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Optimized ANN for LiFePO4 battery charge estimation using principal components based feature generation 利用基于特征生成的主成分优化用于磷酸铁锂电池电量估算的 ANN
Pub Date : 2024-08-01 DOI: 10.1016/j.geits.2024.100175

Electric vehicles (EVs) have gained prominence in the present energy transition scenario. Widespread adoption of EVs necessitates an accurate State of Charge estimation (SoC) algorithm. Integrating predictive SoC estimations with smart charging strategies not only optimizes charging efficiency and grid reliability but also extends battery lifespan while continuously enhancing the accuracy of SoC predictions, marking a crucial milestone in sustainable electric vehicle technology. In this research study, machine learning methods, particularly Artificial Neural Networks (ANN), are employed for SoC estimation of LiFePO4 batteries, resulting in efficient and accurate estimation algorithms. The investigation first focuses on developing a custom-designed battery pack with 12 ​V, 4 Ah capacity with a facility for real-time data collection through a dedicated hardware setup. The voltage, current and open-circuit voltage of the battery are monitored with computerized battery analyzer. The battery temperature is sensed with a DHT22 temperature sensor interfaced with Raspberry Pi. Principal components are derived for the collected battery data set and analyzed for feature engineering. Three principal components were generated as input parameters for the developed ANN. Early Stopping for the ANN was also implemented to achieve faster convergence of the ANN. While considering eleven combinations for ten different optimizers loss function is minimized. Comparative analysis of hyperparameter tuning and optimizer selection revealed that the Adafactor optimizer with specific settings produced the best results with an RMSE value of 0.4083 and an R2 Score of 0.9998. The proposed algorithm was also implemented for two different types of datasets, a UDDS drive cycle and a standard cell-level dataset. The results obtained were in line with the results obtained with the ANN model developed based on the data collected from the developed experimental setup.

电动汽车(EV)在当前的能源转型形势下日益突出。电动汽车的广泛应用需要精确的充电状态估计(SoC)算法。将预测性 SoC 估算与智能充电策略相结合,不仅能优化充电效率和电网可靠性,还能延长电池寿命,同时不断提高 SoC 预测的准确性,是可持续电动汽车技术的一个重要里程碑。本研究采用机器学习方法,特别是人工神经网络(ANN),对磷酸铁锂电池的 SoC 进行估算,从而得出高效、准确的估算算法。调查首先侧重于开发一个定制设计的电池组,容量为 12 V、4 Ah,并通过专用硬件设置进行实时数据收集。电池的电压、电流和开路电压由计算机电池分析仪进行监测。电池温度由与 Raspberry Pi 接口的 DHT22 温度传感器感测。对收集到的电池数据集进行主成分推导和特征工程分析。生成了三个主成分作为所开发 ANN 的输入参数。同时还对 ANN 实施了早期停止,以加快 ANN 的收敛速度。在考虑十种不同优化器的十一种组合时,损失函数被最小化。对超参数调整和优化器选择的比较分析表明,采用特定设置的 Adafactor 优化器产生了最佳结果,RMSE 值为 0.4083,R2 得分为 0.9998。我们还针对两种不同类型的数据集(UDDS 驱动周期和标准单元级数据集)实施了所提出的算法。获得的结果与根据所开发的实验装置收集的数据开发的 ANN 模型获得的结果一致。
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引用次数: 0
A review on reinforcement learning-based highway autonomous vehicle control 基于强化学习的公路自动驾驶汽车控制综述
Pub Date : 2024-08-01 DOI: 10.1016/j.geits.2024.100156

Autonomous driving is an active area of research in artificial intelligence and robotics. Recent advances in deep reinforcement learning (DRL) show promise for training autonomous vehicles to handle complex real-world driving tasks. This paper reviews recent advancement on the application of DRL to highway lane change, ramp merge, and platoon coordination. In particular, similarities, differences, limitations, and best practices regarding the DRL formulations, DRL training algorithms, simulations, and metrics are reviewed and discussed. The paper starts by reviewing different traffic scenarios that are discussed by the literature, followed by a thorough review on the DRL technology such as the state representation methods that capture interactive dynamics critical for safe and efficient merging and the reward formulations that manage key metrics like safety, efficiency, comfort, and adaptability. Insights from this review can guide future research toward realizing the potential of DRL for automated driving in complex traffic under uncertainty.

