centroid of the raft moves to the propeller end, the load of the 1# and 2# bearing near the propeller end increases, and the load of the 3# and 6# bearing near the thrust plate end decreases. The lateral offset of the center of mass increases, the axial offset at the stern bearing increases, the maximum deflection of the shafting increases, and the deformation of the raft structure increases. The centroid distribution of the raft is a disturbance source of the shafting alignment state, and its offset will reconstruct the bearing load distribution and cause the axis deformation. It is recommended to control the lateral offset of the center of mass at the design stage and reserve the dynamic compensation margin for the shafting alignment.
Yin, Hong, Jin, Yong, Wang, Jun, Tian, Jiabing
Vibration Simulation of Guide Mechanism Based on Rigid-Flexible Coupling Dynamics2026-99-03108/14/2026
For vibration issues induced by coupling effects between flexible barrel guide mechanisms and moving bodies in high-speed dynamic systems, this study investigated their interaction mechanism using flexible multibody dynamics principles. A solid model was developed in 3D CAD software. The modal neutral file (MNF) of the guide mechanism was generated in ABAQUS, and its contact dynamics with the moving body were simulated in ADAMS via flexible contact theory and the modal superposition method. Comparative simulations revealed that incorporating structural flexibility yielded smoother fluctuations in the moving body’s axis inclination angle, providing more accurate system behaviour characterization. Exit velocity and spin rate errors remained below 5% against theoretical values, demonstrating model reliability.
Zhu, Qing, Cheng, Zixiang, Zhuo, Changfei
Mechanical Structure Design and Dynamics Simulation of an Exoskeleton Leg Rehabilitation Robot2026-99-09028/7/2026
In response to the challenges of training and rehabilitation for patients with leg dysfunction, this research focuses on two core requirements: “bionic adaptation” and “safety assistance”. It introduces a novel exoskeleton leg rehabilitation robot designed to support diverse rehabilitation exercises for individuals with leg disabilities during therapy. The robot system consists of a lumbar support structure, thigh mechanical components, calf mechanical components, leg fixation straps, and foot mechanical structures, and achieves multi degree of freedom motion simulation through three main joints: hip joint, knee joint, and ankle joint. Each mechanical leg has three independent degrees of freedom, which can effectively simulate the natural movements of the human lower limb, such as flexion, extension, abduction, etc., during the gait cycle, thus meeting the functional needs of patients for different movement modes during rehabilitation training. On the basis of structural design, this study further utilizes multi-body dynamics simulation software ADAMS to conduct kinematic and dynamic analysis of the exoskeleton robot. By simulating the joint torque of the exoskeleton legs under ideal working conditions, the rationality and smoothness of the mechanism design are verified. The simulation results not only reflect the performance of the robot in typical rehabilitation actions, but also provide a theoretical basis and data support for the selection and parameter matching of key execution components (such as servo motors, reducers, etc.), laying an important foundation for the physical development and control strategy optimization of the robot system.
Mu, Xiaoqi, Ma, Chao, Li, Weijie, Pu, Shuai, Liu, Jiaqi, Wang, Ruiyin, Zhang, Xiaodong
Research on Parameter Matching of Electric Vehicle Powertrain System2026-99-09058/7/2026
This paper focuses on the parameter matching of key components and the improvement of overall vehicle performance for a certain front-wheel drive pure electric vehicle. Firstly, based on the target performance of the vehicle, the rated/peak power, speed, and torque of the permanent magnet synchronous drive motor, as well as the capacity, voltage, and series-parallel scheme of the LiFePO4 power battery, are systematically calculated. Meanwhile, the gear ratio of the transmission system is determined based on the dual constraints of the maximum speed and the maximum gradeability. Subsequently, the vehicle model is built using AVL Cruise, and the maximum speed, 0-100 Km/h acceleration time, maximum gradeability, and NEDC range are simulated and verified under steady-state and transient conditions. The results show that the maximum speed of the prototype vehicle reaches 139 Km/h, the 0-100 Km/h acceleration is 7.98 s, the maximum gradeability is 33.2%, the power consumption per 100 Km is 12.12 KWh, and the range is 485 Km, all of which are superior to the design indicators. The research verifies the rationality of the proposed parameter matching scheme and can provide a theoretical basis and engineering reference for the forward development of the power system of pure electric vehicles of the same level.
He, Yuefan, Zhang, Baoping, Tang, Shujian, Chen, Hanbang, Jin, Biao
Analysis of the Impact on Ride Comfort from Splitting the Unsprung Mass in Vehicle Modeling2026-01-50578/6/2026
The study was conducted to investigate the differences in ride comfort analysis between treating the unsprung mass as a whole and modeling it separately. A classical two-degrees-of-freedom single-wheel vehicle vibration model and a three-degrees-of-freedom single-wheel vehicle vibration model with split unsprung mass were established, with their state-space descriptions determined. The fundamental vibration response quantities of both models were identified, and time-domain simulations under random road excitation were performed using MATLAB/Simulink. The results indicate that the two modeling approaches exhibit minimal differences in ride comfort analysis for the sprung mass, but there are certain differences for the unsprung mass. Additionally, for the three-degrees-of-freedom single-wheel vehicle vibration model with split unsprung mass, the axle-to-wheel mass ratio was introduced to analyze the changes in the fundamental vibration response quantities when the unsprung mass increases by a fixed value and is distributed differently between the axle and the wheel. The results show that variations in the axle-to-wheel mass ratio have no significant impact on the vibration characteristics of the sprung mass. Reducing the mass ratio, i.e., transferring part of the unsprung mass to the wheel, can somewhat reduce the vertical acceleration of the unsprung mass, but it will slightly increase the relative dynamic load on the wheel. Finally, the other two models were simplified by combining the two masses connected by the bearings.
Jie, Li, Wei, Deng, Chengyu, Li
Delay-Compensated Active Anti-Roll Bar of Tractor-Trailers Using Two-Dimensional Piston Pump Electro-Hydrostatic Actuators02-19-04-00278/5/2026
As tractor-trailers are essential to global logistics, their roll stability during emergency maneuvers is a critical safety concern. This paper presents a novel delay-compensated active roll control strategy for tractor-trailers using a two-dimensional piston pump electro-hydrostatic actuator (EHA). Unlike existing advanced strategies that assume ideal actuator behavior, this approach specifically targets the inherent response delay in high-tonnage applications. A detailed EHA model, including pump flow characteristics and hydraulic mechanics, was developed and validated through step response experiments. A seven-degree-of-freedom vehicle dynamics model and a model predictive controller were also constructed to compute the required anti-roll moment under emergency driving conditions. In order to address the EHA actuator’s response delay, a delay feedforward controller (DFC) was designed, integrating acceleration feedforward, feedback regulation, and delay disturbance estimation. TruckSim–Simulink co-simulations under double lane-change (DLC) maneuvers at 40 km/h, 60 km/h, and 80 km/h show that DFC improves displacement tracking and reduces peak trailer roll angle by up to 15% compared to a velocity-feedforward proportional-integral-derivative (VFPID) controller. It also enhances control efficiency, as evidenced by lower average motor speeds and pressure response of EHA. The system demonstrates high power-to-weight ratio and efficient tracking capabilities under dynamic conditions. Although active control provides limited benefit at low speeds, the proposed strategy effectively improves roll stability and driving safety under dynamic conditions.
