Sample records for advanced vehicle control systems

  1. GPS based Advanced Vehicle Tracking and Vehicle Control System

    Mashood Mukhtar


    Full Text Available Security systems and navigators have always been a necessity of human‟s life. The developments of advanced electronics have brought revolutionary changes in these fields. In this paper, we will present a vehicle tracking system that employs a GPS module and a GSM modem to find the location of a vehicle and offers a range of control features. To complete the design successfully, a GPS unit, two relays, a GSM Modem and two MCU units are used. There are five features introduced in the project. The aim of this project is to remotely track a vehicle‟s location, remotely switch ON and OFF the vehicle‟s ignition system and remotely lock and unlock the doors of the vehicle. An SMS message is sent to the tracking system and the system responds to the users request by performing appropriate actions. Short text messages are assigned to each of these features. A webpage is specifically designed to view the vehicle‟s location on Google maps. By using relay based control concept introduced in this paper, number of control features such as turning heater on/off, radio on/off etc. can be implemented in the same fashion.

  2. Advanced Control System Design for Hypersonic Vehicles Project

    National Aeronautics and Space Administration — Guidance and control system design for hypersonic vehicles is more challenging than their subsonic and supersonic counterparts. Some of these challenges are (i)...

  3. Advanced control design for hybrid turboelectric vehicle

    Abban, Joseph; Norvell, Johnesta; Momoh, James A.


    The new environment standards are a challenge and opportunity for industry and government who manufacture and operate urban mass transient vehicles. A research investigation to provide control scheme for efficient power management of the vehicle is in progress. Different design requirements using functional analysis and trade studies of alternate power sources and controls have been performed. The design issues include portability, weight and emission/fuel efficiency of induction motor, permanent magnet and battery. A strategic design scheme to manage power requirements using advanced control systems is presented. It exploits fuzzy logic, technology and rule based decision support scheme. The benefits of our study will enhance the economic and technical feasibility of technological needs to provide low emission/fuel efficient urban mass transit bus. The design team includes undergraduate researchers in our department. Sample results using NASA HTEV simulation tool are presented.

  4. Advanced control architecture for autonomous vehicles

    Maurer, Markus; Dickmanns, Ernst D.


    An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

  5. Advanced control and analysis of energy conversion systems for electric vehicles

    Zhang, Zhen; 張鎮


    By utilizing the electric motor as the propulsion system, the electric vehicle (EV) establishes a new bridge between renewable energies and our daily life, which meanwhile has to face with a brand new technical issue, namely the energy management and conversion. Then, the performance of energy conversion systems has become a new evaluation criteria for EVs. Accordingly, this study works on the analysis and control of the EV energy conversion system, including the secure charging system via wi...

  6. Hybrid and Electric Advanced Vehicle Systems Simulation

    Beach, R. F.; Hammond, R. A.; Mcgehee, R. K.


    Predefined components connected to represent wide variety of propulsion systems. Hybrid and Electric Advanced Vehicle System (HEAVY) computer program is flexible tool for evaluating performance and cost of electric and hybrid vehicle propulsion systems. Allows designer to quickly, conveniently, and economically predict performance of proposed drive train.

  7. Advanced hybrid vehicle propulsion system study

    Schwarz, R.


    Results are presented of a study of an advanced heat engine/electric automotive hybrid propulsion system. The system uses a rotary stratified charge engine and ac motor/controller in a parallel hybrid configuration. The three tasks of the study were (1) parametric studies involving five different vehicle types, (2) design trade-off studies to determine the influence of various vehicle and propulsion system paramaters on system performance fuel economy and cost, and (3) a conceptual design establishing feasibility at the selected approach. Energy consumption for the selected system was .034 1/km (61.3 mpg) for the heat engine and .221 kWh/km (.356 kWh/mi) for the electric power system over a modified J227 a schedule D driving cycle. Life cycle costs were 7.13 cents/km (11.5 cents/mi) at $2/gal gasoline and 7 cents/kWh electricity for 160,000 km (100,000 mi) life.

  8. Control definition study for advanced vehicles

    Lapins, M.; Martorella, R. P.; Klein, R. W.; Meyer, R. C.; Sturm, M. J.


    The low speed, high angle of attack flight mechanics of an advanced, canard-configured, supersonic tactical aircraft designed with moderate longitudinal relaxed static stability (Static Margin, SM = 16% C sub W at M = 0.4) was investigated. Control laws were developed for the longitudinal axis (""G'' or maneuver and angle of attack command systems) and for the lateral/directional axes. The performance of these control laws was examined in engineering simulation. A canard deflection/rate requirement study was performed as part of the ""G'' command law evaluation at low angles of attack. Simulated coupled maneuvers revealed the need for command limiters in all three aircraft axes to prevent departure from controlled flight. When modified with command/maneuver limiters, the control laws were shown to be adequate to prevent aircraft departure during aggressive air combat maneuvering.

  9. Advanced vehicle systems assessment. Volume 5: Appendices

    Hardy, K.


    An appendix to the systems assessment for the electric hybrid vehicle project is presented. Included are battery design, battery cost, aluminum vehicle construction, IBM PC computer programs and battery discharge models.

  10. Advanced Path Following Control of an Overactuated Robotic Vehicle

    Ritzer, Peter; Winter, Christoph; Brembeck, Jonathan


    This work describes an advanced path following control strategy enabling overactuated robotic vehicles like the ROboMObil (ROMO) [1] to automatically follow predefined paths while all states of the vehicle's planar motion are controlled. This strategy is useful for autonomous vehicles which are guided along online generated paths including severe driving maneuvers caused by e.g. obstacle avoidance. The proposed approach combines path following, i.e. tracking a plane curve without a priori tim...

  11. Advanced propulsion system concept for hybrid vehicles

    Bhate, S.; Chen, H.; Dochat, G.


    A series hybrid system, utilizing a free piston Stirling engine with a linear alternator, and a parallel hybrid system, incorporating a kinematic Stirling engine, are analyzed for various specified reference missions/vehicles ranging from a small two passenger commuter vehicle to a van. Parametric studies for each configuration, detail tradeoff studies to determine engine, battery and system definition, short term energy storage evaluation, and detail life cycle cost studies were performed. Results indicate that the selection of a parallel Stirling engine/electric, hybrid propulsion system can significantly reduce petroleum consumption by 70 percent over present conventional vehicles.

  12. Advanced propulsion system for hybrid vehicles

    Norrup, L. V.; Lintz, A. T.


    A number of hybrid propulsion systems were evaluated for application in several different vehicle sizes. A conceptual design was prepared for the most promising configuration. Various system configurations were parametrically evaluated and compared, design tradeoffs performed, and a conceptual design produced. Fifteen vehicle/propulsion systems concepts were parametrically evaluated to select two systems and one vehicle for detailed design tradeoff studies. A single hybrid propulsion system concept and vehicle (five passenger family sedan)were selected for optimization based on the results of the tradeoff studies. The final propulsion system consists of a 65 kW spark-ignition heat engine, a mechanical continuously variable traction transmission, a 20 kW permanent magnet axial-gap traction motor, a variable frequency inverter, a 386 kg lead-acid improved state-of-the-art battery, and a transaxle. The system was configured with a parallel power path between the heat engine and battery. It has two automatic operational modes: electric mode and heat engine mode. Power is always shared between the heat engine and battery during acceleration periods. In both modes, regenerative braking energy is absorbed by the battery.

  13. Advanced access control system

    A prototype voice verification system has been installed which provides the required positive identification at the main site access control point. This system compares an individual's file voice print with a sample voice print obtained from the individual when an attempt is made to enter the site. The voice system transmits the individual's identify to a central processor. The system installed at the Barnwell Nuclear Fuel Plant is described

  14. Distributed Control in Multi-Vehicle Systems

    Paul A. Avery


    Full Text Available The Southwest Research Institute (SwRI Mobile Autonomous Robotics Technology Initiative (MARTI program has enabled the development of fully-autonomous passenger-sized commercial vehicles and military tactical vehicles, as well as the development of cooperative vehicle behaviors, such as cooperative sensor sharing and cooperative convoy operations. The program has also developed behaviors to interface intelligent vehicles with intelligent road-side devices. The development of intelligent vehicle behaviors cannot be approached as stand-alone phenomena; rather, they must be understood within a context of the broader traffic system dynamics. The study of other complex systems has shown that system-level behaviors emerge as a result of the spatio-temporal dynamics within a system's constituent parts. The design of such systems must therefore account for both the system-level emergent behavior, as well as behaviors of individuals within the system. It has also become clear over the past several years, for both of these domains, that human trust in the behavior of individual vehicles is paramount to broader technology adoption. This paper examines the interplay between individual vehicle capabilities, vehicle connectivity, and emergent system behaviors, and presents some considerations for a distributed control paradigm in a multi-vehicle system.

  15. Advanced hybrid and electric vehicles system optimization and vehicle integration


    This contributed volume contains the results of the research program “Agreement for Hybrid and Electric Vehicles”, funded by the International Energy Agency. The topical focus lies on technology options for the system optimization of hybrid and electric vehicle components and drive train configurations which enhance the energy efficiency of the vehicle. The approach to the topic is genuinely interdisciplinary, covering insights from fields. The target audience primarily comprises researchers and industry experts in the field of automotive engineering, but the book may also be beneficial for graduate students.

  16. Hybrid and electric advanced vehicle systems (heavy) simulation

    Hammond, R. A.; Mcgehee, R. K.


    A computer program to simulate hybrid and electric advanced vehicle systems (HEAVY) is described. It is intended for use early in the design process: concept evaluation, alternative comparison, preliminary design, control and management strategy development, component sizing, and sensitivity studies. It allows the designer to quickly, conveniently, and economically predict the performance of a proposed drive train. The user defines the system to be simulated using a library of predefined component models that may be connected to represent a wide variety of propulsion systems. The development of three models are discussed as examples.

  17. Advanced access control system

    A prototype voice verification system has been installed which provides the required positive identification at the main site access control point. This system compares an individual's file voice print with a sample voice print obtained from the individual when an attempt is made to enter the site. The voice system transmits the individual's identity to a central processor. The central processor associates that individual's authorization file with a card-key obtained at the access point. The system generates a record of personnel movement, provides a personnel inventory on a real-time basis, and it can retrieve a record of all prior events. The system installed at the Barnwell Nuclear Fuel Plant is described

  18. Advances and applications in nonlinear control systems

    Volos, Christos


    The book reports on the latest advances and applications of nonlinear control systems. It consists of 30 contributed chapters by subject experts who are specialized in the various topics addressed in this book. The special chapters have been brought out in the broad areas of nonlinear control systems such as robotics, nonlinear circuits, power systems, memristors, underwater vehicles, chemical processes, observer design, output regulation, backstepping control, sliding mode control, time-delayed control, variables structure control, robust adaptive control, fuzzy logic control, chaos, hyperchaos, jerk systems, hyperjerk systems, chaos control, chaos synchronization, etc. Special importance was given to chapters offering practical solutions, modeling and novel control methods for the recent research problems in nonlinear control systems. This book will serve as a reference book for graduate students and researchers with a basic knowledge of electrical and control systems engineering. The resulting design proce...

  19. Control systems integration for enhanced vehicle dynamics

    Vigliani, Alessandro; Velardocchia, Mauro


    This paper deals with improving comfort and handling for a ground vehicle through the coordinated control of different active systems available in passenger cars, e.g., electronic stability control, active roll control and engine torque control. The authors first describe separate control systems, each with its logic, showing advantages and limits, then propose various possible integrations, aiming at exploiting the benefits of a coordinated approach. Finally, the proposed control logics are ...

  20. Innovative control systems for tracked vehicle platforms


     This book has been motivated by an urgent need for designing and implementation of innovative control algorithms and systems for tracked vehicles. Nowadays the unmanned vehicles are becoming more and more common. Therefore there is a need for innovative mechanical constructions capable of adapting to various applications regardless the ground, air or water/underwater environment. There are multiple various activities connected with tracked vehicles. They can be distributed among three main groups: design and control algorithms, sensoric and vision based in-formation, construction and testing mechanical parts of unmanned vehicles. Scientists and researchers involved in mechanics, control algorithms, image processing, computer vision, data fusion, or IC will find this book useful.

  1. Vehicle-based Control Computer Systems

    Auslander, David M


    This report is presented in two parts: the first part describes a design and implementation methodology for real time software suitable for control of mechanical systems such as vehicles. This method provides for a design description of the system, a means of capturing the system structure in such a way as to modularize the software writing job, and a portable implementation method. The second part is concerned with a particular problem in the mechanical system control: estimating velocity wh...

  2. Entry Vehicle Control System Design for the Mars Smart Lander

    Calhoun, Philip C.; Queen, Eric M.


    The NASA Langley Research Center, in cooperation with the Jet Propulsion Laboratory, participated in a preliminary design study of the Entry, Descent and Landing phase for the Mars Smart Lander Project. This concept utilizes advances in Guidance, Navigation and Control technology to significantly reduce uncertainty in the vehicle landed location on the Mars surface. A candidate entry vehicle controller based on the Reaction Control System controller for the Apollo Lunar Excursion Module digital autopilot is proposed for use in the entry vehicle attitude control. A slight modification to the phase plane controller is used to reduce jet-firing chattering while maintaining good control response for the Martian entry probe application. The controller performance is demonstrated in a six-degree-of-freedom simulation with representative aerodynamics.


    CAI Ruibin; CHEN Zijian


    The working principle of a kind of compositive emission control system is inquired into,which includes exhaust heater, secondary air supplement, exhaust gas recirculation (EGR), thermal reactor and catalytic converter, etc. The purification effect of CO, HC and NOx emission of the gasoline spark ignite (S.I.) engine is studied. The entire vehicle driving cycle tests based on the national emission standard and a series of the gasoline engine-testing bench tests including full load characteristic experiment, load characteristic experiment and idle speed experiment are done. The results show that the system has a very good emission control effect to CO, HC and NOx of gasoline engine. The construction of the system is very simple and can be mounted on the exhaust pipe conveniently without any alteration of the vehicle-use gasoline engine.

  4. Nonlinear Output Feedback Control of Underwater Vehicle Propellers using Advance Speed Feedback

    Fossen, T.I.; Blanke, M.


    More accurate propeller shaft speed controllers can be designed by using nonlinear control theory. In this paper, an output feedback controller reconstructing the advance speed (speed of water going into the propeller) from vehicle speed measurements is derived. For this purpose a three-state model...... of propeller shaft speed, forward (surge) speed of the vehicle and axial inlet flow of the propeller is applied. A nonlinear observer in combination with an output feedback integral controller are derived by applying Lyapunov stability theory and exponential stability is proven. The output feedback...... controller minimizes thruster losses due to variations in propeller axial inlet flow which is a major problem when applying conventional vehicle-propeller control systems. The proposed controller is simulated for an underwater vehicle equipped with a single propeller. From the simulations it can be concluded...

  5. Battery control system for hybrid vehicle and method for controlling a hybrid vehicle battery

    Bockelmann, Thomas R.; Hope, Mark E.; Zou, Zhanjiang; Kang, Xiaosong


    A battery control system for hybrid vehicle includes a hybrid powertrain battery, a vehicle accessory battery, and a prime mover driven generator adapted to charge the vehicle accessory battery. A detecting arrangement is configured to monitor the vehicle accessory battery's state of charge. A controller is configured to activate the prime mover to drive the generator and recharge the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a first predetermined level, or transfer electrical power from the hybrid powertrain battery to the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a second predetermined level. The invention further includes a method for controlling a hybrid vehicle powertrain system.

  6. Traffic Information Unit, Traffic Information System, Vehicle Management System, Vehicle, and Method of Controlling a Vehicle

    Papp, Z.; Doodeman, G.J.N.; Nelisse, M.W.; Van der Sijs, J.; Theeuwes, J.A.C.; Driessen, B.J.F.


    A traffic information unit (MD1, MD2, MD3) according to the invention comprises a facility (MI) for tracking vehicle state information of individual vehicles present at a traffic infrastructure and a facility (T) for transmitting said vehicle state information to a vehicle (70B, 70E). A traffic information system may comprise a plurality of these traffic information units. The invention further comprises a vehicle management system (C) for a target vehicle (70B, 70E) that is capable of receiv...