自动驾驶是人工智能和机器人学的一个活跃研究领域。深度强化学习(DRL)的最新进展为训练自动驾驶车辆处理复杂的实际驾驶任务带来了希望。本文回顾了将 DRL 应用于高速公路变道、匝道并线和排队协调的最新进展。特别是回顾和讨论了 DRL 配方、DRL 训练算法、模拟和衡量标准的相似性、差异性、局限性和最佳实践。本文首先回顾了文献中讨论的不同交通场景,然后全面回顾了 DRL 技术,如捕捉对安全高效并线至关重要的交互动态的状态表示方法,以及管理安全、效率、舒适度和适应性等关键指标的奖励公式。本综述中的观点可以指导未来的研究工作,以实现 DRL 在不确定的复杂交通环境中自动驾驶的潜力。
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引用次数: 0
Towards vehicle electrification: A mathematical prediction of battery electric vehicle ownership growth, the case of Turkey 迈向汽车电气化:电池电动汽车保有量增长的数学预测:土耳其案例
Pub Date : 2024-08-01 DOI: 10.1016/j.geits.2024.100166

Many countries are relying on electric vehicles to achieve their future greenhouse gas reduction targets; thus, they are setting regulations to force car manufacturers to a complete shift into producing fully electric vehicles, which will significantly influence the adoption rates of electric vehicles. This research investigates the temporal evolution of battery electric vehicle (BEV) ownership growth in Turkey, drawing insights from both historical and current trends. By employing and optimizing the Gompertz model, we provide a year-by-year projection of BEV ownership rates, aiding in exploring the anticipated timeline for BEV market saturation. Our findings indicate that the introduction of BEVs into the Turkish motorization market is poised to push further market saturation by approximately 15 years, to occur in around 2095 as opposed to 2080s. Furthermore, our analysis underscores the rapid growth pace in BEV ownership compared to the ownership of internal combustion engine vehicles (ICEVs). The main aim of this research is to provide Turkish policymakers and transport planners with solid insights into how the vehicle market will perform in the short and long run, allowing them to prepare a smooth transition from traditional vehicles to BEVs.

许多国家依靠电动汽车来实现未来的温室气体减排目标;因此,这些国家正在制定法规,迫使汽车制造商全面转向生产全电动汽车,这将极大地影响电动汽车的采用率。本研究调查了土耳其电池电动汽车(BEV)保有量增长的时间演变,并从历史和当前趋势中汲取启示。通过采用和优化冈培兹模型,我们提供了逐年的电动汽车拥有率预测,有助于探索电动汽车市场饱和的预期时间表。我们的研究结果表明,土耳其电动汽车市场引入 BEV 后,将在 2095 年左右(而不是 2080 年)进一步推动市场饱和,大约需要 15 年时间。此外,我们的分析还强调,与内燃机汽车(ICEVs)的保有量相比,BEV 的保有量增长速度很快。这项研究的主要目的是为土耳其的政策制定者和交通规划者提供关于汽车市场短期和长期表现的可靠见解,使他们能够为从传统汽车到 BEV 的平稳过渡做好准备。
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引用次数: 0
An active equalization strategy for series-connected lithium-ion battery packs based on a dual threshold trigger mechanism 基于双阈值触发机制的串联锂离子电池组主动均衡策略
Pub Date : 2024-06-01 DOI: 10.1016/j.geits.2024.100206
Hui Pang , Wenzhi Nan , Xiaofei Liu , Fengbin Wang , Kaiqiang Chen , Yupeng Chen

It is well acknowledged to all that an active equalization strategy can overcome the inconsistency of lithium-ion cell's voltage and state of charge (SOC) in series-connected lithium-ion battery (LIB) pack in the electric vehicle application. In this regard, a novel dual threshold trigger mechanism based active equalization strategy (DTTM-based AES) is proposed to overcome the inherent inconsistency of cells and to improve the equalization efficiency for a series-connected LIB pack. First, a modified dual-layer inductor equalization circuit is constructed to make it possible for the energy transfer path optimization. Next, based on the designed dual threshold trigger mechanism provoked by battery voltage and SOC, an active equalization strategy is proposed, each single cell's SOC in the battery packs is estimated using the extended Kalman particle filter algorithm. Besides, on the basis of the modified equalization circuit, the improved particle swarm optimization is adopted to optimize the energy transfer path with aiming to reduce the equalization time. Lastly, the simulation and experimental results are provided to validate the proposed DTTM-based AES.