Chen, Lijie, Yin, Yuming, Zeng, Yuhang, Ruan, Jian, Li, Hangqi, Sun, Peng
Design and Research of Robotic Arm for Belt Conveyor Roller Replacement2026-99-01877/31/2026
To address the high failure rate of rollers in coal mine belt conveyors, the inefficiency of manual replacement, and the operational disruptions caused by maintenance shutdowns, this study proposes a robotic arm system capable of replacing rollers without halting conveyor operations. The research focuses on the kinematic performance and path planning strategy of the robotic arm. A kinematic model is established using the Denavit–Hartenberg (DH) parameters, and the workspace distribution is analyzed via the Monte Carlo method. The results show that the horizontal reach exceeds 2020 mm and the vertical reach extends up to 2000 mm, which fully satisfies the spatial requirements for roller replacement across the entire conveyor system. In the path planning phase, an obstacle expansion model is constructed, and an improved Informed RRT* algorithm is implemented to generate collision-free trajectories, ensuring effective obstacle avoidance. To improve trajectory smoothness, path pruning and cubic B-spline interpolation are applied to refine the initial paths. For trajectory planning in joint space, quintic polynomial interpolation is employed, with boundary conditions set to ensure zero velocity and zero acceleration at both the start and end points, thereby guaranteeing smooth and stable motion of the robotic arm. Simulation results indicate that joint angles, angular velocities, and angular accelerations vary smoothly throughout the roller grasping process, without abrupt changes, and converge to zero at the beginning and end of the trajectory. End-effector trajectory tracking error analysis reveals positioning errors within 0.8 mm for side rollers and 3 mm for central rollers, well within acceptable engineering accuracy thresholds. This work provides a theoretical foundation and a practical implementation framework for advancing automation and intelligent operation in roller replacement tasks within coal mine belt conveyor systems.
Pu, Congyuan, Qian, Ke
Research on Data-Driven Intelligent Monitoring and Prediction System for Fatigue Damage in Metallurgical Cranes2026-99-02167/31/2026
Metallurgical cranes have a high risk of structural fatigue damage and failure under complex working conditions such as high temperature, heavy load, and strong electromagnetic interference. This article proposes a data-driven structural fatigue damage health monitoring system. This system integrates fiber Bragg grating sensing technology, rigid flexible coupling multi-body dynamics simulation, and big data analysis methods to construct a sensor optimization layout strategy based on rigid flexible coupling virtual prototype simulation, achieving real-time perception of stress states in key parts such as the mid span and end beam corners of the main beam. Develop a visualization system that integrates health monitoring, damage diagnosis, and life prediction. This system can dynamically evaluate the structural health status of metallurgical cranes and predict the remaining life of the structure based on a nonlinear cumulative damage model. On site engineering applications have shown that the monitoring and prediction visualization system can effectively improve the intelligent and safe operation and maintenance level of metallurgical cranes, providing a data foundation and possibility for their predictive maintenance.
Chen, Li, Zhang, Xu, Ding, Keqin
Dynamic Analysis and Research on the Influence Exerted by External Sling Load Lifting Point Location on Helicopter Control Stability Characteristics2026-99-02217/31/2026
Regarding the external sling load system of heavy-lift helicopters, the influence of the law of lifting point position on flight control stability characteristics has not been distinctly explained. To address this challenge, this paper constructs a sling load flight simulation model based on multi-body dynamics. Overall, the proposed model consists of four parts, including the rotor aeroelastic coupling model, the fuselage rigid body dynamics model, the flexible sling model, and the slung object rigid body model. Furthermore, through the hub six-degree-of-freedom rigid model and the flexible sling model, this paper realizes the dynamic coupling between the components. On this basis, taking the CH-53E heavy-lift helicopter as the research object, this paper utilizes real flight test data to validate the multi-body dynamic model. Subsequently, this paper systematically analyzes the influence of different lifting points’ lateral position, sling load mode, load-mass ratio, and forward flying speed on helicopter control stability characteristics. Simulation results indicate that the lifting point location exerts a significant impact on the helicopter’s trim attitude angles and dynamic stability. Of them, the lifting point location of the front center of gravity is the optimal in terms of trim characteristics and eigenvalue distribution. Furthermore, within a certain flight speed range, the lifting point of the front center of gravity demonstrates superior speed adaptability and system robustness. Apart from providing a solid theoretical basis for the lifting point layout design of the external sling load system of heavy-lift helicopters, the research results have important engineering application value for improving the safety of sling load flight of heavy-lift helicopters.
Wang, Zixin, Zhang, Honglin, Meng, Xiaowei, Zhang, Yunrui
Finite Element Simulation of Hot-Rolled TC4 Bulb Flat Titanium Alloy2026-99-02397/31/2026
To facilitate the development and application of bulb-flat titanium alloys in aerospace and automotive industries, this study selects TC4 as the research material and employs finite element simulation software to simulate the hot rolling process of TC4 bulb flat titanium. The temperature field, strain field, and metal flow velocity in each rolling pass are analyzed, and rolling experiments are conducted after optimizing the roll pass system. The results indicate that during the rolling process of TC4 bulb flat titanium, the head undergoes relatively smaller deformation, resulting in a slower temperature decrease, whereas the waist experiences greater deformation and a faster temperature drop. A significant temperature difference exists between the core and surface, which can be mitigated by appropriately increasing the roll temperature to reduce heat transfer. Prior to the K4 pass, the billet temperature drops to a level that may affect rolling performance, necessitating furnace reheating. Strain increases progressively with each rolling pass, with higher values observed at the waist compared to the head. A gradual strain transition occurs at the interface between the head and waist. Furthermore, the irregular design of the roll pass leads to a considerable difference in metal flow velocity between the upper and lower surfaces. During the K1 pass rolling, this imbalance can cause the guide guard to be displaced upward and result in roll wrapping. Without altering the roll diameter, shifting the entire roll pass system toward the side with higher metal flow velocity effectively reduces the linear velocity and prevents these issues, ensuring stable billet rolling. Rolling experiments successfully produced the final TC4 bulb flat titanium, thereby validating the feasibility of the optimized roll pass system and the rationality of the selected rolling parameters. It provides the possibility for its development and application in fields such as aircraft and automobiles.
Wu, Xiaojuan, Liu, Dongming, Wen, Mingyue
Comparative Analysis of CDTire Model and FTire Model in Vehicle Comfort and Durability Simulation2026-99-01097/31/2026
This paper studies the applicability of the CDTire tire model in vehicle comfort and durability simulations by comparing it with the FTire tire model. Based on a physical 250/50 R19 tire, the corresponding CDTire and FTire models are developed and integrated into a multibody dynamics model of an SUV. After simulations of two handling comfort conditions and one durability condition using the CDTire and FTire models, it is found that, when FTire is used as the base case, CDTire produces a smaller relative error in vehicle comfort simulation, with a maximum of +5.6%. In the durability simulation, the relative error is larger, but the maximum value remains within ±10% at + 9.7%. Therefore, it can be concluded that CDTire is one tire model with acceptable simulation accuracy for vehicle comfort and durability.