    Full Text Available Smart Power Team is currently working on the design of an urban electric vehicle designed to compete in the Shell Eco-marathon. One important aspect of this type of vehicle characteristics is it safety. The project of advanced driver assistance systems has included some proposals of such systems and the concept of their execution. The first concept, BLIS (Blind Spot Information System, is to build a system of informing a driver about vehicles appearing in the blind spot. The system constitutes a second concept, CDIS (Collision Detection and Information System, and it is designed to detect a vehicle collision and inform the team. Further systems are: DPMS (Dew Point Measurement System - a system which does not allow a situation, where the windows are fogged, OHRS (Overtaking Horn Reminder System - a system which checks overtaking and MSS (main supervision system - a supervisory system. These concepts are based on the assumption of the use of laser sensors, photoelectric, humidity and temperature, and other commercially available systems. The article presents a detailed description of driver assistance systems and virtual prototyping methodology for these systems, as well as the numerical results of the verification of one of the systems.

  8. Advanced Control Surface Seal Development for Future Space Vehicles

    DeMange, Jeffrey J.; Dunlap, Patrick H., Jr.; Steinetz, Bruce M.


    High temperature control surface seals have been identified as a critical technology in the development of future space vehicles. These seals must withstand temperatures of up to 2600 F and protect underlying temperature-sensitive structures (such as actuators and sealing capability by remaining resilient during flight conditions. The current baseline seal, used on the Shuttle orbiters and the X-38 vehicle, consists of a Nextel 312 sheath, an internal Inconel X-750 knitted spring tube, and hand-stuffed Saffil batting. Unfortunately at high temperatures (> 1500 F), the seal resiliency significantly degrades due to yielding and creep of the spring tube element. The permanent set in the seals can result in flow passing over the seals and subsequent damage to temperature sensitive components downstream of the seals. Another shortcoming of the baseline seal is that instances have been reported on Shuttle flights where some of the hand-stuffed Saffil batting insulation has been extracted, thus potentially compromising the seal. In vehicles where the thermal protection systems are delicate (such as with Shuttle tiles), the control surface seals must also limit the amount of force applied to the opposing surfaces. Additionally, in many applications the seals are subjected to scrubbing as control surfaces are actuated. The seals must be able to withstand any damage resulting from this high temperature scrubbing and retain their heat/flow blocking abilities.

  9. Advanced underground Vehicle Power and Control: The locomotive Research Platform

    Vehicle Projects LLC


    Develop a fuelcell mine locomotive with metal-hydride hydrogen storage. Test the locomotive for fundamental limitations preventing successful commercialization of hydride fuelcells in underground mining. During Phase 1 of the DOE-EERE sponsored project, FPI and its partner SNL, completed work on the development of a 14.4 kW fuelcell power plant and metal-hydride energy storage. An existing battery-electric locomotive with similar power requirements, minus the battery module, was used as the base vehicle. In March 2001, Atlas Copco Wagner of Portland, OR, installed the fuelcell power plant into the base vehicle and initiated integration of the system into the vehicle. The entire vehicle returned to Sandia in May 2001 for further development and integration. Initial system power-up took place in December 2001. A revision to the original contract, Phase 2, at the request of DOE Golden Field Office, established Vehicle Projects LLC as the new prime contractor,. Phase 2 allowed industry partners to conduct surface tests, incorporate enhancements to the original design by SNL, perform an extensive risk and safety analysis, and test the fuelcell locomotive underground under representative production mine conditions. During the surface tests one of the fuelcell stacks exhibited reduced power output resulting in having to replace both fuelcell stacks. The new stacks were manufactured with new and improved technology resulting in an increase of the gross power output from 14.4 kW to 17 kW. Further work by CANMET and Hatch Associates, an engineering consulting firm specializing in safety analysis for the mining industry, both under subcontract to Vehicle Projects LLC, established minimum requirements for underground testing. CANMET upgraded the Programmable Logic Control (PLC) software used to monitor and control the fuelcell power plant, taking into account locomotive operator's needs. Battery Electric, a South Africa manufacturer, designed and manufactured (at no cost

  10. Advanced Driving Assistance Systems for an Electric Vehicle

    Pau Muñoz-Benavent


    Full Text Available This paper describes the automation of a Neighborhood Electric Vehicle (NEV and the embedded distributed architecture for implementing an Advanced Driving Assistance System (ADAS with haptic, visual, and audio feedback in order to improve safety. For the automation, original electric signals were conditioned, and mechanisms for actuation and haptic feedback were installed. An embedded distributed architecture was chosen based on two low-cost boards and implemented under a Robotics Operating System (ROS framework. The system includes features such as collision avoidance and motion planning.

  11. Control of AWD System for Vehicle Performance and Safety

    Jung Hojin; Choi Seibum


    AWD (All-Wheel Drive) system transfers drive force to all wheels so that it can help vehicle escape low mu surface or climb hill more conveniently. Recently, AWD system for on road vehicle has become popular to improve vehicle driving performance. However, there has not been enough research of applying AWD system for vehicle stability especially for lateral movement. Compared with ESC (Electronic Stability Control), AWD system does not cause any inconveniences to the driver because it control...

  12. Launch vehicle flight control augmentation using smart materials and advanced composites (CDDF Project 93-05)

    Barret, C.


    The Marshall Space Flight Center has a rich heritage of launch vehicles that have used aerodynamic surfaces for flight stability such as the Saturn vehicles and flight control such as on the Redstone. Recently, due to aft center-of-gravity locations on launch vehicles currently being studied, the need has arisen for the vehicle control augmentation that is provided by these flight controls. Aerodynamic flight control can also reduce engine gimbaling requirements, provide actuator failure protection, enhance crew safety, and increase vehicle reliability, and payload capability. In the Saturn era, NASA went to the Moon with 300 sq ft of aerodynamic surfaces on the Saturn V. Since those days, the wealth of smart materials and advanced composites that have been developed allow for the design of very lightweight, strong, and innovative launch vehicle flight control surfaces. This paper presents an overview of the advanced composites and smart materials that are directly applicable to launch vehicle control surfaces.

  13. Development of a control system for an autonomous underwater vehicle

    Masmitjà Rusiñol, Ivan; Masmitja Rusinyol, Gerard; González Agudelo, Julián; Shariat Panahi, Shahram; Gomáriz Castro, Spartacus


    This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetr...

  14. Advanced Mission Management System for Unmanned Aerial Vehicles

    R. Anand Raji


    Full Text Available The paper presents advanced mission management system (MMS for unmanned aerial vehicles, based on integrated modular avionics (IMA architecture. IMA architecture enables the MMS to host high end functions for autonomous navigation and attack. MMS is a collection of systems to execute the mission objectives. The system constitutes mission computer (MC, sensors and other sub-systems. The MMS-MC needs to execute advanced algorithms like terrain referenced navigation, vision-aided navigation, automatic target recognition, sensor fusion, online path planning, and tactical planning for autonomy and safety. This demands high-end architecture in terms of hardware, software, and communication. The MMS-MC is designed to exploit the benefits of IMA concepts such as open system architecture, hardware and software architecture catering for portability, technology transparency, scalability, system reconfigurability and fault tolerance. This paper investigates on advanced navigation methods for augmenting INS with terrain-referenced navigation and vision-aided navigation during GPS non-availability. This paper also includes approach to implement these methods and simulation results are provided accordingly, and also discusses in a limited way, the approach for implementing online path planning.Defence Science Journal, Vol. 64, No. 5, September 2014, pp.438-444, DOI:

  15. Smart mobile in-vehicle systems next generation advancements

    Abut, Huseyin; Takeda, Kazuya; Hansen, John


    This is an edited collection by world-class experts, from diverse fields, focusing on integrating smart in-vehicle systems with human factors to enhance safety in automobiles. The book presents developments on road safety, in-vehicle technologies and state-of-the art systems. Includes coverage of DSP technologies in adaptive automobiles, algorithms and evaluation of in-car communication systems, driver-status monitoring and stress detection, in-vehicle dialogue systems and human-machine interfaces, challenges in video and audio processing for in-vehicle products, multi-sensor fusion for driver identification and vehicle to infrastructure wireless technologies.

  16. Performance evaluation and design of flight vehicle control systems

    Falangas, Eric T


    This book will help students, control engineers and flight dynamics analysts to model and conduct sophisticated and systemic analyses of early flight vehicle designs controlled with multiple types of effectors and to design and evaluate new vehicle concepts in terms of satisfying mission and performance goals. Performance Evaluation and Design of Flight Vehicle Control Systems begins by creating a dynamic model of a generic flight vehicle that includes a range of elements from airplanes and launch vehicles to re-entry vehicles and spacecraft. The models may include dynamic effects dealing with structural flexibility, as well as dynamic coupling between structures and actuators, propellant sloshing, and aeroelasticity, and they are typically used for control analysis and design. The book shows how to efficiently combine different types of effectors together, such as aero-surfaces, TVC, throttling engines and RCS, to operate as a system by developing a mixing logic atrix. Methods of trimming a vehicle controll...

  17. Computational Modeling of Flow Control Systems for Aerospace Vehicles Project

    National Aeronautics and Space Administration — Clear Science Corp. proposes to develop computational methods for designing active flow control systems on aerospace vehicles with the primary objective of...

  18. Control of AWD System for Vehicle Performance and Safety

    Jung Hojin


    Full Text Available AWD (All-Wheel Drive system transfers drive force to all wheels so that it can help vehicle escape low mu surface or climb hill more conveniently. Recently, AWD system for on road vehicle has become popular to improve vehicle driving performance. However, there has not been enough research of applying AWD system for vehicle stability especially for lateral movement. Compared with ESC (Electronic Stability Control, AWD system does not cause any inconveniences to the driver because it controls vehicle only by distributing front and rear drive torque, without using brake. By allowing slipping/locking of wet clutch inside the transfer case, AWD system can distribute different amount of torque between front and rear axle. This paper introduces modelling of AWD system and suggests the control of AWD system based on peak slip ratio and slip angle at which tyre saturates. Carsim based vehicle simulation results of AWD controller is presented.

  19. Optimization and Control of Cyber-Physical Vehicle Systems

    Bradley, Justin M.; Atkins, Ella M.


    A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined. PMID:26378541

  20. Robust Vehicle Suspension System by Converting Active & Passive Control of a Vehicle to Semi-Active Control System Analytically

    Hassan Elahi; Dr. Riffat Asim Pasha; Dr. Asif Israr; Dr. M. Zubair Khan


    In this research work a simplified translational model of an automotive suspension system is constructed by only considering the translation motion of one wheel of a car. Passive Vehicle Suspension System is converted into Semi Active Vehicle System. Major advantage achieved by this system is that it adjusts the damping of the suspension system without the application of any actuator by using MATLAB® simulations. The semi-active control is found to control the vibration of suspens...

  1. Roll control resonance test vehicle (RCRTV) system postflight evaluation report

    Kryvoruka, J.K.


    This report presents the flight test results for a reentry vehicle spin-fin roll control system. The test vehicle, designated the Roll Control Resonance Test Vehicle, was flight tested on May 10, 1972, at the Sandia Laboratories Tonopah Test Range. The purpose of the flight were (1) to demonstrate and evaluate the capability of the control system to overcome a roll resonance flight instability and (2) to confirm the analytic predictions of system performance. The flight test vehicle had built-in asymmetries which, without roll control, would have caused a persistent roll resonance instability to occur. The test was successful in that all systems functioned properly and all program and flight test objectives were accomplished. Flight test data presented herein confirm analytic predictions and flight simulation methods. Results show that the system maintained roll rate control and prevented the roll resonance instability.

  2. The control system of an autonomous underwater vehicle

    Bjørn Jalving; Nils Størkersen


    This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV) developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.

  3. The control system of an autonomous underwater vehicle

    Bjørn Jalving


    Full Text Available This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.

  4. Fire control system for mobile vehicles using fuzzy controllers

    Krishna Moorty, J. A. R.; Marathe, Rajeev; Srivastava, Hari Babu


    Inertial stabilization of electro-optical sighting systems and weapon slaving control loops are essential constituents of modern fire control systems for mobile combat vehicles. These systems are used for surveillance, target tracking and engaging the targets under dynamic conditions. Firing accuracy of such systems largely depends on stabilization and weapon slaving accuracies. Accuracy requirements become stringent as the operating range increases. Several other issues such as bore sighting offsets, ballistic offsets and mounting error compensation etc. are also to be considered. Fuzzy knowledge based controller (FKBC) offers an alternative method to the conventional control synthesis methodologies using root locus, Bode plots or pole placement. Fuzzy control loops are particularly useful when the plant consists of substantial non-linearity due to actuator saturation, stiction, Coulomb friction, digitization etc. Since, the control surface obtained through this method is non-linear, generally it provides greater flexibility to designer to achieve better damping, lesser control energy even in presence of various constraints. This work presents the design of weapon slaving loop using a fuzzy controller. The weapon is slaved to a gimbaled electro-optical sight, which has a stabilized line of sight along two axes. The system under consideration is designed for naval platforms. A two-input (error and rate of change of error) and single output (incremental control) fuzzy controller has been designed to position the weapon at desired position. Implementation of controller has been done using digitized inputs. Simulations have been carried out to evaluate the performance of the integrated fire control system under the presence of various non-linearities, sensor inaccuracies and other exogenous inputs like host platform generated disturbances and measurement noise. Stringent requirements of disturbance attenuation, tracking and command following have been met.

  5. Advanced vehicle concepts systems and design analysis studies

    Waters, Mark H.; Huynh, Loc C.


    The work conducted by the ELORET Institute under this Cooperative Agreement includes the modeling of hypersonic propulsion systems and the evaluation of hypersonic vehicles in general and most recently hypersonic waverider vehicles. This work in hypersonics was applied to the design of a two-stage to orbit launch vehicle which was included in the NASA Access to Space Project. Additional research regarded the Oblique All-Wing (OAW) Project at NASA ARC and included detailed configuration studies of OAW transport aircraft. Finally, work on the modeling of subsonic and supersonic turbofan engines was conducted under this research program.

  6. Preview control of vehicle suspension system featuring MR shock absorber

    This paper presents control performance evaluation of optimal preview control algorithm for vehicle suspension featuring MR shock absorber. The optimal preview control algorithm has several advantages such as high control performance over that which is best for a non-preview system. In order to achieve this goal, a commercial MR shock absorber, Delphi MganerideTM, which is applicable to high class passenger vehicle, is adopted and its field-dependent damping force and dynamic responses are experimentally evaluated. Then the governing equation of motion for the full-vehicle model is established and integrated with the MR shock absorber. Subsequently, optimal controller with preview control algorithm is formulated and implemented for vibration suppression of the car body. Control performance of the preview controller is evaluated for the full-vehicle model under random road condition. In addition, the control performances depending on preview distances are evaluated.

  7. Survey of Controllable Suspension System for Off-road Vehicles

    WU Zhi-cheng; ZHU Quan-min; CHEN Si-zhong; Alan Winfield; YANG Lin; ZHANG Bin


    The controllable suspension system can improve the performances of off-road vehicles both on road and cross-country. So far, four controllable suspensions, that is, body height control, active, semi-active and slow-active suspensions, have been developed. For off-road vehicles, the slow-active suspension and the semi-active suspension which have controllable stiffness, damping and body height are more appropriate to use. For many years, some control methodologies for controllable suspension systems have been developed along with the development of modern control theory, and two or more original control methods are integrated as a new control method. Today, for military or civilian off-road vehicles, the R&D of controllable suspension systems is ongoing.

  8. Coordinated control of networked vehicles: An autonomous underwater system

    Pereira, FL; de Sousa, JB


    The specification and design of coordinated control strategies for networked vehicle systems are discussed. The discussion is illustrated with an example of the coordinated operation of two teams of autonomous underwater vehicles collecting data to find the local minimum of a given oceanographic scalar field.