众所周知,在电动汽车应用中,主动均衡策略可以克服串联锂离子电池组中锂离子电池电压和充电状态(SOC)的不一致性。为此,我们提出了一种新颖的基于双阈值触发机制的主动均衡策略(基于 DTTM 的 AES),以克服串联式锂离子电池组中电池固有的不一致性,并提高均衡效率。首先,构建了改进的双层电感均衡电路,使能量传递路径优化成为可能。接着,基于所设计的由电池电压和 SOC 触发的双阈值触发机制,提出了一种主动均衡策略,使用扩展卡尔曼粒子滤波算法估算电池组中每个单体电池的 SOC。此外,在改进均衡电路的基础上,采用改进的粒子群优化方法来优化能量传输路径,以缩短均衡时间。最后,仿真和实验结果验证了所提出的基于 DTTM 的 AES。
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引用次数: 0
Thermal heat flux distribution prediction in an electrical vehicle battery cell using finite element analysis and neural network 利用有限元分析和神经网络预测电动汽车电池单元的热通量分布
Pub Date : 2024-06-01 DOI: 10.1016/j.geits.2024.100155
Luttfi A. Al-Haddad , Latif Ibraheem , Ahmed I. EL-Seesy , Alaa Abdulhady Jaber , Sinan A. Al-Haddad , Reza Khosrozadeh

In terms of battery design and evaluation, Electric Vehicles (EVs) are receiving a great deal of attention as a modern, eco-friendly, sustainable transportation method. In this paper, a novel battery pack is designed to maintain a uniform temperature distribution, allowing the battery to operate within its optimal temperature range. The proposed battery design is part of a main channel where a portion of cool air will pass from an inlet then exit from an outlet where a uniform temperature distribution is maintained. First, a 3-D model of a battery cell was created, followed by thermal simulation for 15C, 25C, and 35C ambient temperatures. The simulation results reveal that the temperature distribution is nearly uniform, with slightly higher values in the middle portion of the cell height. Second, using finite element analysis (FEA), it was determined that the heat flux per unit area is nearly uniform with a slight increase at the edges. Third, a machine learning model is proposed by utilizing a neural network (NN). Lastly, the heat flux values were predicted using the NN model that was proposed. The model was assessed based on statistical measures where a root mean square error (RMSE) value of 0.87% was achieved. The NN outperformed FEA in terms of time consumption with a high prediction accuracy, leveraging the potential of adopting machine learning over FEA in related operational assessments.

在电池设计和评估方面,电动汽车(EV)作为一种现代、环保、可持续的交通方式受到了广泛关注。本文设计了一种新型电池组,以保持均匀的温度分布,使电池在最佳温度范围内工作。所提出的电池设计是主通道的一部分,一部分冷空气将从入口进入,然后从出口排出,以保持均匀的温度分布。首先,创建了电池单元的三维模型,然后对 15℃、25℃ 和 35℃的环境温度进行了热模拟。模拟结果显示,温度分布基本均匀,电池高度的中间部分温度值稍高。其次,利用有限元分析(FEA)确定了单位面积的热通量几乎是均匀的,边缘处略有增加。第三,利用神经网络(NN)提出了一个机器学习模型。最后,利用提出的神经网络模型预测了热通量值。根据统计方法对模型进行了评估,结果显示均方根误差 (RMSE) 值为 0.87%。就耗时和高预测精度而言,NN 的性能优于有限元分析,充分发挥了在相关操作评估中采用机器学习而非有限元分析的潜力。
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引用次数: 0
When LoRa meets distributed machine learning to optimize the network connectivity for green and intelligent transportation system 当 LoRa 与分布式机器学习相结合,优化绿色智能交通系统的网络连接
Pub Date : 2024-06-01 DOI: 10.1016/j.geits.2024.100204
Malak Abid Ali Khan , Hongbin Ma , Arshad Farhad , Asad Mujeeb , Imran Khan Mirani , Muhammad Hamza