Gao, Fengling, Wu, Wenwen, Geng, Hao
Study on Energy-related Mechanisms of Aeroelastic Instability of Ultra-Long Flexible Wind Turbine Blades Under Various Working Conditions2026-99-01347/31/2026
With the continuous increase in wind turbine power capacity, ultra-long flexible blades face intensified aeroelastic instability risks due to reduced structural stiffness, enhanced modal coupling, and aerodynamic nonlinearity. In addition to the analysis of basic vibration characteristics, this study focuses on energy-related mechanisms of aeroelastic instability under various working conditions. Using a numerical model integrating Dynamic Blade Element Momentum Theory (DBEMT) and Geometrically Exact Beam Theory (GEBT), over 400 time-domain simulations were conducted to characterize instability onset and development. Results reveal four distinct aeroelastic instability regions, each dominated by specific modes. In Region A, flutter dominated by the 2nd flapwise mode is observed. In Region B, flutter dominated by the 1st edgewise mode is observed. In Region C, flutter dominated by the 2nd edgewise mode is observed. While in Region D, where the medial angle of attack (AoA) of the blade has exceeded the stall angle, stall-induced vibration dominated by the 1st flapwise mode is observed. Energy analysis shows aerodynamic work concentration near the blade tip drives instability, with diverse energy exchange patterns across regions. Except for some operating conditions in region C, where instability is dominated by edgewise energy absorption, most aeroelastic instability conditions are dominated by flapwise energy absorption. Torsional degree of freedom contributes minimally to aerodynamic work, but the torsional vibration exerts a notable influence on the AoA. This, in turn, changes the comprehensive aerodynamic forces impacting the blade as well as the general aeroelastic stability. This study clarifies the relationship between operating conditions and energy-driven instability, offering some reference values for the design work and safety assurance of ultra-long flexible blades of the wind turbine.
Wang, Su, Chen, Jiajia, Zhou, Le, Shen, Xin, Li, Chun, Du, Zhaohui
Advanced Damping Force Modeling Using Machine Learning for Next-Generation Electric Vehicle Suspensions2026-01-50537/31/2026
The rapid evolution of electric vehicles (EVs) has led to the development of innovative approaches to optimize ride comfort, handling, and the overall suspension performance. EVs introduce unique challenges due to their distinct weight distribution, powertrain dynamics, and noise characteristics, unlike their conventional internal combustion engine (ICE) counterparts. This paper outlines an advanced damping force modeling methodology using machine learning (ML) techniques to enhance the suspension design process for next-generation EVs. The analysis is based on data-driven ML algorithms, i.e., Gradient Boosting, Random Forest, and Neural Networks, to simulate the nonlinear and frequency-dependent phenomenon of dampers in different operating conditions. A comprehensive dataset, generated through simulation and experimental testing, captures the effects of road profiles, vehicle dynamics, and damping settings. Additionally, this research evaluates the impact of machine-learned damping force predictions on critical ride and handling metrics, including ride comfort, road-holding ability, and energy efficiency. The results demonstrate that the ML models can enhance the iterative design process considerably and help to create the adaptive suspension systems that will address the particular requirements of EVs. This paper contributes to advancing the state-of-the-art of the suspension modeling, incorporating the ML-based insights in the development cycle. It highlights the possibility of artificial intelligence to transform suspension design, paving the way for superior ride quality and vehicle performance in electric mobility.
Hazra, Sandip, Tangadpalliwar, Sonali, Khan, Arkadip
Research on Fault-Tolerant Control Strategy for Drive System Failure of Corner Module-by-Wire Chassis Vehicles2026-01-50547/31/2026
As an emerging research focus, corner module-by-wire chassis vehicles overcome the limitations of traditional chassis in flexibility, cost, and development efficiency, serving as a key infrastructure in the autonomous driving era. However, their numerous actuators raise significant actuator failure risks. This paper analyzes the characteristics of such vehicles and studies fault-tolerant control for drive system failures. Firstly, a vehicle model for the corner module-by-wire chassis was established based on CarSim and Simulink. Then, a hierarchical lateral stability control strategy was designed for the non-faulty actuators: the decision control layer employed sliding mode control (SMC) and fuzzy PID control, selecting the optimal method to output additional yaw moments; the control allocation layer distributed the upper-level target yaw moments based on the vertical load of the tires, converting them into individual wheel torques to meet the constraints. For the drive system, potential fault scenarios were analyzed and their fault modes were classified. By using the non-faulty actuators for torque reconstruction, fault-tolerant strategies were designed for single-motor, diagonal dual-motor, and coaxial dual-motor faults. A co-simulation platform was built using MATLAB/Simulink and CarSim, testing the stability control strategies under three fault modes in constant-speed straight-line and double-lane change conditions. Simulation results show that the designed drive system fault-tolerant control strategy effectively maintains the vehicle’s expected dynamic performance and stability.
Zheng, Hongyu, Zhang, Tianhao, Zhang, Yuzhou
Design and Analysis of Offshore Wind Power Operation and Maintenance Shipborne Pitch Compensation Trestle Structure2026-99-08077/30/2026
In light of the significant roll/pitch experienced by traditional shipboard trestles due to wave action during the transfer of maintenance personnel from the operation and maintenance vessel to the offshore wind turbine base, an analysis of ship motion states was conducted under various sea conditions and ship manufacturing parameters. The kinematic capabilities and characteristics of the actuator were defined, and the mapping relationship between the wave compensation capability of the active wave compensation trestle and key design parameters, such as actuator power, was established. Consequently, an active wave compensation trestle executive mechanism was developed, incorporating lightweight research into its design. A prototype of the active wave compensation trestle was constructed and subjected to motion compensation testing. The results indicate that the prototype can effectively maintain stability between the ship and the offshore facility, thereby enhancing the safety of transferring personnel and improving maintenance efficiency.
Sun, Tierui, Zhao, Pengfei, Xin, Ran, Qiu, Jicheng, Yang, Xiaotao, Shiyuan, E
Design and Control of an Implement Leveling System for Crawler Tractors2026-99-08177/30/2026
Crawler tractors are essential equipment for modern agricultural mechanization. Most existing mounted implement leveling systems rely on single-cylinder or dual-cylinder structures. These system can only make small-angle leveling and struggle under complex conditions such as large roll angles and asymmetric obstacle crossing. To address this, a modular auxiliary-frame leveling system (MALS) for agricultural implements is proposed. A 3D model of the leveling mechanism is designed, and a fuzzy adaptive PID control algorithm is implemented. The electric cylinder actuator is modeled via a transfer function linking input voltage to mechanical displacement, This provides a theoretical basis for controller design and dynamic performance evaluation. Subsequently, a crawler tractor asymmetric obstacle-crossing simulation model is constructed in Adams and integrated with Simulink to form a co-simulation platform, analyzing system performance under a 220 mm single-side obstacle condition. Simulation results indicate that the MALS achieves an extreme adjustment range of ±25°. Further validation on the integrated prototype confirms the effectiveness of the simulation model and control strategy. This demonstrated that the system can be adapted for use in complex terrain operations.