  9. Autonomous vehicle control systems for safe crossroads

    Alonso Ruiz, Javier; Milanés Montero, Vicente; Pérez, Joshué; Onieva Caracuel, Enrique; González Fernández-Vallejo, Carlos; Pedro Lucio, María Teresa de


    This article presents a cooperative manoeuvre among three dual mode cars – vehicles equipped with sensors and actuators, and that can be driven either manually or autonomously. One vehicle is driven autonomously and the other two are driven manually. The main objective is to test two decision algorithms for priority conflict resolution at intersections so that a vehicle autonomously driven can take their own decision about crossing an intersection mingling with manually driven cars without th...

  10. Advanced Coordinating Control System for Power Plant

    WU Peng; WEI Shuangying


    The coordinating control system is popular used in power plant. This paper describes the advanced coordinating control by control methods and optimal operation, introduces their principals and features by using the examples of power plant operation. It is wealthy for automation application in optimal power plant operation.

  11. Advanced dc motor controller for battery-powered electric vehicles

    Belsterling, C. A.


    A motor generation set is connected to run from the dc source and generate a voltage in the traction motor armature circuit that normally opposes the source voltage. The functional feasibility of the concept is demonstrated with tests on a Proof of Principle System. An analog computer simulation is developed, validated with the results of the tests, applied to predict the performance of a full scale Functional Model dc Controller. The results indicate high efficiencies over wide operating ranges and exceptional recovery of regenerated energy. The new machine integrates both motor and generator on a single two bearing shaft. The control strategy produces a controlled bidirectional plus or minus 48 volts dc output from the generator permitting full control of a 96 volt dc traction motor from a 48 volt battery, was designed to control a 20 hp traction motor. The controller weighs 63.5 kg (140 lb.) and has a peak efficiency of 90% in random driving modes and 96% during the SAE J 227a/D driving cycle.

  12. Advanced Control of Wheeled Inverted Pendulum Systems

    Li, Zhijun; Fan, Liping


    Advanced Control of Wheeled Inverted Pendulum Systems is an orderly presentation of recent ideas for overcoming the complications inherent in the control of wheeled inverted pendulum (WIP) systems, in the presence of uncertain dynamics, nonholonomic kinematic constraints as well as underactuated configurations. The text leads the reader in a theoretical exploration of problems in kinematics,dynamics modeling, advanced control design techniques,and trajectory generation for WIPs. An important concern is how to deal with various uncertainties associated with the nominal model, WIPs being characterized by unstable balance and unmodelled dynamics and being subject to time-varying external disturbances for which accurate models are hard to come by.   The book is self-contained, supplying the reader with everything from mathematical preliminaries and the basic Lagrange-Euler-based derivation of dynamics equations to various advanced motion control and force control approaches as well as trajectory generation met...

  13. Design of Launch Vehicle Flight Control Systems Using Ascent Vehicle Stability Analysis Tool

    Jang, Jiann-Woei; Alaniz, Abran; Hall, Robert; Bedossian, Nazareth; Hall, Charles; Jackson, Mark


    A launch vehicle represents a complicated flex-body structural environment for flight control system design. The Ascent-vehicle Stability Analysis Tool (ASAT) is developed to address the complicity in design and analysis of a launch vehicle. The design objective for the flight control system of a launch vehicle is to best follow guidance commands while robustly maintaining system stability. A constrained optimization approach takes the advantage of modern computational control techniques to simultaneously design multiple control systems in compliance with required design specs. "Tower Clearance" and "Load Relief" designs have been achieved for liftoff and max dynamic pressure flight regions, respectively, in the presence of large wind disturbances. The robustness of the flight control system designs has been verified in the frequency domain Monte Carlo analysis using ASAT.

  14. Intelligent vehicle control: Opportunities for terrestrial-space system integration

    Shoemaker, Charles


    For 11 years the Department of Defense has cooperated with a diverse array of other Federal agencies including the National Institute of Standards and Technology, the Jet Propulsion Laboratory, and the Department of Energy, to develop robotics technology for unmanned ground systems. These activities have addressed control system architectures supporting sharing of tasks between the system operator and various automated subsystems, man-machine interfaces to intelligent vehicles systems, video compression supporting vehicle driving in low data rate digital communication environments, multiple simultaneous vehicle control by a single operator, path planning and retrace, and automated obstacle detection and avoidance subsystem. Performance metrics and test facilities for robotic vehicles were developed permitting objective performance assessment of a variety of operator-automated vehicle control regimes. Progress in these areas will be described in the context of robotic vehicle testbeds specifically developed for automated vehicle research. These initiatives, particularly as regards the data compression, task sharing, and automated mobility topics, also have relevance in the space environment. The intersection of technology development interests between these two communities will be discussed in this paper.

  15. Algorithm for calculating torque base in vehicle traction control system

    Li, Hongzhi; Li, Liang; Song, Jian; Wu, Kaihui; Qiao, Yanjuan; Liu, Xingchun; Xia, Yongguang


    Existing research on the traction control system(TCS) mainly focuses on control methods, such as the PID control, fuzzy logic control, etc, aiming at achieving an ideal slip rate of the drive wheel over long control periods. The initial output of the TCS (referred to as the torque base in this paper), which has a great impact on the driving performance of the vehicle in early cycles, remains to be investigated. In order to improve the control performance of the TCS in the first several cycles, an algorithm is proposed to determine the torque base. First, torque bases are calculated by two different methods, one based on states judgment and the other based on the vehicle dynamics. The confidence level of the torque base calculated based on the vehicle dynamics is also obtained. The final torque base is then determined based on the two torque bases and the confidence level. Hardware-in-the-loop(HIL) simulation and vehicle tests emulating sudden start on low friction roads have been conducted to verify the proposed algorithm. The control performance of a PID-controlled TCS with and without the proposed torque base algorithm is compared, showing that the proposed algorithm improves the performance of the TCS over the first several cycles and enhances about 5% vehicle speed by contrast. The proposed research provides a more proper initial value for TCS control, and improves the performance of the first several control cycles of the TCS.

  16. Vehicle-manipulator systems modeling for simulation, analysis, and control

    From, Pal Johan; Pettersen, Kristin Ytterstad


    Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

  17. Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations

    Gietelink, O.J.; Ploeg, J.; Schutter,; Verhaegen, M.


    This paper presents a new method for the design and validation of advanced driver assistance systems (ADASs). With vehicle hardware-in-the-loop (VEHIL) simulations, the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and is more

  18. Dynamic flow control strategies of vehicle SCR Urea Dosing System

    Lin, Wei; Zhang, Youtong; Asif, Malik


    Selective Catalyst Reduction(SCR) Urea Dosing System(UDS) directly affects the system accuracy and the dynamic response performance of a vehicle. However, the UDS dynamic response is hard to keep up with the changes of the engine's operating conditions. That will lead to low NO X conversion efficiency or NH3 slip. In order to optimize the injection accuracy and the response speed of the UDS in dynamic conditions, an advanced control strategy based on an air-assisted volumetric UDS is presented. It covers the methods of flow compensation and switching working conditions. The strategy is authenticated on an UDS and tested in different dynamic conditions. The result shows that the control strategy discussed results in higher dynamic accuracy and faster dynamic response speed of UDS. The inject deviation range is improved from being between -8% and 10% to -4% and 2% and became more stable than before, and the dynamic response time was shortened from 200 ms to 150 ms. The ETC cycle result shows that after using the new strategy the NH3 emission is reduced by 60%, and the NO X emission remains almost unchanged. The trade-off between NO X conversion efficiency and NH3 slip is mitigated. The studied flow compensation and switching working conditions can improve the dynamic performance of the UDS significantly and make the UDS dynamic response keep up with the changes of the engine's operating conditions quickly.

  19. Advanced electric propulsion system concept for electric vehicles

    Raynard, A. E.; Forbes, F. E.


    Seventeen propulsion system concepts for electric vehicles were compared to determine the differences in components and battery pack to achieve the basic performance level. Design tradeoffs were made for selected configurations to find the optimum component characteristics required to meet all performance goals. The anticipated performance when using nickel-zinc batteries rather than the standard lead-acid batteries was also evaluated. The two systems selected for the final conceptual design studies included a system with a flywheel energy storage unit and a basic system that did not have a flywheel. The flywheel system meets the range requirement with either lead-acid or nickel-zinc batteries and also the acceleration of zero to 89 km/hr in 15 s. The basic system can also meet the required performance with a fully charged battery, but, when the battery approaches 20 to 30 percent depth of discharge, maximum acceleration capability gradually degrades. The flywheel system has an estimated life-cycle cost of $0.041/km using lead-acid batteries. The basic system has a life-cycle cost of $0.06/km. The basic system, using batteries meeting ISOA goals, would have a life-cycle cost of $0.043/km.

  20. Depth Level Control System using Peripheral Interface Controller for Underwater Vehicle

    Muhamad Fadli Ghani


    Full Text Available This research explained on a design and development of an Automatic Depth Control System for underwater vehicle. Definition of underwater vehicle is a robotic sub-sea that is a part of the emerging field of autonomous and unmanned vehicles. This project shows the implementation’s development of an Automatic Depth Control System on a test prototyping vehicle especially involved small-scale and low cost sub-sea robots. The Automatic Depth Control System assembled with mechanical system and module of electronic system for development of a controller.

  1. Advanced transportation system study: Manned launch vehicle concepts for two way transportation system payloads to LEO

    Duffy, James B.


    The purpose of the Advanced Transportation System Study (ATSS) task area 1 study effort is to examine manned launch vehicle booster concepts and two-way cargo transfer and return vehicle concepts to determine which of the many proposed concepts best meets NASA's needs for two-way transportation to low earth orbit. The study identified specific configurations of the normally unmanned, expendable launch vehicles (such as the National Launch System family) necessary to fly manned payloads. These launch vehicle configurations were then analyzed to determine the integrated booster/spacecraft performance, operations, reliability, and cost characteristics for the payload delivery and return mission. Design impacts to the expendable launch vehicles which would be required to perform the manned payload delivery mission were also identified. These impacts included the implications of applying NASA's man-rating requirements, as well as any mission or payload unique impacts. The booster concepts evaluated included the National Launch System (NLS) family of expendable vehicles and several variations of the NLS reference configurations to deliver larger manned payload concepts (such as the crew logistics vehicle (CLV) proposed by NASA JSC). Advanced, clean sheet concepts such as an F-1A engine derived liquid rocket booster (LRB), the single stage to orbit rocket, and a NASP-derived aerospace plane were also included in the study effort. Existing expendable launch vehicles such as the Titan 4, Ariane 5, Energia, and Proton were also examined. Although several manned payload concepts were considered in the analyses, the reference manned payload was the NASA Langley Research Center's HL-20 version of the personnel launch system (PLS). A scaled up version of the PLS for combined crew/cargo delivery capability, the HL-42 configuration, was also included in the analyses of cargo transfer and return vehicle (CTRV) booster concepts. In addition to strictly manned payloads, two-way cargo

  2. Advanced Vehicle Testing and Evaluation

    Garetson, Thomas [The Clarity Group, Incorporated, Chicago, IL (United States)


    The objective of the United States (U.S.) Department of Energy's (DOEs) Advanced Vehicle Testing and Evaluation (AVTE) project was to provide test and evaluation services for advanced technology vehicles, to establish a performance baseline, to determine vehicle reliability, and to evaluate vehicle operating costs in fleet operations.Vehicles tested include light and medium-duty vehicles in conventional, hybrid, and all-electric configurations using conventional and alternative fuels, including hydrogen in internal combustion engines. Vehicles were tested on closed tracks and chassis dynamometers, as well as operated on public roads, in fleet operations, and over prescribed routes. All testing was controlled by procedures developed specifically to support such testing.

  3. A microcomputer-based control system for electric vehicles

    Bertran Albertí, Eduardo; Martinez, L.; Miguel López, José María; Munilla, I.


    This paper describes a microcomputer-based algorithm used to control a dc separately excited motor for electric vehicle drive. The control programme consists essentially of two secondary programmes which perform respectively the command, and the output decision making tasks. The algorithm simulation on a Hewlett-Packard Model 64000 Logic Development System showed that it was possible to achieve an average execution time of 1 millisecond which is very short when compared to the mechanical time...

  4. Advanced Transport Operating System (ATOPS) control display unit software description

    Slominski, Christopher J.; Parks, Mark A.; Debure, Kelly R.; Heaphy, William J.


    The software created for the Control Display Units (CDUs), used for the Advanced Transport Operating Systems (ATOPS) project, on the Transport Systems Research Vehicle (TSRV) is described. Module descriptions are presented in a standardized format which contains module purpose, calling sequence, a detailed description, and global references. The global reference section includes subroutines, functions, and common variables referenced by a particular module. The CDUs, one for the pilot and one for the copilot, are used for flight management purposes. Operations performed with the CDU affects the aircraft's guidance, navigation, and display software.

  5. Synthesis of the unmanned aerial vehicle remote control augmentation system

    Tomczyk, Andrzej, E-mail: [Department of Avionics and Control Systems, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, Al. Powstañców Warszawy 12, 35-959 Rzeszów (Poland)


    Medium size Unmanned Aerial Vehicle (UAV) usually flies as an autonomous aircraft including automatic take-off and landing phases. However in the case of the on-board control system failure, the remote steering is using as an emergency procedure. In this reason, remote manual control of unmanned aerial vehicle is used more often during take-of and landing phases. Depends on UAV take-off mass and speed (total energy) the potential crash can be very danger for airplane and environment. So, handling qualities of UAV is important from pilot-operator point of view. In many cases the dynamic properties of remote controlling UAV are not suitable for obtaining the desired properties of the handling qualities. In this case the control augmentation system (CAS) should be applied. Because the potential failure of the on-board control system, the better solution is that the CAS algorithms are placed on the ground station computers. The method of UAV handling qualities shaping in the case of basic control system failure is presented in this paper. The main idea of this method is that UAV reaction on the operator steering signals should be similar - almost the same - as reaction of the 'ideal' remote control aircraft. The model following method was used for controller parameters calculations. The numerical example concerns the medium size MP-02A UAV applied as an aerial observer system.

  6. Synthesis of the unmanned aerial vehicle remote control augmentation system

    Tomczyk, Andrzej


    Medium size Unmanned Aerial Vehicle (UAV) usually flies as an autonomous aircraft including automatic take-off and landing phases. However in the case of the on-board control system failure, the remote steering is using as an emergency procedure. In this reason, remote manual control of unmanned aerial vehicle is used more often during take-of and landing phases. Depends on UAV take-off mass and speed (total energy) the potential crash can be very danger for airplane and environment. So, handling qualities of UAV is important from pilot-operator point of view. In many cases the dynamic properties of remote controlling UAV are not suitable for obtaining the desired properties of the handling qualities. In this case the control augmentation system (CAS) should be applied. Because the potential failure of the on-board control system, the better solution is that the CAS algorithms are placed on the ground station computers. The method of UAV handling qualities shaping in the case of basic control system failure is presented in this paper. The main idea of this method is that UAV reaction on the operator steering signals should be similar - almost the same - as reaction of the "ideal" remote control aircraft. The model following method was used for controller parameters calculations. The numerical example concerns the medium size MP-02A UAV applied as an aerial observer system.

  7. Synthesis of the unmanned aerial vehicle remote control augmentation system

    Medium size Unmanned Aerial Vehicle (UAV) usually flies as an autonomous aircraft including automatic take-off and landing phases. However in the case of the on-board control system failure, the remote steering is using as an emergency procedure. In this reason, remote manual control of unmanned aerial vehicle is used more often during take-of and landing phases. Depends on UAV take-off mass and speed (total energy) the potential crash can be very danger for airplane and environment. So, handling qualities of UAV is important from pilot-operator point of view. In many cases the dynamic properties of remote controlling UAV are not suitable for obtaining the desired properties of the handling qualities. In this case the control augmentation system (CAS) should be applied. Because the potential failure of the on-board control system, the better solution is that the CAS algorithms are placed on the ground station computers. The method of UAV handling qualities shaping in the case of basic control system failure is presented in this paper. The main idea of this method is that UAV reaction on the operator steering signals should be similar - almost the same - as reaction of the 'ideal' remote control aircraft. The model following method was used for controller parameters calculations. The numerical example concerns the medium size MP-02A UAV applied as an aerial observer system

  8. Advanced dc-Traction-Motor Control System

    Vittone, O.