LoRa technology contributes to green energy by enabling efficient, long-range communication for the Internet of Things (IoT). This paper addresses the challenges related to coverage range in outdoor monitoring systems utilizing LoRa, where the network performance is affected by the density of gateways (GWs) and end devices (EDs), as well as environmental conditions. To mitigate interference, data throughput losses, and high-power consumption, the proposed spreading factor (SF) and hybrid (data rate|SF) models dynamically adjust the transmission parameters. The orchestration of concurrent data modifications within the network server (NS) is crucial for uninterrupted communication between GWs and EDs, especially in monitoring electric vehicle (EV) stations to reduce traffic congestion and pollution. Employing K-means and density-based spatial clustering of applications with noise (DBSCAN) algorithms optimizes ED allocation, averts data congestion, and improves the signal-to-interference noise ratio (SINR). These methods ensure seamless information reception by meticulously allocated EDs across various GW combinations. To estimate the free-space losses (FSL), a log-distance path loss model (log-PL) is used. Exploring various bandwidths (BWs), bidirectional communications, and duty cycles (DCs) helps to prevent saturation, thus prolonging the operational lifespan of EDs. Empirical findings reveal a notable packet rejection rate (PRR) of 0% for the DBSCAN (hybrid model). In contrast, the K-means exhibits a PRR ranging from 5% (hybrid model) to 35.29% (SF model) for the ten GWs combination. Notably, the network saturation is reduced to 10.185% and 9.503%, respectively, highlighting an improvement in the average efficiency of slotted ALOHA (91.1%) and pure ALOHA (90.7%). These enhancements increase the lifespan of EDs to 15,465.27 days.

LoRa 技术通过为物联网 (IoT) 提供高效、远距离通信,为绿色能源做出了贡献。本文探讨了利用 LoRa 技术的室外监控系统在覆盖范围方面面临的挑战,在这种情况下,网络性能会受到网关(GW)和终端设备(ED)密度以及环境条件的影响。为减少干扰、数据吞吐量损失和高功率消耗,提出的扩展因子(SF)和混合(数据率|SF)模型可动态调整传输参数。网络服务器(NS)内并发数据修改的协调对于 GW 和 ED 之间的不间断通信至关重要,尤其是在监控电动汽车(EV)站点以减少交通拥堵和污染方面。采用 K-means 和基于密度的带噪声应用空间聚类(DBSCAN)算法可优化 ED 分配、避免数据拥塞并提高信噪比(SINR)。这些方法通过在不同的 GW 组合中精心分配 ED,确保无缝接收信息。为了估算自由空间损耗(FSL),使用了对数距离路径损耗模型(log-PL)。探索各种带宽 (BW)、双向通信和占空比 (DC) 有助于防止饱和,从而延长 ED 的运行寿命。实证研究结果表明,DBSCAN(混合模型)的数据包拒绝率(PRR)为 0%。相比之下,对于 10 个 GW 组合,K-means 的拒包率从 5%(混合模型)到 35.29%(SF 模型)不等。值得注意的是,网络饱和度分别降低到 10.185% 和 9.503%,凸显了带槽 ALOHA(91.1%)和纯 ALOHA(90.7%)平均效率的提高。这些改进将 ED 的寿命延长至 15465.27 天。
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引用次数: 0
Annotated survey and perspectives on rail transport energy system RAMS evaluation technology 铁路运输能源系统 RAMS 评估技术的附加说明的调查和展望
Pub Date : 2024-06-01 DOI: 10.1016/j.geits.2024.100164
Ruifeng Shi , Lingzhi Zhang , Feng Lin , Jin Ning , Limin Jia , Kwang Y. Lee

The rail transit system plays a crucial role in modern transportation. With the increasing demand for clean and green energy in the transport sector, its energy system is expected to achieve low-carbon and highly efficient energy utilization in rail transit. However, the gradual development of the rail transport energy system has led to an increase in its complexity, and the rising difficulty of system assessment has faced the limitations of traditional assessment methods. Hence, it is essential to develop effective assessment methods. This paper begins by providing a systematic review of the development status of Reliability, Availability, Maintainability and Safety (RAMS) assessment and analyzing the shortcomings of traditional RAMS assessment technology in the context of rail transit energy systems. Subsequently, based on the four fundamental properties of RAMS, it summarizes the current state of key assessment technologies in the field of rail transit. Moreover, the paper delves into the challenges and potential solutions concerning the implementation of RAMS assessment technology for rail transit energy systems. Finally, the paper offers an outlook on the future development of RAMS assessment for rail transport energy systems. By comprehensively analyzing these aspects, the paper aims to contribute valuable insights into optimizing the rail transit energy system, promoting its sustainable and efficient operation in the context of clean and green energy utilization.