Lin, Qiang, Li, Chenyang, Chen, Yuchen, Feng, Yangyu, Shao, Guifang, Zhu, Qingyuan
Nonlinear and Robust SDRE–H∞ Control for Brake-by-Wire under Variable Friction and μ-split2026-36-03427/30/2026
This paper proposes a nonlinear and robust State-Dependent Riccati Equation (SDRE) combined with H∞ control architecture for brake- by-wire systems, specifically designed to handle severe tire-road friction variations and μ-split scenarios. The primary objective is to maximize deceleration capabilities while rigorously maintaining yaw stability, trajectory tracking, and passenger comfort through jerk limitation. Situated within the domain of active safety, this research addresses robustness against real-world uncertainties by utilizing a high-fidelity 14-degree-of-freedom vehicle model that accounts for longitudinal, lateral, and yaw dynamics, suspension-induced pitch and roll effects, and nonlinear tire behavior with explicit load transfer. To ensure near-optimal slip tracking under variable surface conditions, the system employs online friction estimation via Extended and Unscented Kalman Filters (EKF/UKF) fusing wheel and IMU data to adaptively adjust slip targets. The control strategy is bifurcated: the SDRE component manages dominant nonlinearities through state-dependent gains to prevent wheel lock-up, while the H∞ component provides robust disturbance rejection against parametric uncertainties such as mass variations and sensor noise. Control efforts are distributed via a Quadratic Programming (QP) torque allocator featuring anti-windup mechanisms and explicit saturation handling to compensate for lateral drift during μ-split braking. Validation is conducted through a Model- in-the-Loop (MIL) to Software-in-the-Loop (SIL) pipeline using scenarios including wet surfaces and panic braking. Simulation results demonstrate enhanced yaw stability and controlled deceleration profiles compared to conventional baselines, ensuring computational feasibility for automotive Electronic Control Units (ECUs).
Cubillos, Ximena Celia Méndez
Influence of Roll Gap Control under Acceleration Conditions2026-99-08677/30/2026
During the cold rolling process, when the rolling speed enters the acceleration stage, the rolling force often exhibits a linear decline accompanied by fluctuations. This leads to a decrease in the uniformity of steel strip thickness distribution, resulting in the failure of the outgoing strip to meet quality requirements in terms of shape and thickness. In this paper, a three-dimensional model of a six-high rolling mill is established using Abaqus, and the influence of gap control during the acceleration stage on strip shape is systematically investigated. By analyzing the relationship between rolling force and roll gap variations, a gap compensation strategy based on a dynamic stiffness model is proposed. Simulation results demonstrate that implementing gap compensation during the acceleration stage effectively improves the consistency of strip thickness, with significant reductions in both thickness range and standard deviation.
Tang, Yingxin, Yan, Zhuwen, Cao, Wenjun, Wu, Jiawei
Research on the Design Technology of Anti-Roll Attachment for Seaplanes2026-99-08037/30/2026
This paper takes a seaplane as the research object, based on the roll damping commonly used in the field of ships, to carry out the applicability analysis and design technology research of the roll damping for the seaplane. A T-tail configuration was selected as the attachment. The design process involved sequentially selecting the horizontal stabilizer airfoil, designing the aspect ratio parameters, and determining the strut airfoil. Consequently, two T-tail design schemes with aspect ratios of 0.76 and 1.53 were proposed. Through the hydrodynamic performance analysis of the T-tail design installed on the seaplane, the advantages and disadvantages of the two T-tail designs in the wave environment are studied. The results demonstrate that the aspect ratio of the T-tail’s horizontal stabilizer directly affects the seaplane’s wave-induced motion response. The proposed design with a larger aspect ratio of 1.53 significantly reduces wave resistance and motion response across various conditions. In the case of a relatively small aspect ratio, the maximum pitching motion is reduced by 38.4%, and the maximum heave is reduced by 59%.
Jiang, Ting, Pi, Xufeng, He, Chao, Wen, Changqing, Li, Xu
Research on Takeoff and Cruise Control of Fixed-Wing UAVs in Urban Railway Inspection Scenarios2026-99-08247/30/2026
Urban railways are an important part of China’s rail transit “four network integration”. Their stations are typically situated in suburban regions, characterized by long lines and large station spacing. Traditional manual inspections entail a substantial workload and exhibit low efficiency; multi-rotor UAVs are constrained by limited endurance and airspeed, leading to low efficiency in daily long - range inspections. Fixed-wing UAVs have the advantages of long endurance and high altitude, and are more cost-effective for daily routine inspections when deployed in long areas. They complement the functions of multi-rotor UAVs in rail transit inspection applications. The flight control system of a fixed-wing UAV is a multi-channel, strongly coupled complex system. Based on its lateral and longitudinal dynamic models and navigation technology, this paper designs different types of PID control strategies for the control channels, such as roll angle, pitch angle, altitude, vertical velocity, and flight airspeed, and verifies the feasibility of the control algorithm through numerical simulation. Finally, through on-site test flights, the stability and reliability of the single aircraft flight control system were verified, providing technical support for the availability of fixed-wing unmanned aerial vehicles in the inspection of long sections of urban railways.
Lin, Jing, Deng, Zhixiang, Xu, Jun, Wu, Huankun, Guan, Bin, Liu, Lei
Design and Analysis of a Lightweight Offshore Gangway2026-99-08517/30/2026
During offshore wind power operation and maintenance activities, personnel transfer and boarding procedures involve numerous safety risks. is a highly effective solution for enhancing safety during ship transfers at sea. This paper designs a compact active motion-compensating lightweight gangway capable of compensating for multi-degree-of-freedom motions induced by sea waves, including roll, pitch, yaw, and heave. The structural design is first established, and based on this configuration, the output forces of the rotary electric cylinder, roll electric cylinder, and pitch electric cylinder are analyzed. A finite element method was employed to conduct a static analysis of the gangway under extreme loading conditions. Analysis of the first six modal orders revealed that the first natural frequency of the designed gangway is significantly higher than the wave frequency, thereby effectively preventing resonance phenomena. The forward transformation matrix of the gangway was simulated using the Denavit-Hartenberg (DH) method. Simulation results indicate that the working space of the lightweight gangway meets the preset motion range requirements, thereby validating the design’s feasibility. The designed compact passageway features simple operational control, high cost-effectiveness, minimal installation footprint, and low installation and control complexity, demonstrating high practicality.