    Motor-control concept for battery-powered vehicles includes stateof-the-art power-transistor switching and separate excitation of motor windings in traction and regenerative braking. Switching transistors and other components of power-conditioning subsystem operate under control of computer that coordinates traction, braking, and protective functions.

  9. Minimum fuel control of a vehicle with a continuously variable transmission. [control system simulation

    Burghart, J. H.; Donoghue, J. F.


    The design and evaluation of a control system for a sedan with a heat engine and a continuously variable transmission, is considered in a effort to minimize fuel consumption and achieve satisfactory dynamic response of vehicle variables as the vehicle is driven over a standard driving cycle. Even though the vehicle system was highly nonlinear, attention was restricted to linear control algorithms which could be easily understood and implemented demonstrated by simulation. Simulation results also revealed that the vehicle could exhibit unexpected dynamic behavior which must be taken into account in any control system design.

  10. Autonomous Underwater Vehicle control

    Vidal Morató, Jordi; Gomáriz Castro, Spartacus; Manuel Lázaro, Antonio


    In this paper the system control design stages for an autonomous underwater vehicle are presented. The vehicle must be able to sail on sea surface, following a path without losing its route and once a position is reached, a dive following a perpendicular path to the surface is carried out. A two level system control are proposed. The primary level will control the navigation of the vehicle where a linear controllers are proposed. Whereas in secondary level guidance system, collision system, s...

  11. A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

    M. K. Aripin; Yahaya Md Sam; Danapalasingam, Kumeresan A.; Kemao Peng; N. Hamzah; Ismail, M. F.


    Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with...

  12. A Review Of Design And Control Of Automated Guided Vehicle Systems

    Le-Anh, Tuan; Koster, René


    textabstractThis paper presents a review on design and control of automated guided vehicle systems. We address most key related issues including guide-path design, estimating the number of vehicles, vehicle scheduling, idle-vehicle positioning, battery management, vehicle routing, and conflict resolution. We discuss and classify important models and results from key publications in literature on automated guided vehicle systems, including often-neglected areas, such as idle-vehicle positionin...

  13. Stability Analysis on Speed Control System of Autonomous Underwater Vehicle

    LI Ye; PANG Yong-jie; WAN Lei; WANG Fang; LIAO Yu-lei


    The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems.

  14. Advances in dynamical systems and control

    Zgurovsky, Mikhail


    Focused on recent advances, this book covers theoretical foundations as well as various applications. It presents modern mathematical modeling approaches to the qualitative and numerical analysis of solutions for complex engineering problems in physics, mechanics, biochemistry, geophysics, biology and climatology. Contributions by an international team of respected authors bridge the gap between abstract mathematical approaches, such as applied methods of modern analysis, algebra, fundamental and computational mechanics, nonautonomous and stochastic dynamical systems on the one hand, and practical applications in nonlinear mechanics, optimization, decision making theory and control theory on the other. As such, the book will be of interest to mathematicians and engineers working at the interface of these fields. .

  15. Control Design and Analysis of an Advanced Induction Motor Electric Vehicle Drive

    Herwald, Marc A.


    This thesis is about the development and performance enhancement of an induction motor electric vehicle drive system. The fundamental operation of the induction motor drive hardware and control software are introduced, and the different modulation techniques tested are described. A software simulation package is developed to assist in the control design and analysis of the drive system. Next, to establish the efficiency gains obtained by using space vector modulation in the improved drive ...

  16. Automatic braking system modification for the Advanced Transport Operating Systems (ATOPS) Transportation Systems Research Vehicle (TSRV)

    Coogan, J. J.


    Modifications were designed for the B-737-100 Research Aircraft autobrake system hardware of the Advanced Transport Operating Systems (ATOPS) Program at Langley Research Center. These modifications will allow the on-board flight control computer to control the aircraft deceleration after landing to a continuously variable level for the purpose of executing automatic high speed turn-offs from the runway. A bread board version of the proposed modifications was built and tested in simulated stopping conditions. Test results, for various aircraft weights, turnoff speed, winds, and runway conditions show that the turnoff speeds are achieved generally with errors less than 1 ft/sec.

  17. Prototyping Advanced Control Systems on FPGA

    Simard Stéphane


    Full Text Available In advanced digital control and mechatronics, FPGA-based systems on a chip (SoCs promise to supplant older technologies, such as microcontrollers and DSPs. However, the tackling of FPGA technology by control specialists is complicated by the need for skilled hardware/software partitioning and design in order to match the performance requirements of more and more complex algorithms while minimizing cost. Currently, without adequate software support to provide a straightforward design flow, the amount of time and efforts required is prohibitive. In this paper, we discuss our choice, adaptation, and use of a rapid prototyping platform and design flow suitable for the design of on-chip motion controllers and other SoCs with a need for analog interfacing. The platform consists of a customized FPGA design for the Amirix AP1000 PCI FPGA board coupled with a multichannel analog I/O daughter card. The design flow uses Xilinx System Generator in Matlab/Simulink for system design and test, and Xilinx Platform Studio for SoC integration. This approach has been applied to the analysis, design, and hardware implementation of a vector controller for 3-phase AC induction motors. It also has contributed to the development of CMC's MEMS prototyping platform, now used by several Canadian laboratories.

  18. Thermal Control System Development to Support the Crew Exploration Vehicle and Lunar Surface Access Module

    Anderson, Molly; Westheimer, David


    All space vehicles or habitats require thermal management to maintain a safe and operational environment for both crew and hardware. Active Thermal Control Systems (ATCS) perform the functions of acquiring heat from both crew and hardware within a vehicle, transporting that heat throughout the vehicle, and finally rejecting that energy into space. Almost all of the energy used in a space vehicle eventually turns into heat, which must be rejected in order to maintain an energy balance and temperature control of the vehicle. For crewed vehicles, Active Thermal Control Systems are pumped fluid loops that are made up of components designed to perform these functions. NASA has recently evaluated all of the agency s technology development work and identified key areas that must be addressed to aid in the successful development of a Crew Exploration Vehicle (CEV) and a Lunar Surface Access Module (LSAM). The technologies that have been selected and are currently under development include: fluids that enable single loop ATCS architectures, a gravity insensitive vapor compression cycle heat pump, a sublimator with reduced sensitivity to feedwater contamination, an evaporative heat sink that can operate in multiple ambient pressure environments, a compact spray evaporator, and lightweight radiators that take advantage of carbon composites and advanced optical coatings.

  19. A Review Of Design And Control Of Automated Guided Vehicle Systems

    T. Le-Anh (Tuan); M.B.M. de Koster (René)


    textabstractThis paper presents a review on design and control of automated guided vehicle systems. We address most key related issues including guide-path design, estimating the number of vehicles, vehicle scheduling, idle-vehicle positioning, battery management, vehicle routing, and conflict resol

  20. Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles

    İkbal Eski; Şahin Yıldırım


    A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as underwater flow. It is ...

  1. Research and Development of Engine-Generator Set Control System for Tracked Vehicle Electric Transmission System

    HUANG Ying; HUANG Qian; SUN Feng-chun; LIU Bo-lan; LIU Jia


    As an energy generating equipment, the engine-generator set supplies power to the electric transmission. Therefore, its control is one of the key technologies of electric vehicles. Based on the discussion about the demands to the engine-generator set in tracked vehicles, the detailed function of engine-generator and the control strategy are determined. The hardware and software of the control system are also developed and tested in a prototype vehicle. The experiment results show that the control system has good reliability and can satisfy the power requirements of vehicles under all operating conditions.

  2. Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

    Guo Lie; Ren Zejian; Ge Pingshu; Chang Jing


    Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the cu...

  3. GSM-GPS Based Intelligent Security and Control System for Vehicle

    Mr. Kiran Gaikwad


    Full Text Available The revolution of Mobile and Technology has made ‘GSM based vehicle security system’. The vehicle security system is prominent worldwide. But it is not so much secure system. Every vehicle owner wants maximum protection of his vehicle; otherwise thief can easily trap the vehicle. So, by combing the idea of mobile and vehicle security system GSM based vehicle security system can be designed. So this GSM-GPS based vehicle security system works when someone tries to steal your vehicle. This paper deals with the design {&} development of an embedded system, which is being used to prevent/control the theft of a vehicle. The instrument is an embedded system based on GSM and GPS technology. The instrument is installed in the engine of the vehicle. The main objective of this instrument is to protect the vehicle from any unauthorized access, through entering a protected password and intimate the status and location of the same vehicle to the authorize person (owner using Global System for Mobile Communication (GSM and Global Positioning System (GPS technology. Here owner of vehicle can control system through Cell phone or a personal computer (PC. In this system new concept is inclusion of RTC (Real Time Clock by which vehicle can be permanently off depending upon date and time set. This system is intelligent because it performs many tasks automatically and also control vehicle on/off from a distance

  4. Advanced nonlinear engine speed control systems

    Vesterholm, Thomas; Hendricks, Elbert


    Several subsidiary control problems have turned out to be important for improving driveability and fuel consumption in modern spark ignition (SI) engine cars. Among these are idle speed control and cruise control. In this paper the idle speed and cruise control problems will be treated as one......: accurately tracking of a desired engine speed in the presence of model uncertainties and severe load disturbances. This is accomplished by using advanced nonlinear control techniques such as input/output-linearization and sliding mode control. These techniques take advantage of a nonlinear model of the...

  5. Advanced Applications of Subsea Control Systems

    Technology transfer is one of the main arguments Norwegian companies have for getting involved in difficult markets like Angola. There is great need for sub sea technology in Angola, and Kvaerner Oilfield Products is one of the companies that have successfully fought for contracts in this lucrative market. Field operator TotalFinaElf Exploration and Production Angola has awarded Kvaerner Oilfield Products a USD 3.1 million contract for pre-engineering and qualification testing of the sub sea production systems for the Dalia field offshore Angola. Kvaerner Oilfield Products has already started pre-engineering and testing activity. The sub sea production system includes 42 Xmas trees for controlling the well stream, nine manifolds as well as related control equipment. As sub sea technology improves and advances, equipment that is more complex is being placed on the seabed and downhole environments. Factors such as the cost of the umbilical, increased noise immunity and speed requirements will almost certainly result in optical communications being widely adopted for future system designs. However; in the immediate future operators are likely to insist on backup electrical communications due to the immaturity of certain aspects such as Wetmate optical connectors, fibre handling and fibre degradation. Perhaps the single greatest advantage of open standard sub sea networking is derived from the exploitation of the growing range of third party intelligent instrumentation available on the market. This instrumentation when properly integrated into a sensor to boardroom data management system allows unparalleled control to be delivered to the user at a total cost of installation which can be radically less than conventional technology. It can provide a compelling case for adoption of true open standards. In order to deliver power over any significant distance it is necessary to consider the losses in the transmission medium. The major constraint in the sub sea industry is

  6. Vehicle height and posture control of the electronic air suspension system using the hybrid system approach

    Sun, Xiaoqiang; Cai, Yingfeng; Chen, Long; Liu, Yanling; Wang, Shaohua


    The electronic air suspension (EAS) system can improve ride comfort, fuel economy and handling safety of vehicles by adjusting vehicle height. This paper describes the development of a novel controller using the hybrid system approach to adjust the vehicle height (height control) and to regulate the roll and pitch angles of the vehicle body during the height adjustment process (posture control). The vehicle height adjustment system of EAS poses challenging hybrid control problems, since it features different discrete modes of operation, where each mode has an associated linear continuous-time dynamic. In this paper, we propose a novel approach to the modelling and controller design problem for the vehicle height adjustment system of EAS. The system model is described firstly in the hybrid system description language (HYSDEL) to obtain a mixed logical dynamical (MLD) hybrid model. For the resulting model, a hybrid model predictive controller is tuned to improve the vehicle height and posture tracking accuracy and to achieve the on-off statuses direct control of solenoid valves. The effectiveness and performance of the proposed approach are demonstrated by simulations and actual vehicle tests.

  7. Advanced Control Surface Seal Development at NASA GRC for Future Space Launch Vehicles

    Dunlap, Patrick H., Jr.; Steinetz, Bruce M.; DeMange, Jeffrey J.


    NASA s Glenn Research Center (GRC) is developing advanced control surface seal technologies for future space launch vehicles as part of the Next Generation Launch Technology project (NGLT). New resilient seal designs are currently being fabricated and high temperature seal preloading devices are being developed as a means of improving seal resiliency. GRC has designed several new test rigs to simulate the temperatures, pressures, and scrubbing conditions that seals would have to endure during service. A hot compression test rig and hot scrub test rig have been developed to perform tests at temperatures up to 3000 F. Another new test rig allows simultaneous seal flow and scrub tests at room temperature to evaluate changes in seal performance with scrubbing. These test rigs will be used to evaluate the new seal designs. The group is also performing tests on advanced TPS seal concepts for Boeing using these new test facilities.

  8. Vehicle Dynamics and Control

    Rajamani, Rajesh


    Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicle. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability co...

  9. Application of robust control in unmanned vehicle flight control system design

    Al Swailem, Salah I.


    The robust loop-shaping control methodology is applied in the flight control system design of the Cranfield A3 Observer unmanned, unstable, catapult launched air vehicle. Detailed linear models for the full operational flight envelope of the air vehicle are developed. The nominal and worst-case models are determined using the v-gap metric. The effect of neglecting subsystems such as actuators and/or computation delays on modelling uncertainty is determined using the v-gap metri...

  10. The General Configuration of CEV1 Electric Vehicle's Electrical System and the Design of Its Control Sequence


    The general configuration of CEV1 electric vehicle's electrical system and the design scheme of its control sequence are presented, which are modularized by using VMU as master control unit, PMU as power management unit, BMU as battery management unit. It is a rather advanced and practical general design scheme of electric vehicle, because the division of its module function is definite, which is advantage for research, manufacture and maintenance.

  11. Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles

    İkbal Eski


    Full Text Available A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as underwater flow. It is proved that this kind of neural predictor could be used in real-time AUV applications.

  12. Intelligent Fatigue Detection and Automatic Vehicle Control System

    Monali Gulhane; P.S.Mohod


    This paper describes method for detecting the early signs of fatigue in train drivers. As soon as the train driver is falling in symptoms of fatigue immediate message will be transfer to the control room indicating the status of the drivers. In addition of the advance technology of heart rate sensors is also added in the system for correct detection of status of driver if in either case driver is falling to fatigue due to any sever medical problems .The fatigue is detected in the system by th...

  13. Longitudinal Control of a Platoon of Road Vehicles Equipped with Adaptive Cruise Control System

    Zeeshan Ali Memon


    Full Text Available Automotive vehicle following systems are essential for the design of automated highway system. The problem associated with the automatic vehicle following system is the string stability of the platoon of vehicles, i.e. the problem of uniform velocity and spacing errors propagation. Different control algorithm for the longitudinal control of a platoon are discussed based on different spacing policies, communication link among the vehicles of a platoon, and the performance of a platoon have been analysed in the presence of disturbance (noise and parametric uncertainties. This paper presented the PID (Proportional Integral Derivative feedback control algorithm for the longitudinal control of a platoon in the presence of noise signal and investigates the performance of platoon under the influence of sudden acceleration and braking in severe conditions. This model has been applied on 6 vehicles moving in a platoon. The platoon has been analysed to retain the uniform velocity and safe spacing among the vehicles. The limitations of PID control algorithm have been discussed and the alternate methods have been suggested. Model simulations, in comparison with the literature, are also presented.