轨道交通系统在现代交通中发挥着至关重要的作用。随着交通领域对清洁、绿色能源的需求日益增长,其能源系统有望在轨道交通领域实现低碳、高效的能源利用。然而,轨道交通能源系统的逐步发展导致其复杂性的增加,系统评估难度的上升也使传统评估方法面临局限。因此,开发有效的评估方法至关重要。本文首先系统回顾了可靠性、可用性、可维护性和安全性(RAMS)评估的发展现状,并结合轨道交通能源系统分析了传统 RAMS 评估技术的不足之处。随后,根据 RAMS 的四个基本特性,总结了轨道交通领域关键评估技术的现状。此外,本文还深入探讨了轨道交通能源系统实施 RAMS 评估技术所面临的挑战和潜在解决方案。最后,本文对轨道交通能源系统 RAMS 评估的未来发展进行了展望。通过对这些方面的全面分析,本文旨在为优化轨道交通能源系统、促进其在清洁和绿色能源利用背景下的可持续高效运行提供有价值的见解。
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引用次数: 0
Fault detection of new and aged lithium-ion battery cells in electric vehicles 电动汽车中新老锂离子电池芯的故障检测
Pub Date : 2024-06-01 DOI: 10.1016/j.geits.2024.100165
Sara Sepasiahooyi , Farzaneh Abdollahi

In this paper, a novel model-based fault detection in the battery management system of an electric vehicle is proposed. Two adaptive observers are designed to detect state-of-charge faults and voltage sensor faults, considering the impact of battery aging. Battery aging primarily affects capacity and resistance, becoming more pronounced in the later stages of a battery lifespan. By incorporating aging effects into our fault diagnosis scheme, our proposed approach prevents false or missed alarms for the aged battery cells. The aging effect of battery, capacity fading and resistance growth, are considered unknown parameters. An adaptive observer is employed to design a fault detector, considering unknown parameters in the battery model. The adaptive observers are designed for two different scenarios: In the first scenario, it is presumed that aging effects remain constant over time due to their slow rate of change. Then, it is assumed that aging effects are time-varying. Therefore, the fault detection scheme can detect faults of new battery cells as well as aged cells. Some simulations have been conducted on a Lithium-ion battery cell and extended to battery pack, to demonstrate the performance of the proposed approach in more real-world scenarios. The results showed that the designed observers can detect faults correctly in a seven years old battery as well as a new one.