Yu, Zhigang, Fu, Wanli, Zheng, Bowen, Wang, Zhuoqun, Fang, Jiwen
A Study on the Nested Velocity Planning Method for NURBS Curves2026-99-08577/30/2026
To ensure that NURBS curve interpolation meets motion constraints during machining while maintaining low velocity fluctuations, this paper proposes a nested look-ahead velocity planning algorithm. Traditional methods require identifying feedrate-sensitive points and segmenting the curve, which may lead to local velocity exceeding the limits and can involve significant computational effort. The proposed method does not require sensitive-point detection and instead constructs the velocity profile in a globally consistent manner. The algorithm combines a backtracking S-curve acceleration/deceleration strategy to ensure compliance with motion constraints with the Gear prediction–correction method for parameter interpolation, achieving low velocity fluctuation. Through nested iterative refinement, the planned feedrate is continuously corrected until all segments satisfy the imposed constraints. Simulation results show that the method effectively prevents local velocity overshoot, significantly reduces velocity fluctuations compared with conventional second-order Taylor expansion methods, and generates feedrate profiles with continuous acceleration that minimize dynamic shocks during motion. Therefore, the proposed approach provides an effective solution for NURBS-based machining, fully meeting motion constraints while maintaining low velocity fluctuation.
Hu, Jinpeng
A Standardized Mid-Fidelity Aerodynamic Comparison of Four Tiltrotor eVTOL Configurations Using SUAVE and VSPAero2026-99-08397/30/2026
This study compares 4 representative tiltrotor platforms: Joby S4, Archer Midnight, Vertical Aerospace VX4, and Uber eCRM-001 in a typical UAM mission profile under standardized rotor and wing assumptions using an integrated OpenVSP-SUAVE-VSPAero framework. This work aims to isolate the influence of eVTOL configuration from proprietary optimizations on thrust generation and aerodynamic interaction by using standard wing airfoils and a consistent rotor design tool. Vehicle geometries were modeled in OpenVSP. Rotor Operating conditions were obtained from the SUAVE conceptual design platform. Mid-fidelity aerodynamic analysis was done using VSPAero. SUAVE results show a decrease in thrust requirements as the tilt angle decreases, with the most complexity occurring in the transition phase where lift shifts from rotors to wing. Archer Midnight and Vertical Aerospace VX4 show higher hover thrust requirements due to their high takeoff weights. They display localized thrust increase near mid transition due to numerical adjustments made to achieve solver convergence. Joby S4 and Uber eCRM-001 display a smoother thrust requirement trend. VSPAero simulations also show a gradual decrease in thrust from hover to cruise. Joby S4’s continuously active rotor configuration maintained more stable performance than the hybrid configurations, which deactivate lift-only rotors after takeoff. A comparative flight feasibility analysis was conducted, defined as the difference between VSPAero-predicted thrust and SUAVE-required thrust. This analysis reveals that Joby S4 maintains a positive margin across most flight phases. Archer Midnight and Vertical Aerospace VX4 show a marginal deficit in near-cruise phases. Uber eCRM-001 showed negative margins throughout the mission, indicating limited aerodynamic robustness under standardized assumptions. Rotor-wing interactions enhances rotor thrust across all mission segments, while creating periodic pressure oscillations on the wings. Rotor-rotor interactions provide limited near-field benefits that dissipate in forward flight. The findings of this study highlight the significance of eVTOL configuration in determining performance and aerodynamic efficiency.
Sawron, Md Sadat Shahrier
Systematic Assessment of State-of-the-Art Approaches Available for Variable Camber Morphing01-19-01-00057/29/2026
Aerodynamicists around the globe are developing mechanisms and structures inspired by nature that enable variable camber morphing (VCM) for aerodynamic surfaces. The implementation of the VCM mechanism in an airplane wing enhances the performance and stability during various flight segments. The present review article is focused mainly on the up-to-date VCM methods in a qualitative as well as quantitative approach that are specific to Aircraft/unmanned aerial vehicle (UAV) wing configurations. Initial literature discussions are confined to the conventional mechanisms that enable VCM in different aircraft configurations and the added aerodynamic advantages such as lift enhancement, drag reduction, boundary layer separation, and flow control. However, those designs need either external shape optimization or internal structural refinements to ensure the factor of safety (FoS). The modern aviation industry is also focused on bioinspired technology because of the adaptive flying capabilities and stall-delay characteristics. Therefore, a review of bioinspired VCM methods that are assessed based on the aerodynamic potentials is sequentially organized in the article. Additionally, considerations are motivated by the application of various compliant structural patterns for VCM in the aircraft industry. The discussion indicates the prospective benefits of morphing toward the future of the Green Aviation industry.
Manjunath, S. V., Jini Raj, R.
Research on a Rocket Projectile Impact Point Prediction Model Based on Improved Proportional Navigation Guidance Law2026-99-16027/24/2026
Rocket projectiles are a type of ammunition that get their power from rocket engines. Long-range guided rockets, in particular, hold great significance as they seem to mark the way forward in modern warfare. These guided projectiles take full advantage of the considerable range that long-range rockets offer and, at the same time, manage to achieve improved accuracy. This paper delves into a model that is used for predicting the impact point of rocket projectiles, with the application of the proportional navigation guidance law. It also undertakes an analysis of both the strengths and the weaknesses of this model. Through the formulation of equations related to the dynamics of the center of mass and some other supplementary equations, a rather comprehensive trajectory equation was worked out. When this trajectory was simulated, it brought about the creation of a firing table, which is of help in predicting the initial trajectory inclination angle.
Tao, Wenwen, Wang, Ru, Zhang, Liang, Pi, Runge
Effect of the Rolling Temperature on the Microstructure of the Cu-10Fe Alloys during Warm Rolling2026-99-16297/24/2026
Cu-Fe alloys exhibit excellent performance, and increasing Fe content reduces costs. However, high-Fe Cu-Fe alloys exhibit limited formability at room temperature, while warm rolling improves their processability. This research investigates the effect of rolling temperature on the microstructural transformations and texture development in the Cu-10Fe alloys. The experimental result is that during cold rolling, the morphology of Fe phases is mainly fibrous. With the rolling temperature rising, the microstructural morphology of Fe phases becomes globular / elliptical. The difference is that with the increase in rolling temperature, the average grain size of the Cu-10Fe alloy first decreases and then increases. The matrix microstructure remains dominated by deformed grains, with significant recovery observed at 500 °C. The Fe-phase microstructure primarily consists of substructured grains, and dynamic recovery intensifies with rising temperature. During cold rolling, high dislocation density and localized strain heterogeneity lead to dispersed texture orientations and low strength. In contrast, warm rolling promotes dislocation climb and dynamic recovery, triggering partial recrystallization. This reduces randomly oriented grains, enhances the strength and continuity of specific textures, and establishes a more concentrated texture distribution. This forms a structure with fine recrystallized grains embedded within deformed grains, exhibiting slightly lower strength than cold-rolled samples but better elongation. These findings reveal the crucial role of deformation temperature in controlling microstructure transformation and texture evolution, especially by regulating the recovery and recrystallization behaviors of Cu-10Fe alloys. The above results hope to provide some theoretical and experimental basis for a new approach to improve processing technologies for new Cu-Fe-based composites.