  14. Intelligent energy management control of vehicle air conditioning system coupled with engine

    Vehicle Air Conditioning (AC) systems consist of an engine powered compressor activated by an electrical clutch. The AC system imposes an extra load to the vehicle's engine increasing the vehicle fuel consumption and emissions. Energy management control of the vehicle air conditioning is a nonlinear dynamic system, influenced by uncertain disturbances. In addition, the vehicle energy management control system interacts with different complex systems, such as engine, air conditioning system, environment, and driver, to deliver fuel consumption improvements. In this paper, we describe the energy management control of vehicle AC system coupled with vehicle engine through an intelligent control design. The Intelligent Energy Management Control (IEMC) system presented in this paper includes an intelligent algorithm which uses five exterior units and three integrated fuzzy controllers to produce desirable internal temperature and air quality, improved fuel consumption, low emission, and smooth driving. The three fuzzy controllers include: (i) a fuzzy cruise controller to adapt vehicle cruise speed via prediction of the road ahead using a Look-Ahead system, (ii) a fuzzy air conditioning controller to produce desirable temperature and air quality inside vehicle cabin room via a road information system, and (iii) a fuzzy engine controller to generate the required engine torque to move the vehicle smoothly on the road. We optimised the integrated operation of the air conditioning and the engine under various driving patterns and performed three simulations. Results show that the proposed IEMC system developed based on Fuzzy Air Conditioning Controller with Look-Ahead (FAC-LA) method is a more efficient controller for vehicle air conditioning system than the previously developed Coordinated Energy Management Systems (CEMS). - Highlights: ► AC interacts: vehicle, environment, driver components, and the interrelationships between them. ► Intelligent AC algorithm which uses

  15. Advisor 2.0: A Second-Generation Advanced Vehicle Simulator for Systems Analysis

    Wipke, K.; Cuddy, M.; Bharathan, D.; Burch, S.; Johnson, V.; Markel, A.; Sprik, S.


    The National Renewable Energy Laboratory has recently publicly released its second-generation advanced vehicle simulator called ADVISOR 2.0. This software program was initially developed four years ago, and after several years of in-house usage and evolution, the tool is now available to the public through a new vehicle systems analysis World Wide Web page. ADVISOR has been applied to many different systems analysis problems, such as helping to develop the SAE J1711 test procedure for hybrid vehicles and helping to evaluate new technologies as part of the Partnership for a New Generation of Vehicles (PNGV) technology selection process. The model has been and will continue to be benchmarked and validated with other models and with real vehicle test data. After two months of being available on the Web, more than 100 users have downloaded ADVISOR. ADVISOR 2.0 has many new features, including an easy-to-use graphical user interface, a detailed exhaust aftertreatment thermal model, and complete browser-based documentation. Future work will include adding to the library of components available in ADVISOR, including optimization functionality, and linking with a more detailed fuel cell model.

  16. Simulation Research on an Electric Vehicle Chassis System Based on a Collaborative Control System

    Nenglian Feng


    Full Text Available This paper presents a collaborative control system for an electric vehicle chassis based on a centralized and hierarchical control architecture. The centralized controller was designed for the suspension and steering system, which is used for improving ride comfort and handling stability; the hierarchical controller was designed for the braking system, which is used for distributing the proportion of hydraulic braking and regenerative braking to improve braking performance. These two sub-controllers function at the same level of the vehicle chassis control system. In order to reduce the potential conflict between the two sub-controllers and realize a coordination optimization of electric vehicle performance, a collaborative controller was built, which serves as the upper controller to carry out an overall coordination analysis according to vehicle signals and revises the decisions of sub-controllers. A simulation experiment was carried out with the MATLAB/Simulink software. The simulation results show that the proposed collaborative control system can achieve an optimized vehicle handling stability and braking safety.

  17. Advanced microsystems for automotive applications 2013 smart systems for safe and green vehicles

    Meyer, Gereon


    The road vehicle of the future will embrace innovations from three major automotive technology fields: driver assistance systems, vehicle networking and alternative propulsion. Smart systems such as adaptive ICT components and MEMS devices, novel network architectures, integrated sensor systems, intelligent interfaces and functional materials form the basis of these features and permit their successful and synergetic integration. They increasingly appear to be the key enabling technologies for safe and green road mobility. For more than fifteen years the International Forum on Advanced Microsystems for Automotive Applications (AMAA) has been successful in detecting novel trends and in discussing the technological implications from early on. The topic of the AMAA 2013 will be “Smart Systems for Safe and Green Vehicles”. This book contains peer-reviewed papers written by leading engineers and researchers which all address the ongoing research and novel developments in the field.

  18. A conceptual design study of a hovering system controller for an Autonomous Underwater Vehicle

    Thompson, Chris A.


    Approved for public release; distribution is unlimited. Hovering, Stationkeeping, Underwater Vehicles, Control Systems, Configurations, Control, Horsepower, Oceans, Position (Location), Redundancy, Scenarios, Theses, Thrusters, Transitions Hovering, Stationkeeping, Underwater Vehicles, Control Systems, Configurations, Control, Horsepower, Oceans, Position (Location), Redundancy, Scenarios, Theses, Thrusters, Transitions Lieutenant Com...

  19. Load calculation and system evaluation for electric vehicle climate control

    Aceves-Saborio, S.; Comfort, W.J. III


    Providing air conditioning for electric vehicles (EVs) represents an important challenge, because vapor compression air conditioners, which are common in gasoline powered vehicles, may consume a substantial part of the total energy stored in the EV battery. This report consists of two major parts. The first part is a cooling and heating load calculation for electric vehicles. The second part is an evaluation of several systems that can be used to provide the desired cooling and heating in EVs. Four cases are studied. Short range and full range EVs are each analyzed twice, first with the regular vehicle equipment, and then with a fan and heat reflecting windows, to reduce hot soak. Recent legislation has allowed the use of combustion heating whenever the ambient temperature drops below 5{degrees}C. This has simplified the problem of heating, and made cooling the most important problem. Therefore, systems described in this project are designed for cooling, and their applicability to heating at temperatures above 5{degrees}C is described. If the air conditioner systems cannot be used to cover the whole heating load at 5{degrees}C, then the vehicle requires a complementary heating system (most likely a heat recovery system or electric resistance heating). Air conditioners are ranked according to their overall weight. The overall weight is calculated by adding the system weight and the weight of the battery necessary to provide energy for system operation.

  20. Remotely controlled vehicles and systems for integrated remediation of buried tru wastes

    This paper describes the design, implementation and testing of remotely controlled vehicle systems developed for cooperative retrieval and transportation of Transuranic (TRU) buried wastes. The systems described are for the control of a Remote Excavator (REMEX), a Self Guided Transfer Vehicle (SGTV), a Remotely Controlled Materials Handling System and a Virtual Environment for Remote Operations (VERO), using imaging by a 3D Laser Camera

  1. Advanced Electrical Machines and Machine-Based Systems for Electric and Hybrid Vehicles

    Ming Cheng


    Full Text Available The paper presents a number of advanced solutions on electric machines and machine-based systems for the powertrain of electric vehicles (EVs. Two types of systems are considered, namely the drive systems designated to the EV propulsion and the power split devices utilized in the popular series-parallel hybrid electric vehicle architecture. After reviewing the main requirements for the electric drive systems, the paper illustrates advanced electric machine topologies, including a stator permanent magnet (stator-PM motor, a hybrid-excitation motor, a flux memory motor and a redundant motor structure. Then, it illustrates advanced electric drive systems, such as the magnetic-geared in-wheel drive and the integrated starter generator (ISG. Finally, three machine-based implementations of the power split devices are expounded, built up around the dual-rotor PM machine, the dual-stator PM brushless machine and the magnetic-geared dual-rotor machine. As a conclusion, the development trends in the field of electric machines and machine-based systems for EVs are summarized.

  2. Reliability prediction for the vehicles equipped with advanced driver assistance systems (ADAS and passive safety systems (PSS

    Balbir S. Dhillon


    Full Text Available The human error has been reported as a major root cause in road accidents in today’s world. The human as a driver in road vehicles composed of human, mechanical and electrical components is constantly exposed to changing surroundings (e.g., road conditions, environmentwhich deteriorate the driver’s capacities leading to a potential accident. The auto industries and transportation authorities have realized that similar to other complex and safety sensitive transportation systems, the road vehicles need to rely on both advanced technologies (i.e., Advanced Driver Assistance Systems (ADAS and Passive Safety Systems (PSS (e.g.,, seatbelts, airbags in order to mitigate the risk of accidents and casualties. In this study, the advantages and disadvantages of ADAS as active safety systems as well as passive safety systems in road vehicles have been discussed. Also, this study proposes models that analyze the interactions between human as a driver and ADAS Warning and Crash Avoidance Systems and PSS in the design of vehicles. Thereafter, the mathematical models have been developed to make reliability prediction at any given time on the road transportation for vehicles equipped with ADAS and PSS. Finally, the implications of this study in the improvement of vehicle designs and prevention of casualties are discussed.

  3. Advanced chemical hydride-based hydrogen generation/storage system for fuel cell vehicles

    Breault, R.W.; Rolfe, J. [Thermo Power Corp., Waltham, MA (United States)


    Because of the inherent advantages of high efficiency, environmental acceptability, and high modularity, fuel cells are potentially attractive power supplies. Worldwide concerns over clean environments have revitalized research efforts on developing fuel cell vehicles (FCV). As a result of intensive research efforts, most of the subsystem technology for FCV`s are currently well established. These include: high power density PEM fuel cells, control systems, thermal management technology, and secondary power sources for hybrid operation. For mobile applications, however, supply of hydrogen or fuel for fuel cell operation poses a significant logistic problem. To supply high purity hydrogen for FCV operation, Thermo Power`s Advanced Technology Group is developing an advanced hydrogen storage technology. In this approach, a metal hydride/organic slurry is used as the hydrogen carrier and storage media. At the point of use, high purity hydrogen will be produced by reacting the metal hydride/organic slurry with water. In addition, Thermo Power has conceived the paths for recovery and regeneration of the spent hydride (practically metal hydroxide). The fluid-like nature of the spent hydride/organic slurry will provide a unique opportunity for pumping, transporting, and storing these materials. The final product of the program will be a user-friendly and relatively high energy storage density hydrogen supply system for fuel cell operation. In addition, the spent hydride can relatively easily be collected at the pumping station and regenerated utilizing renewable sources, such as biomass, natural, or coal, at the central processing plants. Therefore, the entire process will be economically favorable and environmentally friendly.

  4. Energy efficient non-road hybrid electric vehicles advanced modeling and control

    Unger, Johannes; Jakubek, Stefan


    Analyzing the main problems in the real-time control of parallel hybrid electric powertrains in non-road applications, which work in continuous high dynamic operation, this book gives practical insight in to how to maximize the energetic efficiency and drivability of such powertrains. The book addresses an energy management control structure, which considers all constraints of the physical powertrain and uses novel methodologies for the prediction of the future load requirements to optimize the controller output in terms of an entire work cycle of a non-road vehicle. The load prediction includes a methodology for short term loads as well as for an entire load cycle by means of a cycle detection. A maximization of the energetic efficiency can so be achieved, which is simultaneously a reduction in fuel consumption and exhaust emissions. Readers will gain a deep insight into the necessary topics to be considered in designing an energy and battery management system for non-road vehicles and that only a combinatio...

  5. X33 Reusable Launch Vehicle Control on Sliding Modes: Concepts for a Control System Development

    Shtessel, Yuri B.


    Control of the X33 reusable launch vehicle is considered. The launch control problem consists of automatic tracking of the launch trajectory which is assumed to be optimally precalculated. It requires development of a reliable, robust control algorithm that can automatically adjust to some changes in mission specifications (mass of payload, target orbit) and the operating environment (atmospheric perturbations, interconnection perturbations from the other subsystems of the vehicle, thrust deficiencies, failure scenarios). One of the effective control strategies successfully applied in nonlinear systems is the Sliding Mode Control. The main advantage of the Sliding Mode Control is that the system's state response in the sliding surface remains insensitive to certain parameter variations, nonlinearities and disturbances. Employing the time scaling concept, a new two (three)-loop structure of the control system for the X33 launch vehicle was developed. Smoothed sliding mode controllers were designed to robustly enforce the given closed-loop dynamics. Simulations of the 3-DOF model of the X33 launch vehicle with the table-look-up models for Euler angle reference profiles and disturbance torque profiles showed a very accurate, robust tracking performance.

  6. Shift Control System of Heavy-duty Vehicle Automatic Transmission

    Yan Zhang; Wenxing Ma; Xuesong Li


    Heavy-duty vehicle hydrodynamic mechanical automatic transmission shifting operation system was designed, mathematical model of its simplified hydraulic system was established and simulation model of shifting operation system was established with AMESim, the simulation experiment was carried out, then oil pressure curves of each clutch hydraulic cylinder were obtained when giving forward gear or reverse gear signals. The simulation results show that shifting operating system meets the design ...


    Monali Gulhane


    Full Text Available This paper describes method for detecting the early signs of fatigue in train drivers. As soon as the train driver is falling in symptoms of fatigue immediate message will be transfer to the control room indicating the status of the drivers. In addition of the advance technology of heart rate sensors is also added in the system for correct detection of status of driver if in either case driver is falling to fatigue due to any sever medical problems .The fatigue is detected in the system by the image processing method of comparing the image(frames in the video and by using the human features we are able to estimate the indirect way of detecting fatigue. The technique also focuses on modes of person when driving the train i.e. awake, drowsy state or sleepy and sleep state. The system is very efficient to detect the fatigue and control the train also train can be controlled if it cross any such signal by which the train may collide on another train

  8. The Advanced Re-Entry Vehicle (ARV) a Development Step from ATV Toward Manned Transportation Systems

    Bottacini, M.; Berthe, P.; Vo, X.; Pietsch, K.


    The Advanced Re-entry Vehicle (ARV) programme has been undertaken by Europe with the objective to contribute to the preparation of a future European crew transportation system, while providing a valuable logistic support to the ISS through an operational cargo return system. This development would allow: - the early acquisition of critical technologies; - the design, development and testing of elements suitable for the follow up human rated transportation system. These vehicles should also serve future LEO infrastructures and exploration missions. With the aim to satisfy the above objectives a team composed by major European industries and led by EADS Astrium Space Transportation is currently conducting the phase A of the programme under contract with the European Space Agency (ESA). Two vehicle versions are being investigated: a Cargo version, transporting cargo only to/from the ISS, and a Crew version, which will allow the transfer of both crew and cargo to/from the ISS. The ARV Cargo version, in its present configuration, is composed of three modules. The Versatile Service Module (VSM) provides to the system the propulsion/GNC for orbital manoeuvres and attitude control and the orbital power generation. Its propulsion system and GNC shall be robust enough to allow its use for different launch stacks and different LEO missions in the future. The Un-pressurised Cargo Module (UCM) provides the accommodation for about 3000 kg of un-pressurised cargo and is to be sufficiently flexible to ensure the transportation of: - orbital infrastructure components (ORU's); - scientific / technological experiments; - propellant for re-fuelling, re-boost (and deorbiting) of the ISS. The Re-entry Module (RM) provides a pressurized volume to accommodate active/passive cargo (2000 kg upload/1500 kg download). It is conceived as an expendable conical capsule with spherical heat- hield, interfacing with the new docking standard of the ISS, i.e. it carries the IBDM docking system, on a

  9. 77 FR 22637 - Federal Motor Vehicle Safety Standards; Accelerator Control Systems


    ... driven portion of hybrid vehicles. Finally, the 2002 NPRM proposed a new procedure which would use engine... to recalls, most notably the Jan. 2010 recall of accelerator pedal assemblies in Toyota vehicles . We... CFR Part 571 Federal Motor Vehicle Safety Standards; Accelerator Control Systems; Proposed Rule...

  10. Study of advanced electric propulsion system concept using a flywheel for electric vehicles

    Younger, F. C.; Lackner, H.


    Advanced electric propulsion system concepts with flywheels for electric vehicles are evaluated and it is predicted that advanced systems can provide considerable performance improvement over existing electric propulsion systems with little or no cost penalty. Using components specifically designed for an integrated electric propulsion system avoids the compromises that frequently lead to a loss of efficiency and to inefficient utilization of space and weight. A propulsion system using a flywheel power energy storage device can provide excellent acceleration under adverse conditions of battery degradation due either to very low temperatures or high degrees of discharge. Both electrical and mechanical means of transfer of energy to and from the flywheel appear attractive; however, development work is required to establish the safe limits of speed and energy storage for advanced flywheel designs and to achieve the optimum efficiency of energy transfer. Brushless traction motor designs using either electronic commutation schemes or dc-to-ac inverters appear to provide a practical approach to a mass producible motor, with excellent efficiency and light weight. No comparisons were made with advanced system concepts which do not incorporate a flywheel.