本文提出了一种新型的基于模型的电动汽车电池管理系统故障检测方法。考虑到电池老化的影响,设计了两个自适应观测器来检测充电状态故障和电压传感器故障。电池老化主要影响容量和电阻,在电池寿命的后期阶段会变得更加明显。通过将老化效应纳入故障诊断方案,我们提出的方法可以防止老化电池单元的误报或漏报。电池的老化效应、容量衰减和电阻增长被视为未知参数。考虑到电池模型中的未知参数,我们采用了自适应观测器来设计故障检测器。自适应观测器针对两种不同情况进行设计:在第一种情况下,假定老化效应由于变化速度缓慢而随时间保持不变。然后,假设老化效应是随时间变化的。因此,故障检测方案既能检测新电池单元的故障,也能检测老电池单元的故障。我们在锂离子电池单元上进行了一些模拟,并将其扩展到电池组,以证明所提出的方法在更多实际应用场景中的性能。结果表明,所设计的观测器既能正确检测出新电池的故障,也能检测出使用了七年的旧电池的故障。
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引用次数: 0
Receding horizon based collision avoidance for UAM aircraft at intersections 基于后退地平线的 UAM 飞机交叉路口防撞系统
Pub Date : 2024-05-23 DOI: 10.1016/j.geits.2024.100205
Negasa Yahi, Jose Matute, Ali Karimoddini
Urban Air Mobility (UAM) is an emerging aviation sector which the goal is to transform air transportation with safe, on-demand air travel for both passengers and cargo. UAM flight planning strategically separates flows of aircraft on intersecting routes vertically by allocating distinct flight levels to them, and aircraft are required to maintain the flight level when crossing the intersection. However, there is a possibility that an aircraft may fail to maintain the assigned flight level, leading to a potential conflict at intersections. This paper aims to address conflicts at intersections in the context of UAM, focusing on decentralized conflict detection and resolution. A novel approach is developed to facilitate information exchange among UAM components, including the provider of services to UAM, UAM operators, and the pilot in command. A receding horizon trajectory planning approach is proposed for the execution of conflict resolution, optimizing trajectory planning by eliminating potential problems and challenges associated with geometric approaches. The proposed trajectory planner considers the model and constraints of UAM aircraft, offering optimal solutions for safe separation at UAM airspace intersections. The significance of the proposed planning framework is demonstrated through simulations considering conflict at intersections by communicating the UAM components through request and replay services and generating resolution maneuvers on-the-fly for each aircraft involved in the conflict.
城市空中交通(UAM)是一个新兴的航空领域,其目标是改变航空运输,为乘客和货物提供安全、按需的空中旅行。UAM 飞行规划通过分配不同的飞行高度,战略性地将交叉航线上的飞机流垂直分开,要求飞机在穿越交叉点时保持飞行高度。然而,飞机有可能无法保持所分配的飞行高度,从而导致交叉路口的潜在冲突。本文旨在解决 UAM 背景下的交叉路口冲突问题,重点是分散式冲突检测和解决。本文开发了一种新方法,以促进 UAM 各组成部分之间的信息交流,包括 UAM 服务提供商、UAM 运营商和指挥飞行员。为执行冲突解决提出了一种后退地平线轨迹规划方法,通过消除与几何方法相关的潜在问题和挑战来优化轨迹规划。建议的轨迹规划器考虑了 UAM 飞机的模型和约束条件,为 UAM 空域交叉点的安全分离提供了最佳解决方案。通过请求和重放服务与 UAM 组件进行通信,并为冲突中的每架飞机实时生成解决机动方案,在考虑交叉口冲突的模拟中展示了所提规划框架的重要性。
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引用次数: 0
Overall eVTOL aircraft design for urban air mobility 用于先进空中机动性的 eVTOL 飞机总体设计
Pub Date : 2024-04-01 DOI: 10.1016/j.geits.2024.100150
Jiechao Zhang, Yaolong Liu, Yao Zheng

Electric vertical takeoff and landing (eVTOL) aircraft have emerged as a potential alternative to the existing transportation system, offering a transition from two-dimensional commuting and logistics to three-dimensional mobility. As a groundbreaking innovation in both the automotive and aviation sectors, eVTOL holds significant promise but also presents notable challenges. This paper aims to address the overall aircraft design (OAD) approach specifically tailored for eVTOL in the context of Urban Air Mobility (UAM). In contrast to traditional OAD methods, this study introduces and integrates disciplinary methodologies specifically catered to eVTOL aircraft design. A case study is conducted on a tilt-duct eVTOL aircraft with a typical UAM mission, and the disciplinary performance, including initial sizing, aerodynamics, electric propulsion systems, stability and control, weight, mission analysis and noise, is examined using the OAD methodologies. The findings demonstrate that the current approach effectively evaluates the fundamental aircraft-level performance of eVTOL, albeit further high-fidelity disciplinary analysis and optimization methods are required for future MDO-based eVTOL overall aircraft design.

电动垂直起降飞机(eVTOL)已成为现有运输系统的潜在替代品,提供了从二维通勤和物流向三维移动的过渡。作为汽车和航空领域的突破性创新,eVTOL 前景广阔,但也面临着显著的挑战。本文旨在探讨在城市空中交通(UAM)背景下专门为 eVTOL 量身定制的飞机总体设计(OAD)方法。与传统的 OAD 方法不同,本研究引入并整合了专门针对 eVTOL 飞机设计的学科方法。研究人员对一架执行典型 UAM 任务的倾转导管 eVTOL 飞机进行了案例研究,并使用 OAD 方法检查了包括初始尺寸、空气动力学、电力推进系统、稳定性和控制、重量、任务分析和噪声在内的学科性能。研究结果表明,尽管未来基于 MDO 的 eVTOL 飞机总体设计需要进一步的高保真学科分析和优化方法,但目前的方法有效地评估了 eVTOL 飞机的基本性能。
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引用次数: 0
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Green Energy and Intelligent Transportation
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