Lin, Baosen, Huang, Su, Wang, Dongxiao, Li, Jianping
Research on a Real-Time Pilot-Induced Oscillation Detector Based on a Convolutional Neural Network2026-99-16137/24/2026
This study aimed to develop a real-time Pilot-Induced Oscillation (PIO) detector by utilizing a Convolutional Neural Network (CNN) and applying it to flight test monitoring. For data training, a database of PIO samples is established. CNN has the advantage of lower complexity and automatic feature learning; it is chosen to develop the PIO detector. The results showed that the accuracy of the trained model has reached 93.71%, where the recall rate reaches 94.74%. To better assist the monitoring team, a simple software is designed based on the trained model for PIO detection, and it has been applied in flight test monitoring. In conclusion, this research demonstrates that the CNN Algorithm can be utilized in PIO discrimination and improve the monitoring capacity for flight testing.
Han, Yiwen, Liu, Chaoqiang
Study on the Aerodynamic Characteristics of Canard Configuration Missile Influenced by Aileron2026-99-16107/24/2026
The canard configuration has been widely adopted in short-range missiles. However, its main drawbacks include difficulties in roll control and a limited angle-of-attack (AoA) range. Compared to conventional canard missiles, the addition of a pair of control surfaces (referred to as “aileron”) behind the canard control surfaces achieves decoupling between the roll channel and pitch-yaw channel. To investigate the influence of ailerons on the aerodynamic characteristics of canard configuration missiles, numerical simulations were conducted for two typical flow conditions: subsonic (Mach 0.5) and supersonic (Mach2.0). The results show that the introduction of ailerons increases the normal force of missiles, causes the center of pressure to shift forward, and reduces the static stability of missiles, thus enhancing their maneuverability. When the ailerons control the roll channel, the effectiveness of the rolling moment remains consistent over the entire AoA range without adverse effects. However, when the canards control the pitch channel, the interference caused by the deflection of the canards on the ailerons leads to increased lift and generates additional nose-up pitching moments, which reduces the pitching moment effectiveness of the missile.
Zhang, Zilun, Xu, Jiasheng, Mei, Zhiwei
Research on the Application of Eddy Current Retarders in Aircraft Arresting Systems2026-99-16217/24/2026
At present, the aircraft arresting system in our country is the fixed water turbine type. This kind of equipment cannot achieve the arrestment of multiple aircraft types, and the arresting distance cannot be adjusted. According to these problems of the aircraft arresting system in our country, the eddy current retarding device is added, based on the water turbine braking device of the aircraft arresting system. It derives the differential equation for an aircraft arresting system with a water turbine brake and eddy current retarder using mathematical modeling. Four types of aircraft parameters are selected, and MATLAB is used as a simulation tool to verify the reliability of the arresting system after installing the eddy current retarder. This research can improve the arresting support ability and make the arresting device meet the arresting requirements of different types of aircraft.
Wei, Yan, Feng, Chunchun, Wang, Jianwu, Li, Binghong, Yang, Yang
Simulated Ice Accretion Stall Flight Test Technology for Civil Aircraft with High Angle of Attack Restriction Function2026-99-16347/24/2026
In response to the current airworthiness regulations’ inability to cover the stall flight test requirements under icing conditions of civil aircraft with high-angle-of-attack restriction function and the lack of relevant flight test technologies in China, a study was conducted on the differences in airworthiness provisions for stall characteristics under icing conditions of such aircraft. Key technologies, including simulated ice accretion stall flight test methods, ice installation strategies, and data analysis techniques, are proposed and successfully applied to a specific civil aircraft. The results demonstrate that the methodologies proposed in this paper can effectively support simulated ice accretion stall tests, providing valuable insights for other similar aircraft.
Zhang, Haini
Trajectory Optimization for Micro Air Vehicle with Multiple Constraints2026-99-16327/24/2026
This study aims to solve the trajectory optimization problem of multi degree of freedom micro air vehicle (MAV) with the aim of improving its flight performance through technological innovation. A multi degree of freedom trajectory optimization (MDFTO) method with sideslip angle and angle of attack as the core control variables was proposed for multiple complex constraints in combat environment, such as terminal accuracy and overload limitation. This method can more accurately characterize and adapt the strong nonlinear, dynamic coupling and time varying characteristics of the MAV in high-speed maneuvering flight. In order to solve this MDFTO problem with multiple constraints and strong nonlinear characteristics efficiently, the hp adaptive pseudospectral method is used in this study, and is verified by simulations based on the GPOPS-II optimization platform. The algorithm has the advantages of highly accurate discrete state and control variables, efficient processing of path and terminal constraints, and adaptive adjustment of the distribution point density. GPOPS-II is able to efficiently adapt to the MDFTO method. The simulation results show that the GPOPS-II can accurately capture the MAV’s dynamic response. Its adaptive node adjustment mechanism effectively balances computational efficiency with solution accuracy, especially during flight phases where state changes drastically, ensuring the reliability of results. The MDFTO method successfully achieves the optimal solution, and the generated trajectory strictly follows the laws of vehicle dynamics and kinematics. This method provides an effective and engineering feasible technical approach for the trajectory optimization of the MAV under complex constraints, and has important theoretical and practical value for improving its strike accuracy, maneuverability and comprehensive combat effectiveness.
An, Zhichao, Ming, Chao, Wen, Guangbao
Coupled Lateral–Longitudinal Trajectory Tracking Control for Autonomous Vehicles Based on Multi-Agent Reinforcement Learning12-09-03-00247/23/2026
Trajectory tracking control serves as the core operational component of autonomous vehicles, directly determining driving safety and passenger comfort by ensuring control precision and stability. To enhance the tracking accuracy and stability for autonomous vehicles, this study proposes a coupled lateral–longitudinal trajectory tracking controller based on multi-agent reinforcement learning. The framework first establishes a Model predictive controller (MPC) derived from vehicle dynamics, formulating the lateral control process as a Markov decision process. A reward function incorporating lateral error, heading error, and steering angle is designed, followed by the construction of a Deep Q-Network (DQN) Agent to optimize the prediction horizon of the MPC. Subsequently, a position–velocity dual-loop PID controller is developed for longitudinal control, with its parameter optimization strategy learned through a Deep Deterministic Policy Gradient (DDPG) Agent. The Extended State Observer (ESO) is incorporated to perform steering angle compensation for internal modeling errors and external disturbances. Co-simulation experiments are conducted in CarSim and MATLAB/Simulink, and the results demonstrate that the coupled controller achieves superior tracking accuracy and stability in both overtaking and lane-changing scenarios compared with the decoupled controller.