  11. Fuzzy-Skyhook Control for Active Suspension Systems Applied to a Full Vehicle Model

    Aref M.A. Soliman


    Full Text Available Nowadays, most modern vehicles are equipped with controlled suspension systems for improving the vehicle ride comfort. Therefore, this paper is concerned with a theoretical study for the ride comfort performance of the vehicle. The theoretical investigation includes a suggestion of an active suspension system controller using fuzzy-skyhook control theory, which offers new opportunities for the improvement of vehicle ride performance. The ride comfort of the active suspension system has been evaluated using a 7 degree of freedom full vehicle mathematical model. The simulation results are presented in the time and frequency domain, also in terms of RMS values, and it’s shown that the proposed active suspension system with fuzzy-skyhook control improved the vehicle ride quality in terms of body acceleration, suspension working space and dynamic tyre load in comparison with the passive and skyhook suspension systems.

  12. Control Information and Data Processing of Vehicle based on Global Position System

    Shupeng Zhao; Miao Tian; Shifang Zhang; Jiuxi Li


    A testing system based on Data Stream function of vehicle electronic control system was developed to test the city bus driving cycle. A mufti-function Vehicle Traveling Data Recorder based on GPS which can realize the vehicles positioning and navigating was investigated. The system included data acquisition module, display module, print module, GPS module, communication module and so on. This system adopts the FRAM memory as the storing equipment in which the automobile realized the real-time...

  13. The Integrated Development System for Vehicle Control based on Seamless Connection between Hard and Software Implementation

    Xin ZHANG


    Full Text Available This paper, establishes a complete vehicle model in MATLAB/Simulink development environment, constructs a vehicle control application using Stateflow, Generates C source code for a microcontroller with Real Time Workshop, builds object code for target CPU, develops an efficient seamless development system used in real-time hardware in the loop system, and validates the system practical performance at the final stage by the implementation of vehicle ABS system.

  14. The Integrated Development System for Vehicle Control based on Seamless Connection between Hard and Software Implementation

    Zhang, Xin


    This paper, establishes a complete vehicle model in MATLAB/Simulink development environment, constructs a vehicle control application using Stateflow, Generates C source code for a microcontroller with Real Time Workshop, builds object code for target CPU, develops an efficient seamless development system used in real-time hardware in the loop system, and validates the system practical performance at the final stage by the implementation of vehicle ABS system.

  15. Advanced Vehicle Tracking System on Google Earth Using GPS and GSM

    Sowjanya Kotte


    Full Text Available Vehicle navigation is one of the most important applications in the era of navigation which is mostly used by drivers. Therefore the efficiency of the maps given to the drivers has a great importance in the navigation system. In this paper we proposed a very efficient system which uses the GPS and earth maps to help the driver in navigation by robust display of the current position of the vehicle on a displayed map. The main aim of this project is designing a system which is capable of continuous monitoring of path of the vehicle on PC with Google Earth Application. Here the important issue is displaying the map on several various scales which are adopted by the users. The heart elements in the implementation of this project are GPS, GSM and MCU. The GPS-GSM integrated structure is designed to track the vehicles by using Google earth application. The micro controller is used to receive data from GPS and to transfer the latitude and longitude to the PC to map by using the VB.Net language and this map is generated using Google Earth information.

  16. Advances in Future Computer and Control Systems v.2

    Lin, Sally; 2012 International Conference on Future Computer and Control Systems(FCCS2012)


    FCCS2012 is an integrated conference concentrating its focus on Future Computer and Control Systems. “Advances in Future Computer and Control Systems” presents the proceedings of the 2012 International Conference on Future Computer and Control Systems(FCCS2012) held April 21-22,2012, in Changsha, China including recent research results on Future Computer and Control Systems of researchers from all around the world.

  17. Advances in Future Computer and Control Systems v.1

    Lin, Sally; 2012 International Conference on Future Computer and Control Systems(FCCS2012)


    FCCS2012 is an integrated conference concentrating its focus on Future Computer and Control Systems. “Advances in Future Computer and Control Systems” presents the proceedings of the 2012 International Conference on Future Computer and Control Systems(FCCS2012) held April 21-22,2012, in Changsha, China including recent research results on Future Computer and Control Systems of researchers from all around the world.

  18. A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

    M. K. Aripin


    Full Text Available Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control.

  19. Modeling and Simulation of integrated steering and braking control for vehicle active safety system

    Beibei Zhang


    Full Text Available Active chassis systems like braking, steering, suspension and propulsion systems are increasingly entering the market. In addition to their basic functions, these systems may be used for functions of integrated vehicle dynamics control. An experimental platform which aims to study the integration control of steering and braking is designed due to the research requirement of vehicle active safety control strategy in this paper. A test vehicle which is equipped with the systems of steer-by-wire and brake-bywire is provided and the Autobox, combined with Matlab/simulink and MSCCarsim, is used to fulfill the RCP (Rapid Control Prototyping and HIL (Hardware-in-loop. The seven-freedom vehicle model is constructed first and the approach of vehicle parameters estimation based on the Extended Kalman Filter (EKF is proposed. Testing the vehicle state through the sensor has its own disadvantage that the cost is high and easily affected by environment outside. To find a actual method of receiving the vehicle state using the ready-made sensors in vehicle, the researchers put forward various estimation method, of which have advantages and disadvantages. Based on the above, this paper applies the EKF to estimate the vehicle state, making the actual estimation come true. The primary control methods and controller designment is carried out to prove the validation of the platform.

  20. Development of linear parameter varying control system for autonomous underwater vehicle

    Sutarto, Herman; Budiyono, Agus


    The development and application of Linear Parameter Varying (LPV) control system for robust longitudinal control system on an Autonomous Underwater Vehicle (AUV) are presented. The LPV system is represented as Linear Fractional Transformation (LFT) on its parameter set. The LPV control system combines LPV theory based upon Linear Matrix Inequalities (LMIs) and - synthesis to form a robust LPV control system. The LPV control design is applied for a pitch control of the AUV to fulfill control...

  1. Inter-Vehicle Communication System Utilizing Autonomous Distributed Transmit Power Control

    Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

    In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.


    YANG Liman; LI Yunhua


    Aiming at scheduling problems of networked control system (NCS) used to fulfill motion synthesis and cooperation control of the distributed multi-mechatronic systems, the differences of network scheduling and task scheduling are compared, and the mathematic description of task scheduling is presented. A performance index function of task scheduling of NCS according to task balance and traffic load matching principles is defined. According to this index, a static scheduling method is designed and implemented to controlling task set simulation of the DCY100 transportation vehicle. The simulation results are applied successfully to practical engineering in this case so as to validate the effectiveness of the proposed performance index and scheduling algorithm.

  3. Different Control Algorithms for a Platoon of Autonomous Vehicles

    Zoran Gacovski


    Full Text Available This paper presents a concept of platoon movement of autonomous vehicles (smart cars. These vehicles have Adaptive or Advanced cruise control (ACC system also called Intelligent cruise control (ICC or Adaptive Intelligent cruise control (AICC system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combi­nation of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.

  4. Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System

    Mohan Santhakumar


    This study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle (AUV) are analyzed by considering the actuator and sensor characteristics. A model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS). The effectiveness of the propos...

  5. Generic Model Predictive Control Framework for Advanced Driver Assistance Systems

    Wang, M.


    This thesis deals with a model predictive control framework for control design of Advanced Driver Assistance Systems, where car-following tasks are under control. The framework is applied to design several autonomous and cooperative controllers and to examine the controller properties at the microscopic level and the resulting traffic flow characteristics at the macroscopic level. The results give new insights into impacts of ADAS on traffic flow characteristics.

  6. Mechanics and model-based control of advanced engineering systems

    Irschik, Hans; Krommer, Michael


    Mechanics and Model-Based Control of Advanced Engineering Systems collects 32 contributions presented at the International Workshop on Advanced Dynamics and Model Based Control of Structures and Machines, which took place in St. Petersburg, Russia in July 2012. The workshop continued a series of international workshops, which started with a Japan-Austria Joint Workshop on Mechanics and Model Based Control of Smart Materials and Structures and a Russia-Austria Joint Workshop on Advanced Dynamics and Model Based Control of Structures and Machines. In the present volume, 10 full-length papers based on presentations from Russia, 9 from Austria, 8 from Japan, 3 from Italy, one from Germany and one from Taiwan are included, which represent the state of the art in the field of mechanics and model based control, with particular emphasis on the application of advanced structures and machines.

  7. Electric Vehicle Propulsion System

    Keshri, Ritesh Kumar


    Electric vehicles are being considered as one of the pillar of eco-friendly solutions to overcome the problem of global pollution and radiations due to greenhouse gases. Present thesis work reports the improvement in overall performance of the propulsion system of an electric vehicle by improving autonomy and torque-speed characteristic. Electric vehicle propulsion system consists of supply and traction system, and are coordinated by the monitoring & control system. Case of light electric veh...

  8. An Adaptive System for Load Relief and Accurate Control of Launch Vehicles

    Klenk, W. J.


    An adaptive load relief control system for a SATURN type vehicle which significantly reduces aerodynamically induced structural loads without incurring excessive velocity dispersions has been studied. This control system utilizes pendulous accelerometers to measure the angle between the total vehicle acceleration vector and the vehicle body. This measurement is used to fly the vehicle along the nominal trajectory to minimize velocity dispersions. However, if unusually high values of wind velocity are encountered, the system will cause the vehicle to turn into the wind to reduce the lateral structural loads. Results of an anal6g computer study show that the adaptive system can reduce aerodynam3cally induced peak structural loads as much as 50 percent under those encountered using conventional control techniques. relief is used only when required, velocity dispersions are held to a minimum.

  9. Environmental performance of advanced hybrid energy storage systems for electric vehicle applications

    Highlights: • The environmental impact of advanced energy storage systems is assessed. • The methodology used is Life Cycle Assessment following the ISO 14040 and 14044. • Twelve impact categories are assessed to avoid burden shifting. • Increasing the efficiency and extending the lifetime benefits the environmental performance. • The results show that there are hot spots where to act and reduce the overall impact. - Abstract: In this paper the environmental performance of an advanced hybrid energy storage system, comprising high power and high energy lithium iron phosphate cells, is compared with a stand alone battery concept composed of lithium manganese oxide cells. The methodology used to analyse the environmental impacts is Life Cycle Assessment (LCA). The manufacturing, use phase and end-of-life of the battery packs are assessed for twelve impact categories. The functional unit is 1 km driven under European average conditions. The present study assesses the environmental performance of the two battery packs for two scenarios: scenario 1 with a vehicle total drive range of 150,000 km and scenario 2 with total driving range of the car of 300,000 km. The results of scenario 1 show that the increased efficiency of the hybrid system reduces, in general, the environmental impact during the use stage, although the manufacturing stage has higher impact than the benchmark. Scenario 2 shows how the extended lifetime of the hybrid system benefits the emissions per km driven

  10. Advanced instrumentation for next-generation aerospace propulsion control systems

    Barkhoudarian, S.; Cross, G. S.; Lorenzo, Carl F.


    New control concepts for the next generation of advanced air-breathing and rocket engines and hypersonic combined-cycle propulsion systems are analyzed. The analysis provides a database on the instrumentation technologies for advanced control systems and cross matches the available technologies for each type of engine to the control needs and applications of the other two types of engines. Measurement technologies that are considered to be ready for implementation include optical surface temperature sensors, an isotope wear detector, a brushless torquemeter, a fiberoptic deflectometer, an optical absorption leak detector, the nonintrusive speed sensor, and an ultrasonic triducer. It is concluded that all 30 advanced instrumentation technologies considered can be recommended for further development to meet need of the next generation of jet-, rocket-, and hypersonic-engine control systems.

  11. Shift Control System of Heavy-duty Vehicle Automatic Transmission

    Yan Zhang


    Full Text Available Heavy-duty vehicle hydrodynamic mechanical automatic transmission shifting operation system was designed, mathematical model of its simplified hydraulic system was established and simulation model of shifting operation system was established with AMESim, the simulation experiment was carried out, then oil pressure curves of each clutch hydraulic cylinder were obtained when giving forward gear or reverse gear signals. The simulation results show that shifting operating system meets the design requirements, and verify the correctness of the model. The shift timing is correct, and there is no power interruption or gear overlap during the shift transition process. Joint oil pressure of designed system is stable, and shifting shock is small. The research results are providing the basis for further study of shifting operation system and a reasonable platform for the studying of shift schedule and quality. The theoretical design method and dynamic simulation experiment will be feasible for the real industrial applications. The research results can be used in design and optimization of hydraulic system

  12. Sensing, Control, and System Integration for Autonomous Vehicles: A Series of Challenges

    Özgüner, Ümit; Redmill, Keith

    One of the important examples of mechatronic systems can be found in autonomous ground vehicles. Autonomous ground vehicles provide a series of challenges in sensing, control and system integration. In this paper we consider off-road autonomous vehicles, automated highway systems and urban autonomous driving and indicate the unifying aspects. We specifically consider our own experience during the last twelve years in various demonstrations and challenges in attempting to identify unifying themes. Such unifying themes can be observed in basic hierarchies, hybrid system control approaches and sensor fusion techniques.

  13. Advanced Control of Photovoltaic and Wind Turbines Power Systems

    Yang, Yongheng; Chen, Wenjie; Blaabjerg, Frede


    wind renewables. Thus, in this chapter, advanced control strategies, which can enable the power conversion efficiently and reliably, for both photovoltaic (PV) and wind turbines power systems are addressed in order to enhance the integration of those technologies. Related grid demands have been...... power injection for both single-phase and three-phase systems. Other control strategies like constant power generation control for PV systems to further increase the penetration level, and the improvements of LVRT performance for a doubly fed induction generator based wind turbine system by means of...... presented firstly, where much more attention has been paid on specific requirements, like Low Voltage Ride-Through (LVRT) and reactive power injection capability. To perform the functions of those systems, advanced control strategies are presented with much more emphasis on the LVRT operation with reactive...

  14. Control Information and Data Processing of Vehicle based on Global Position System

    Shupeng Zhao


    Full Text Available A testing system based on Data Stream function of vehicle electronic control system was developed to test the city bus driving cycle. A mufti-function Vehicle Traveling Data Recorder based on GPS which can realize the vehicles positioning and navigating was investigated. The system included data acquisition module, display module, print module, GPS module, communication module and so on. This system adopts the FRAM memory as the storing equipment in which the automobile realized the real-time data store. It could realize the real-time data transmission of automobile and remote controlling by M22 GPRS module which includes TCP/IP. Optimizing of Muti-Energy power train control strategy was the key technical of Hybrid Electric Vehicle. Three kind structure of HEV and their control strategy were investigated, Series Hybrid Electric Vehicle, Parallel Hybrid Electric Vehicle, and PSHEV. Considering about driving cycle of CYC_NEDC and CYC_HWFET, three control strategies such as Electric Assistant Control, Simulation and experiment evaluation for regenerative braking of hybrid electric vehicle was investigated. The test result shows that the regenerative current in the road test and dynamometer test had little difference. The result shows that fuel consumption value got by the chassis dynamometer test evaluation method was closer to the value got by outdoor road test method.

  15. Environmental control and life support system requirements and technology needs for advanced manned space missions

    Powell, Ferolyn T.; Sedej, Melaine; Lin, Chin


    NASA has completed an environmental control and life support system (ECLSS) technology R&D plan for advanced missions which gave attention to the drivers (crew size, mission duration, etc.) of a range of manned missions under consideration. Key planning guidelines encompassed a time horizon greater than 50 years, funding resource requirements, an evolutionary approach to goal definition, and the funding of more than one approach to satisfy a given perceived requirement. Attention was given to the ECLSS requirements of transportation and service vehicles, platforms, bases and settlements, ECLSS functions and average load requirements, unique drivers for various missions, and potentially exploitable commonalities among vehicles and habitats.