Kun, Feng, Jinxiang, Zhai, Li, Wenli
Optimization Design of Automotive Handling Stability Based on ADAMS Insight2026-99-18017/17/2026
This paper systematically optimizes and validates the handling stability of a vehicle using ADAMS/Car software based on vehicle data provided by a car manufacturer. A comprehensive vehicle dynamics model was established, including a body model, an anti-roll bar model, a powertrain model, a steering subsystem model, and a full vehicle model, with a focus on optimizing suspension parameters such as toe angle and camber angle. Validation was carried out using simulation test methods such as dual-wheel synchronous excitation, steering returnability, and angle step input. The results show significant improvements in the vehicle’s yaw rate, steering force, and torque after optimization, with particular excellence in steering return time and transient response. Additionally, steady-state cornering simulation results indicate that the optimized vehicle has improved body roll stiffness and lateral compliance, with increased understeer, further enhancing stability and response speed during steering. The findings of this study improve the handling stability and safety of vehicles and provide valuable references for future automotive design.
Li, Diannuo, Zhu, Jiale, Wang, Dongmei, Wei, Yi, Huang, Yuanyuan, Ban, Lu
Research and Analysis on Convergence in Hypersonic Slip Flow Numerical Simulation2026-99-18057/17/2026
With CFD technology, a numerical simulation method based on the Navier-Stokes (NS) equations with slip boundary conditions was established. For the flow conditions at altitudes of 60 km and 70 km with a Mach number of 20, the calculation convergence problem of slip flow was analyzed through a flat plate. The research shows that as the altitude increases, the degree of rarefaction increases, and the frictional drag decreases. Without slip, the viscous drag decreases from 17.8 N at an altitude of 60 km to 9.97 N at 70 km. With a slip, it decreases from 17.5 N to 9.63 N. After adding the slip condition, the calculation convergence is slower compared with that of the non-slip attached flow. The difference between the calculation results with and without slip increases as the altitude increases. During the iteration process, the difference between the cases with and without slip gradually decreases. The difference in viscous force between the cases with and without slip is 1.76% at 60 km and reaches 3.47% at 70 km.
Hu, Junlin, Wang, Yaping, Gao, Yunguang, Wan, Lv, Pan, Sha
Aircraft Performance Prediction Model Based on Deep Learning2026-99-18577/17/2026
Aiming at the problems of traditional physical model methods in aircraft endurance prediction, an end-to-end prediction model based on depth deterministic policy gradient (DDPG) is proposed. The model realizes continuous mapping from flight parameters to range index through Actor-Critic dual network architecture, and combines experience playback mechanism and soft update strategy of target network to effectively suppress training oscillation and improve convergence stability. UAV Delivery Aircraft Versus hybrid dataset was used to verify model performance in test samples. The results show that the MAE of the model is 9.2 km, which is 42.1% lower than that of DQN; the prediction accuracy of the model is the best (MAE 7.3 km) in cruise phase, which is due to the dynamic compensation of time series difference error to wind speed disturbance; in environmental disturbance test, the error increment (50.0%) is significantly lower than that of DQN (78.0%) at low temperature (-5 ° C), which highlights its robustness to battery voltage sag. The model provides real-time and reliable decision support for aircraft endurance management in high-dynamic airspace.
Bai, Rongqiang, Chen, Li
The Impact of Powerplant on Stall Characteristics of Propeller Aircraft2026-99-18377/17/2026
This study focuses on a compact-layout propeller aircraft, investigating how its powerplant influences stall characteristics via combined theoretical analysis of aerodynamic principles and validation with flight test data. Special attention is paid to the effects of propeller slipstream, appropriate evaluation criteria are selected to assess the aircraft’s high-angle-of-attack performance and stall behavior, and the Weissman chart criteria are further adopted to analyze its lateral-directional departure tendencies. A theoretical analysis of the stall characteristics of compact-layout propeller aircraft is conducted. Through flight test data analysis, the stall characteristics of compact-layout propeller aircraft are studied, with an emphasis on understanding how slipstream effects influence their longitudinal and lateral-directional stall characteristics.
Fang, Shengyou, Yang, Xiaoli, Jiang, Tianjun, Fu, Yi
Design of Carrier-Based Aircraft Landing Control Law Based on First-Order Linear Active Disturbance Rejection Control2026-99-18357/17/2026
This paper investigates the high-precision landing control problem of carrier-based aircraft. An Active Disturbance Rejection Control (ADRC) technique is employed to design longitudinal and lateral-directional landing control laws. The landing process is simulated by incorporating an airwake model, and the results are compared with those of a PID control law. The analysis demonstrates that the proposed ADRC controller reduces lateral deviation errors and significantly improves landing accuracy and success rate.
Yu, Jiayang, Yin, Yong
Hydrodynamic Analysis of Amphibious Aircraft Stability during Water Taxiing2026-99-18307/17/2026
When an amphibious aircraft is taxiing on a wavy water surface, the force of the water directly concentrates on the floats, directly affecting the stability of the aircraft’s taxiing process. The vortices generated by the wave undulations exert significant hydrodynamic forces on the floats, thus impacting the stability and maneuverability of the float’s taxiing process. This study uses CFD numerical simulation to simulate the float’s taxiing process on a wavy water surface. By comparing the pressure distribution and vortex contours of the float under different wave height parameters, the effect of wave height on the hydrodynamic mechanism can be elucidated. The results show that the effect of wave height on aircraft stability is closely related to the position of the impact point when the wave crest hits. At a wave height of 0.5 meters, if the impact point is close to the center of gravity, it can lead to instability of the aircraft. These conclusions provide an important theoretical basis for the design and optimization of amphibious aircraft floats.
Zhang, Feifan, Li, Zhandong, Zhao, Jinfang, Kong, Fanwei, Qu, Ligang
Machine Learning-Based Prediction of Landing Dynamic Response for Bogie Landing Gear2026-99-18297/17/2026
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Zhang, Hong, Fang, Wei, Zhao, Junfeng
Experimental Analysis of Human Head Dynamic Response and Injury under High-G Landing Shock2026-99-18617/17/2026
This study looks at how the human head reacts and gets injured during high-G landing impacts in spacecraft return capsules. We used a vertical drop tower system for the experiments. A standard crash test dummy, called the Hybrid III 50th, was used to imitate how astronauts sit during landing. We applied two common safety standards—the Head Injury Criterion (HIC) and the 3 ms cumulative acceleration rule—to measure head response under high-G impacts. The results show several things. First, head acceleration increases linearly as seat acceleration increases. Second, the peak total acceleration of the head is much higher than the seat acceleration. In particular, acceleration in the X and Z directions is much stronger than in the Y direction. Third, when seat acceleration went over 47.71 g, HIC exceeded the safe limit of 700, and the 3 ms head acceleration also passed the 80 g limit. This suggests that 40 g should be considered a safe upper limit for seat acceleration. This work provides experimental support for improving landing systems to protect astronauts’ heads during high-G impacts.
An, Hao, Wang, Yafeng, Guo, Yazhou
Modeling and Damping Optimization Design of Commercial Vehicle Cab Air Suspension System2026-99-18627/17/2026
Based on the theory of vehicle dynamics, this paper first constructs a dynamic model of the cab air suspension system, laying a core theoretical framework for subsequent optimization research. At the level of performance evaluation indicators, the root mean square (RMS) values of the cab’s vertical acceleration, roll acceleration, and pitch acceleration are selected as key parameters. On this basis, an objective function for the damping matching of the cab air suspension system is established, clarifying the optimization direction. Building on this objective function, the paper further takes into account the constraint conditions in the actual operation of the system, using the probability of the cab air suspension system hitting the limit stop as a constraint. Finally, a complete mathematical model for the damping matching of the cab air suspension system is formed, and a genetic algorithm is used to solve this model, ensuring the scientificity and feasibility of the optimization results. To verify the effectiveness of the established model and optimization method, this paper conducts verification based on the aforementioned dynamic simulation model of the cab air suspension system: the frame displacement signals collected under actual random road conditions are used as the model input, and the established mathematical method for damping matching is applied to carry out the optimal matching design of the damping parameters of the cab air suspension system. The simulation optimization results show that the performance of the optimized system is significantly improved: the RMS value of vertical acceleration is reduced by 5% compared with that before optimization, the RMS value of roll angular acceleration is reduced by 11.2%, and the RMS value of pitch angular acceleration is reduced by 4.7%. In conclusion, the method constructed in this paper can effectively improve a practical and feasible reference for the damping optimization design of the cab suspension system.
Li, Saisai, Yang, Chang, Guo, Ruiling, Zhang, Zhongyuan, Liang, Dong, Wu, Shiyu
Numerical Investigation of Inverted Airfoils in Ground Effect for Motorsport Applications01-19-01-00047/15/2026
Ground effect plays a critical role in enhancing the aerodynamic performance of race cars by increasing downforce without a proportional rise in drag. Despite its importance, the influence of airfoil geometry on inverted airfoils operating in ground proximity remains underexplored in open literature. This study addresses this gap through a detailed numerical investigation of chord-dominated ground effect using two-dimensional Reynolds-Averaged Navier–Stokes (RANS) simulations. A range of NACA four-digit airfoils is systematically analyzed to isolate the effects of camber, thickness, and camber location on aerodynamic performance in ground proximity. Results show that increased camber enhances downforce and efficiency both in and out of ground effect; thinner airfoils yield higher downforce and efficiency in ground effect; and forward camber locations outperform rearward ones in maximizing downforce contrary to out-of-ground-effect trends. Detailed pressure distribution and flow separation analyses explain the underlying mechanisms, offering actionable guidelines for optimizing ground effect airfoil design in motorsport.
Chowdhury, Rohan, Shukla, Dhwanil
On Disturbance-Aware Minimum-Time Trajectory Planning: Evidence from Tests on a Dynamic Driving Simulator10-10-03-00267/13/2026
This work aims to investigate how disturbance-aware, robustness-embedding reference trajectories translate into actual driving performance when executed by professional drivers in a dynamic driving simulator. The study compares three planned reference trajectories against a free-driving baseline (NO-REF) to assess the trade-offs between lap time (LT) performance and steering effort: NOM, the nominal time-optimal trajectory; TLC, a track-limit-robust, time-optimal trajectory obtained by tightening margins to the track edges; and FLC, a friction-limit-robust, time-optimal trajectory obtained by tightening against axle/tire saturation. All reference trajectories share the same minimum LT objective with a small steering-smoothness regularizer, and are evaluated with two professional drivers driving a high-performance car on a virtual track. The reference trajectories stem from a disturbance-aware minimum-LT framework recently proposed by some of the authors, where worst-case disturbance growth is propagated over a finite horizon and used to tighten tire-friction and track-limit constraints, preserving performance while delivering probabilistic safety margins. LT and steering energy (SE) are evaluated as indicators of driving performance and steering effort, respectively, while RMS values of lateral deviation, speed error, and drift angle are used to characterize driving style. The results reveal a Pareto-like trade-off between LT and SE: NOM achieves the shortest LT, but with the highest SE, TLC minimizes SE at the expense of longer LT, while FLC lies near the efficient frontier, markedly reducing SE relative to NOM with only a minor LT increase. Removing reference trajectories (NO-REF) leads to both higher SE and longer LT, confirming that trajectory guidance improves pace and control efficiency. Overall, the findings highlight reference-based and disturbance-aware planning, particularly the FLC variant, as effective tools for training and for achieving fast yet stable trajectories.
Masoni, Matteo, Palermo, Vincenzo, Gabiccini, Marco, Gulisano, Martino, Previati, Giorgio, Gobbi, Massimiliano, Comolli, Francesco, Mastinu, Gianpiero, Guiggiani, Massimo
The Chain of Visual Factors, Visual Characteristics, and Driving Behavior at Highway Tunnel Entrances2026-99-05567/10/2026
To explore the impact of guiding and warning visual combination factors at the entrance sections of highway tunnels on drivers’ visual characteristics and driving behavior, this study recruited 16 drivers to conduct on-road vehicle experiments at the entrance sections of the Yunling Tunnel’s left bore (with visual combination factors) and right bore (without visual combination factors). Seven visual characteristics and driving behavior indicators, including pupil diameter and vehicle speed, were collected and statistically analyzed. Representative indicators such as pupil diameter, standard deviation of fixation point position, and vehicle speed were selected to establish a trend surface model of visual characteristics and driving behavior. The results indicate that when driving at the entrance section of the left bore, drivers’ pupil diameter and fixation duration were significantly lower than those at the entrance section of the right bore. With the increase in the sweeping view angle, there was a more dispersed distribution of fixation points. Additionally, there were significant differences in the acceleration and lateral deviation of the driving vehicle, with the range of variation narrowing by 52.5% and 35.7%, respectively. The trend surface model results show that under the influence of visual combination factors, the reduction in drivers’ vehicle speed was smaller, and the impact of pupil diameter and standard deviation of fixation point position on vehicle speed was less pronounced. Overall, under the influence of visual combination factors, drivers’ visual characteristics showed significant changes, with improved speed control and manipulation levels, leading to more stable vehicle operation.
Ma, Yanpeng, Huang, He, Huang, Yong, Yuan, Chen
Missile Pose Measurement Based on ArUco Markers2026-99-05767/10/2026
This paper presents a monocular vision-based system for high-precision missile pose measurement using ArUco markers and Perspective-n-Point (PnP) algorithms. By deploying 6 × 6 ArUco markers on a cylindrical missile mock-up, the system establishes 3D-2D correspondences between structured-light-scanned models and camera images to solve the PnP problem. The proposed approach integrates optimized ArUco marker recognition — leveraging adaptive thresholding, contour simplification, and grid-based validation — with the Efficient PnP (EPnP) algorithm to achieve real-time pose estimation. Experimental validation demonstrates angular accuracy of ± 0.3° in roll/pitch/yaw and positional accuracy of ± 2 mm within a 2 m range under controlled conditions. The system exhibits robustness against partial occlusions and motion blur, with degraded performance (± 1.2°, ± 5 mm) in extreme scenarios. Key innovations include a streamlined marker detection pipeline and adaptive pose refinement using Levenberg-Marquardt optimization. This work provides a cost-effective, non-contact solution for flight tests, with potential applications in weapon separation testing.
Wang, Ruiyang, Zhang, Chaofan
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