  16. A Study of Vibration Control Systems for Superconducting Maglev Vehicles

    Watanabe, Ken; Yoshioka, Hiroshi; Suzuki, Erimitsu; Tohtake, Takayuki; Nagai, Masao

    To enhance ride comfort in the superconducting magnetically levitated transport (Maglev) system, vibrations were reduced by controlling the secondary suspension between the car body and bogie. To reduce vibrations at the relatively high characteristic frequencies of the primary suspension, attention has been directed toward control using damping forces output by a linear generator system integrated into a bogie for on-board power. Because this control can apply damping directly to the primary suspension, it is considered optimal in reducing high-frequency vibrations. Using a Maglev model focusing on vertical motions, this work describes the effectiveness of reducing vibrations using damping force control of the linear generator system for primary suspension and linear quadratic (LQ) control in the actuators for secondary suspension.

  17. The systems of automatic weight control of vehicles in the road and rail transport in Poland


    Full Text Available . Condition of roads in Poland, despite the on-going modernisation works is still unsatisfactory. One reason is the excessive wear caused by overloaded vehicles. This problem also applies to rail transport, although to a much lesser extent. One solution may be the system of automatic weight control of road and rail vehicles. The article describes the legal and organizational conditions of oversize vehicles inspection in Poland. Characterized current practices weighing road vehicles, based on measurements of static technology. The article includes the description of the existing applications of the automatic dynamic weighing technology, known as systems WIM (Weigh in Motion. Additionally, the weighing technology and construction of weighing stands in road and rail are characterized. The article ends with authors' conclusions indicating the direction and ways of improving the weighing control systems for vehicles.

  18. Advanced control of piezoelectric micro-nano-positioning systems

    Xu, Qingsong


    This book explores emerging methods and algorithms that enable precise control of micro-/nano-positioning systems. The text describes three control strategies: hysteresis-model-based feedforward control and hysteresis-model-free feedback control based on and free from state observation. Each paradigm receives dedicated attention within a particular part of the text. Readers are shown how to design, validate and apply a variety of new control approaches in micromanipulation: hysteresis modelling, discrete-time sliding-mode control and model-reference adaptive control. Experimental results are provided throughout and build up to a detailed treatment of practical applications in the fourth part of the book. The applications focus on control of piezoelectric grippers. Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems will assist academic researchers and practising control and mechatronics engineers interested in suppressing sources of nonlinearity such as hysteresis and drift when combining positi...

  19. Advanced electric propulsion system concept for electric vehicles. Addendum 1: Voltage considerations

    Raynard, A. E.; Forbes, F. E.


    The two electric vehicle propulsion systems that best met cost and performance goals were examined to assess the effect of battery pack voltage on system performance and cost. A voltage range of 54 to 540 V was considered for a typical battery pack capacity of 24 k W-hr. The highest battery specific energy (W-hr/kg) and the lowest cost ($/kW-hr) were obtained at the minimum voltage level. The flywheel system traction motor is a dc, mechanically commutated with shunt field control, and due to the flywheel the traction motor and the battery are not subject to extreme peaks of power demand. The basic system uses a permanent-magnet motor with electronic commutation supplied by an ac power control unit. In both systems battery cost were the major factor in system voltage selection, and a battery pack with the minimum voltage of 54 V produced the lowest life-cycle cost. The minimum life-cycle cost for the basic system with lead-acid batteries was $0.057/km and for the flywheel system was $0.037/km.

  20. Supervisory Control System Architecture for Advanced Small Modular Reactors

    Cetiner, Sacit M [ORNL; Cole, Daniel L [University of Pittsburgh; Fugate, David L [ORNL; Kisner, Roger A [ORNL; Melin, Alexander M [ORNL; Muhlheim, Michael David [ORNL; Rao, Nageswara S [ORNL; Wood, Richard Thomas [ORNL


    This technical report was generated as a product of the Supervisory Control for Multi-Modular SMR Plants project within the Instrumentation, Control and Human-Machine Interface technology area under the Advanced Small Modular Reactor (SMR) Research and Development Program of the U.S. Department of Energy. The report documents the definition of strategies, functional elements, and the structural architecture of a supervisory control system for multi-modular advanced SMR (AdvSMR) plants. This research activity advances the state-of-the art by incorporating decision making into the supervisory control system architectural layers through the introduction of a tiered-plant system approach. The report provides a brief history of hierarchical functional architectures and the current state-of-the-art, describes a reference AdvSMR to show the dependencies between systems, presents a hierarchical structure for supervisory control, indicates the importance of understanding trip setpoints, applies a new theoretic approach for comparing architectures, identifies cyber security controls that should be addressed early in system design, and describes ongoing work to develop system requirements and hardware/software configurations.

  1. Uses of Advanced Ceramic Composites in the Thermal Protection Systems of Future Space Vehicles

    Rasky, Daniel J.


    Current ceramic composites being developed and characterized for use in the thermal protection systems (TPS) of future space vehicles are reviewed. The composites discussed include new tough, low density ceramic insulation's, both rigid and flexible; ultra-high temperature ceramic composites; nano-ceramics; as well as new hybrid ceramic/metallic and ceramic/organic systems. Application and advantage of these new composites to the thermal protection systems of future reusable access to space vehicles and small spacecraft is reviewed.

  2. Integrated controls/structures study of advanced space systems

    Greene, C. S.; Cunningham, T. B.


    A cost tradeoff is postulated for a stiff structure utilizing minimal controls (and control expense) to point and stabilize the vehicle. Extra costs for a stiff structure are caused by weight, packaging size, etc. Likewise, a more flexible vehicle should result in reduced structural costs but increased costs associated with additional control hardware and data processing required for vibration control of the structure. This tradeoff occurs as the ratio of the control bandwidth required for the mission to the lowest (significant) bending mode of the vehicle. The cost of controlling a spacecraft for a specific mission and the same basic configuration but varying the flexibility is established.

  3. Control strategy of hydraulic/electric synergy system in heavy hybrid vehicles

    Energy consumption and exhaust emissions of hybrid vehicles strongly depend on the energy storage source and the applied control strategy. Heavy vehicles have the characteristics of frequent starts/stops and significant amounts of braking energy, which needs to find a more efficient way to store and use the high power flow. A novel parallel hybrid vehicles configuration consisting of hydraulic/electric synergy system is proposed to overcome the existing drawbacks of single energy storage source in heavy hybrid vehicles. A control strategy combining a logic threshold approach and key parameters optimization algorithm is developed to achieve acceptable vehicle performance while simultaneously maximizing engine fuel economy and maintaining the battery state of charge in its rational operation range at all times. The experimental and simulation results illustrate the potential of the proposed control strategy in terms of fuel economy and in keeping the deviations of SOC at high efficiency range.

  4. Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

    Khozhaev, I. V.; Gayvoronskiy, S. A.


    Autonomous underwater vehicles are often used for performing scientific, emergency or other types of missions under harsh conditions and environments, which can have non-stable, variable parameters. So, the problem of developing autonomous underwater vehicle motion control systems, capable of operating properly in random environments, is highly relevant. The paper is dedicated to the synthesis of a PID-controller of a trim robust control system, capable of keeping an underwater vehicle stable during a translation at different angles of attack. In order to synthesize the PID-controller, two problems were solved: a new method of synthesizing a robust controller was developed and a mathematical model of an underwater vehicle motion process was derived. The newly developed mathematical model structure is simpler than others due to acceptance of some of the system parameters as interval ones. The synthesis method is based on a system poles allocation approach and allows providing the necessary transient process quality in a considered system.

  5. Rotorcraft control system design for uncertain vehicle dynamics using quantitative feedback theory

    Hess, R. A.


    Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which must meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. This theory is applied to the design of the longitudinal flight control system for a linear model of the BO-105C rotorcraft. Uncertainty in the vehicle model is due to the variation in the vehicle dynamics over a range of airspeeds from 0-100 kts. For purposes of exposition, the vehicle description contains no rotor or actuator dynamics. The design example indicates the manner in which significant uncertainty exists in the vehicle model. The advantage of using a sequential loop closure technique to reduce the cost of feedback is demonstrated by example.

  6. Model Predictive Control of Autonomous Vehicles

    Zanon, Mario; Frasch, Janick V.; Vukov, Milan; Sager, Sebastian; Diehl, Moritz


    International audience The control of autonomous vehicles is a challenging task that requires advanced control schemes. Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) are optimization-based control and estimation techniques that are able to deal with highly nonlinear, constrained, unstable and fast dynamic systems. In this chapter, these techniques are detailed, a descriptive nonlinear model is derived and the performance of the proposed control scheme is dem...

  7. Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

    Ippolito, Corey; Plice, Laura; Pisanich, Greg


    The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

  8. FPGA based Embedded System to control an electric vehicle and the driver assistance systems

    Márquez Luciano, Mario


    This Master Thesis involves the development of an embedded system based on FPGA for controlling an electric vehicle based on a Kart platform and its electronic driving aids. It consists of two distinct stages in the process of hardware-software co-design, hardware development, which includes all the elements of the periphery of the processor and communication elements, all developed in VHDL. An important part of the hardware development also include the development of electroni...

  9. Wireless Control of Vehicle Mirror System Using Head Movement and PIC Microcontroller

    Nidal F. Shilbayeh; Mahmoud Z. Iskandarani


    A PIC controlled IR system for the control car mirror system movement is designed and implemented. The designed and built system allows the side view mirrors to be adjusted based on the driver head movement. The infrared based head tracking system maps a predetermined coordinates for head movements and results in a triangularly computable geometry which is fed to the PIC based controlling system. This will cause the vehicle mirror movement via carefully selected miniature&...

  10. Access control and interlock system at the Advanced Photon Source

    Forrestal, J.; Hogrefe, R.; Knott, M.; McDowell, W.; Reigle, D.; Solita, L.; Koldenhoven, R.; Haid, D. [Argonne National Lab., IL (United States). Advanced Photon Source


    The Advanced Photon Source (APS) consists of a linac, position accumulator ring (PAR), booster synchrotron, storage ring, and up to 70 experimental beamlines. The Access Control and Interlock System (ACIS) utilizes redundant programmable logic controllers (PLCs) and a third hard-wired chain to protect personnel from prompt radiation generated by the linac, PAR, synchrotron, and storage ring. This paper describes the ACIS`s design philosophy, configuration, hardware, functionality, validation requirements, and operational experience.

  11. Preventing Distribution Grid Congestion by Integrating Indirect Control in a Hierarchical Electric Vehicles Management System

    Hu, Junjie; Si, Chengyong; Lind, Morten;


    system where the upper level controller directly controls the lower level subordinated nodes, this study aims to integrate two common indirect control methods:market-based control and price-based control into the hierarchical electric vehicles management system. Specifically, on the lower level of the...... hierarchy, the distribution system operator uses the market-based control strategy to coordinate the limited power capacity of power transformer with fleet operators. To facilitate the application of the two indirect control methods into the system, a model describing decision tasks in control is used to...

  12. High-efficiency climate control systems with a heat and cold storage unit for electric vehicles

    Nasri, Mounir


    Range reduction caused by climate control is a barrier to widespread adoption of electric vehicles (EV). Higher efficiency and lower energy consumption by the air conditioning system will mitigate this disadvantage, as power consumption inside electric vehicles is a very relevant issue. Moreover, several European Union directives prohibit the use of HFC 134a or any other fluorinated greenhouse gas with a Global Warming Potential (GWP) higher than 150 in new mobile air conditioning systems ...

  13. Advanced Neutron Source reactor control and plant protection systems design

    This paper describes the reactor control and plant protection systems' conceptual design of the Advanced Neutron Source (ANS). The Plant Instrumentation, Control, and Data Systems and the Reactor Instrumentation and Control System of the ANS are planned as an integrated digital system with a hierarchical, distributed control structure of qualified redundant subsystems and a hybrid digital/analog protection system to achieve the necessary fast response for critical parameters. Data networks transfer information between systems for control, display, and recording. Protection is accomplished by the rapid insertion of negative reactivity with control rods or other reactivity mechanisms to shut down the fission process and reduce heat generation in the fuel. The shutdown system is designed for high functional reliability by use of conservative design features and a high degree of redundance and independence to guard against single failures. Two independent reactivity control systems of different design principles are provided, and each system has multiple independent rods or subsystems to provide appropriate margin for malfunctions such as stuck rods or other single failures. Each system is capable of maintaining the reactor in a cold shutdown condition independently of the functioning of the other system. A highly reliable, redundant channel control system is used not only to achieve high availability of the reactor, but also to reduce challenges to the protection system by maintaining important plant parameters within appropriate limits. The control system has a number of contingency features to maintain acceptable, off-normal conditions in spite of limited control or plant component failures thereby further reducing protection system challenges


    E. Komov


    Full Text Available The analitycal review of the possible usage on board any vehicle modern scanner-adapters which allows to get information for organize in the control system of the rolling stock technical state in conditions of the radical transformation of the existant control system of the automobile transport is offered.

  15. Stability of adaptive cruise control systems taking account of vehicle response time and delay

    The region of string stability of a platoon of adaptive cruise control vehicles, taking into account the delay and response of the vehicle powertrain, is found. An upper bound on the explicit delay time as a function the first-order powertrain response time constant is determined. The system is characterized by a headway time constant, a sensitivity parameter, relative (to the vehicle immediately in front) velocity control, and delayed-velocity feedback or acceleration feedback. -- Highlights: ► I find the region of stability for a realistic adaptive cruise control system. ► Vehicle response time and explicit delay are included in the analysis. ► Delayed-feedback enlarges the parameter space that gives string stability.

  16. Multi-objective Genetic Algorithm for System Identification and Controller Optimization of Automated Guided Vehicle

    Xing Wu; Peihuang Lou; Dunbing Tang


    This paper presents a multi-objective genetic algorithm (MOGA) with Pareto optimality and elitist tactics for the control system design of automated guided vehicle (AGV). The MOGA is used to identify AGV driving system model and optimize its servo control system sequentially. In system identification, the model identified by least square method is adopted as an evolution tutor who selects the individuals having balanced performances in all objectives as elitists. In controller optimization, t...

  17. Advanced components for electric and hybrid electric vehicles. Workshop proceedings

    Stricklett, K.L.; Cookson, A.H.; Bartholomew, R.W.; Leedy, T. [National inst. of Standards and Technology, Gaithersburg, MD (United States). Electricity Div.


    This is a key period in the development of electric and hybrid electric vehicles. The landmark 1990 legislation in California requires that 2 percent of new automobiles be zero emission vehicles in 1998, rising to 10 percent in the year 2005. This can only be met by electric vehicles. The purpose of the workshop was to concentrate on the technologies to improve the design, performance, manufacturability, and economics of the critical components for the next generation of electric and hybrid electric vehicles for the year 2000 and beyond. The workshop began with invited speakers to cover the general topics of impact of the California legislation, Federal agency programs, development of standards, infrastructure needs, advanced battery development, and the imperatives for commercial success of electric and hybrid electric vehicles. Working sessions were five parallel meetings on Energy Conversion Systems, Energy Storage Systems, Electric Propulsion Systems, Controls and Instrumentation, and Ancillary Systems.

  18. Status and design of the Advanced Photon Source control system

    This paper presents the current status of the Advanced Photon Source (APS) control system. It will discuss the design decisions which led us to use industrial standards and collaborations with other laboratories to develop the APS control system. The system uses high performance graphic workstations and the X-windows Graphical User Interface (GUI) at the operator interface level. It connects to VME/VXI-based microprocessors at the field level using TCP/IP protocols over high performance networks. This strategy assures the flexibility and expansibility of the control system. A defined interface between the system components will allow the system to evolve with the direct addition of future, improved equipment and new capabilities

  19. Planner-Based Control of Advanced Life Support Systems

    Muscettola, Nicola; Kortenkamp, David; Fry, Chuck; Bell, Scott


    The paper describes an approach to the integration of qualitative and quantitative modeling techniques for advanced life support (ALS) systems. Developing reliable control strategies that scale up to fully integrated life support systems requires augmenting quantitative models and control algorithms with the abstractions provided by qualitative, symbolic models and their associated high-level control strategies. This will allow for effective management of the combinatorics due to the integration of a large number of ALS subsystems. By focusing control actions at different levels of detail and reactivity we can use faster: simpler responses at the lowest level and predictive but complex responses at the higher levels of abstraction. In particular, methods from model-based planning and scheduling can provide effective resource management over long time periods. We describe reference implementation of an advanced control system using the IDEA control architecture developed at NASA Ames Research Center. IDEA uses planning/scheduling as the sole reasoning method for predictive and reactive closed loop control. We describe preliminary experiments in planner-based control of ALS carried out on an integrated ALS simulation developed at NASA Johnson Space Center.

  20. An advanced tracker design for pointing and control of space vehicles using the charge injection device

    Jones, C.; Kollodge, J. C.


    The use of charge transfer devices (CTD) in pointing and control of space vehicles is examined, with emphasis on the use of charge injection devices (CID). The selection of CTD type and CID operation, including CID signal and noise analysis and signal improvement, are discussed. Star tracking operational advantages of the CTD are pointed out, and the tracking optical concept is discussed and graphically depicted. The position interpolation procedure and the effects of rate of stellar motion on position interpolation are considered, and error analysis is examined. Finally, the breadboard and test program are discussed in detail, coarse and fine acquisition, test for star, track pattern, test procedure and results. An overall accuracy performance of approximately 0.02 pixels or approximately 0.8 arcsec for the test equipment and tracker was obtained.

  1. An advanced control system for a next generation transport aircraft

    Rising, J. J.; Davis, W. J; Grantham, W. D.


    The use of modern control theory to develop a high-authority stability and control system for the next generation transport aircraft is described with examples taken from work performed on an advanced pitch active control system (PACS). The PACS was configured to have short-period and phugoid modes frequency and damping characteristics within the shaded S-plane areas, column force gradients with set bounds and with constant slope, and a blended normal-acceleration/pitch rate time history response to a step command. Details of the control law, feedback loop, and modal control syntheses are explored, as are compensation for the feedback gain, the deletion of the velocity signal, and the feed-forward compensation. Scheduling of the primary and secondary gains are discussed, together with control law mechanization, flying qualities analyses, and application on the L-1011 aircraft.

  2. Integrated robotic vehicle control system for outdoor container handling

    Viitanen, Jouko O.; Haverinen, Janne; Mattila, Pentti; Maekelae, Hannu; von Numers, Thomas; Stanek, Zbigniev; Roening, Juha


    We describe an integrated system developed for use onboard a moving work machine. The machine is targeted to such applications as e.g. automatic container handling at loading terminals. The main emphasis is on the various environment perception duties required by autonomous or semi-autonomous operation. These include obstacle detection, container position determination, localization needed for efficient navigation and measurement of docking and grasping locations of containers. Practical experience is reported on the use of several different types of technologies for the tasks. For close distance measurement, such as container row following, ultrasonic measurement was used, with associated control software. For obstacle and docking position detection, 3D active vision techniques were developed with structured lighting, utilizing also motion estimation techniques. Depth from defocus-based methods were developed for passive 3D vision. For localization, fusion of data from several sources was carried out. These included dead-reckoning data from odometry, an inertial unit, and several alternative external localization devices, i.e. real-time kinematic GPS, inductive and optical transponders. The system was integrated to run on a real-time operating system platform, using a high-level software specification tool that created the hierarchical control structure of the software.

  3. 77 FR 30765 - Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems for Heavy Vehicles


    ... rollovers and mitigate severe understeer or oversteer conditions that lead to loss of control by using... crashes and 14 percent of loss-of-control crashes. By requiring that ESC systems be installed on truck... to 60 fatalities at less than $3 million per equivalent life saved, while generating positive...

  4. A semi-active control suspension system for railway vehicles with magnetorheological fluid dampers

    Wei, Xiukun; Zhu, Ming; Jia, Limin


    The high-speed train has achieved great progress in the last decades. It is one of the most important modes of transportation between cities. With the rapid development of the high-speed train, its safety issue is paid much more attention than ever before. To improve the stability of the vehicle with high speed, extra dampers (i.e. anti-hunting damper) are used in the traditional bogies with passive suspension system. However, the curving performance of the vehicle is undermined due to the extra lateral force generated by the dampers. The active suspension systems proposed in the last decades attempt to solve the vehicle steering issue. However, the active suspension systems need extra actuators driven by electrical power or hydraulic power. There are some implementation and even safety issues which are not easy to be overcome. In this paper, an innovative semi-active controlled lateral suspension system for railway vehicles is proposed. Four magnetorheological fluid dampers are fixed to the primary suspension system of each bogie. They are controlled by online controllers for enhancing the running stability on the straight track line on the one hand and further improving the curving performance by controlling the damper force on the other hand. Two control strategies are proposed in the light of the pure rolling concept. The effectiveness of the proposed strategies is demonstrated by SIMPACK and Matlab co-simulation for a full railway vehicle with two conventional bogies.

  5. GSM-GPS Based Intelligent Security and Control System for Vehicle

    Mr. Kiran Gaikwad


    The revolution of Mobile and Technology has made ‘GSM based vehicle security system’. The vehicle security system is prominent worldwide. But it is not so much secure system. Every vehicle owner wants maximum protection of his vehicle; otherwise thief can easily trap the vehicle. So, by combing the idea of mobile and vehicle security system GSM based vehicle security system can be designed. So this GSM-GPS based vehicle security system works when someone tries to steal your vehicle. This pape...

  6. A tunable fuzzy logic controller for the vehicle semi-active suspension system

    方子帆; DENG; Zhaoxiang; 等


    On the basis of analyzing the system constitution of vehicle semi-active suspension,a 4-DOF(degree of freedom)dynamic model is established.A tunable fuzzy logic controller is designed by using without quantification method and taking into account the uncertainty,nonlinearity and complexity of parameters for a vehicle suspension system.Simulation to test the performance of this controller is performed under random excitations and definite disturbances of a C grade road,and the effects of time delay and changes of system parameters on the vehicle suspension system are researched.The numerical simulation shows that the performance of the designed tunable fuzzy logic controller is effective,stable and reliable.

  7. The Advanced Photon Source Injector Test Stand Control System

    MacLean, J F


    The Advanced Photon Source (APS) primary and backup injectors consist of two thermionic-cathode rf guns. These guns are being upgraded to provide improved performance, to improve ease of maintenance, and to reduce downtime required for repair or replacement of a failed injector. As part of the process, an injector test stand is being prepared. This stand is effectively independent of the APS linac and will allow for complete characterization and validation of an injector prior to its installation into the APS linac. A modular control system for the test stand has been developed using standard APS control solutions with EPICS to deliver a flexible and comprehensive control system. The modularity of the system will allow both the future expansion of test stand functionality and the evaluation of new control techniques and solutions.

  8. A two stage launch vehicle for use as an advanced space transportation system for logistics support of the space station


    This report describes the preliminary design specifications for an Advanced Space Transportation System consisting of a fully reusable flyback booster, an intermediate-orbit cargo vehicle, and a shuttle-type orbiter with an enlarged cargo bay. It provides a comprehensive overview of mission profile, aerodynamics, structural design, and cost analyses. These areas are related to the overall feasibility and usefullness of the proposed system.

  9. Introduction to the special issue on Advances in intelligent nonlinear control for robotic systems

    Chee Khiang PANG; Huajin TANG; Qing Wei JIA


    @@ In the last two decades, robotic systems have achieved wide applications in every aspect of human society, including industrial manufacturing, automotive production, medical devices, and social lives. With the diversity of application do-mains, control techniques have pervaded from industrial robot manipulators, wheeled or legged mobile robots, unmanned autonomous aerial, ground, and underwater vehicles, to humanoid robots, and haptic devices, etc. The growing number of applications of robotics and increasing requirements for system stability, reliability, and safety, are posing new and challenging theoretical and technological problems for modeling and control of these highly nonlinear systems. Control of these complex systems is highly challenging due to the inherent nonlinear response and strong heterogeneity in dif-ferent parts as computers, sensors, hardware objects, etc. As such, novel nonlinear control strategies are essential to the advancement of robotic systems and corresponding technologies.

  10. Practical Implementations of Advanced Process Control for Linear Systems

    Knudsen, Jørgen K . H.; Huusom, Jakob Kjøbsted; Jørgensen, John Bagterp


    Most advanced process control systems are based on Model Predictive Control (MPC). In this paper we discuss three critical issues for the practical implementation of linear MPC for process control applications. The rst issue is related to oset free control and disturbance models; the second issue......-regulator structure. It enables oset free control; it can be computed eciently on-line using several optimization algorithms; and accommodates soft constraint for the outputs and for shaping the set-point tracking penalty function. We report selected observations using this implementation and discuss their practical...... models and integration of the innovation errors. If the disturbances increases, oset-free control cannot be achieved without violation of process constraints. A target calculation function is used to calculate the optimal achievable target for the process. The use of soft constraints for process output...

  11. Control of A Five-axle, Three-steering Coupled-vehicle System

    Yamaguchi, Hiroaki; Mori, Masato; Kawakami, Atsushi

    This paper presents a new type of coupled-vehicle system: a five-axle, three-steering coupled-vehicle system and its path following feedback control law. The coupled-vehicle system consists of two car-like mobile robots, two carriers and a steering system. One of the two car-like mobile robots is coupled by one of the two carriers via a revolute joint passively rotating and the other car-like mobile robot is also coupled by one remaining carrier via a passive revolute joint, and the two carriers are coupled via another passive revolute joint. The steering system is attached to one of the carriers and its steering axis is located at the same position of the rotating axis of the passive revolute joint coupling the two carriers. We first show that, by assuming virtual mechanical elements, it is possible to convert the kinematical equation of the coupled-vehicle system into three-chain, single-generator chained form in a coordinate system in which a path two times differentiable is an axis and a straight line perpendicular to the tangent of the path is another axis. Based on chained form, we secondly derive the path following feedback control law which enables the orientations of the two carriers relative to the tangent of the path to be controllable. By the feedback control law, it is possible to cause the two carriers to form a line-shaped composed carrier or a V-shaped composed carrier and to cause them to keep such shapes while performing a path following behavior, which means that the coupled-vehicle system is able to adapt the shape of the composed carrier to the shape of a transported object. The validity of the mechanical design of the coupled-vehicle system and its path following feedback control law has been verified experimentally.

  12. Control of Electric Vehicle

    Huang, Qi; Chen, Yong; Li, Jian


    In this chapter, the modeling of electric vehicle is discussed in detail. Then, the control of electric vehicle driven by different motors is discussed. Both brushed and brushless DC (Direct Current) motors are discussed. And for AC (Alternative Current) motors, the discussion is focused on induction motor and permanent magnet synchronous motor. The design of controllers for different motor-driven electric vehicle is discussed in-depth, and the tested high-performance control strategies for d...

  13. Anti-rollover Control System Design of Articulated Off-road Vehicles

    Wang Shuai


    Full Text Available This paper designs an anti-rollover control system to improve articulated off-road vehicle rollover safety. This controller consists two level control which target to two different instability stages: 1 the active swing bridge adjustment control algorithm for the first stage instability; and 2 the active braking control algorithm for the second stage instability. The first level control is based on fuzzy PID control and second is based on switch control, they work together to prevent the articulated wheel loader from rollover accident. Multi-body dynamics model of a ZL50 articulated wheel loader is built by commercial software RecurDyn, and the MBD model and controller model were co-simulated under the same solver in RecurDyn/CoLink. The co-simulation results show that, during the high speed steering rollover process, these two level controller work efficiently to reduce the roll angle and improve the vehicle rollover stability.

  14. FPGA Based Adaptive Neuro Fuzzy Inference Controller for Full Vehicle Nonlinear Active Suspension Systems

    Ammar A. Aldair


    Full Text Available A Field Programmable Gate Array (FPGA is proposed to build an Adaptive Neuro Fuzzy Inference System (ANFIS for controlling a full vehicle nonlinear active suspension system. A Very High speed integrated circuit Hardware Description Language (VHDL has been used to implement the proposed controller. An optimal Fraction Order PIλ D µ (FOPID controller is designed for a full vehicle nonlinear active suspension system. Evolutionary Algorithm (EA has been applied to modify the five parameters of the FOPID controller (i.e. proportional constant Kp, integral constant Ki , derivative constant Kd, integral order λ and derivative order µ. The data obtained from the FOPID controller are used as a reference to design the ANFIS model as a controller for the controlled system. A hybrid approach is introduced to train the ANFIS. A Matlab Program has been used to design and simulate the proposed controller. The ANFIS control parameters obtained from the Matlab program are used to write the VHDL codes. Hardware implementation of the FPGA is dependent on the configuration file obtained from the VHDL program. The experimental results have proved the efficiency and robustness of the hardware implementation for the proposed controller. It provides a novel technique to be used to design NF controller for full vehicle nonlinear active suspension systems with hydraulic actuators.

  15. Advances in Intelligent Control Systems and Computer Science


    The conception of real-time control networks taking into account, as an integrating approach, both the specific aspects of information and knowledge processing and the dynamic and energetic particularities of physical processes and of communication networks is representing one of the newest scientific and technological challenges. The new paradigm of Cyber-Physical Systems (CPS) reflects this tendency and will certainly change the evolution of the technology, with major social and economic impact. This book presents significant results in the field of process control and advanced information and knowledge processing, with applications in the fields of robotics, biotechnology, environment, energy, transportation, et al.. It introduces intelligent control concepts and strategies as well as real-time implementation aspects for complex control approaches. One of the sections is dedicated to the complex problem of designing software systems for distributed information processing networks. Problems as complexity an...

  16. Integration and Application of TCV Advanced Plasma Control System

    Full text: A digital system for plasma control at Tokamak a Configuration Variable (TCV) was developed and integrated. The Advanced Plasma Control System (APCS) enables enhanced control of plasma properties such as shape, position, current and density, with more flexibility and better performance than the existing analogue system. APCS is a grid of 32 interconnected processing units with analogue input/output capabilities, using in-house developed data communication bus and protocol. The control cycle using the entire grid, with data sharing between all units, can go up to 25us, defined as the slow control cycle. For faster control needs such as the vertical stabilization of plasma, single hardware module with 4 processing units is used. By confining the communication to one hardware module, the time for data sharing is reduced and the control cycle can go down, defined as the fast control cycle. The APCS hardware and data sharing architecture is described in this contribution. To integrate the APCS in the existing TCV control plant, a software package that runs in the embedded system hosting the hardware modules was developed and installed. The host state-machine and the structure of the software are discussed, as well as the system performance and stability. An application that uses the APCS to enhance the plasma vertical position stabilization is under development. Past tokamaks with circular cross-section plasmas were vertically stable; however, vertically elongated cross section plasmas suffer from a vertical instability that demands the use of closed loop feedback control systems. The use of the APCS for vertical instability control is evaluated and results on a new vertical position observer are presented. (author)

  17. Modeling, Simulation and Control System Design for Civil Unmanned Aerial Vehicle (UAV)

    Bagheri, Shahriar


    Unmanned aerial systems have been widely used for variety of civilian applications over the past few years. Some of these applications require accurate guidance and control. Consequently, Unmanned Aerial Vehicle (UAV) guidance and control attracted many researchers in both control theory and aerospace engineering. Flying wings, as a particular type of UAV, are considered to have one of the most efficient aerodynamic structures. It is however difficult to design robust controller for such syst...

  18. Driver-aid system using path-planning for lateral vehicle control

    Lauffenburger, Jean-Philippe; Basset, Michel; Coffin, Frank; Gissinger, Gérard


    The Navigation Aided Intelligent Cruise Control (N.A.I.C.C.) system acts in the field of the lateral and longitudinal control of a car. This paper only describes the lateral part of this new driver-aid system. Once the vehicle is located on the road, it determines the distance to the next bend and predicts a reference path to negotiate this bend considering the road profile, the vehicle characteristics and the driver's profile. The use of polar curves for the description of a turn eliminates ...

  19. Advanced Transport Operating System (ATOPS) Flight Management/Flight Controls (FM/FC) software description

    Wolverton, David A.; Dickson, Richard W.; Clinedinst, Winston C.; Slominski, Christopher J.


    The flight software developed for the Flight Management/Flight Controls (FM/FC) MicroVAX computer used on the Transport Systems Research Vehicle for Advanced Transport Operating Systems (ATOPS) research is described. The FM/FC software computes navigation position estimates, guidance commands, and those commands issued to the control surfaces to direct the aircraft in flight. Various modes of flight are provided for, ranging from computer assisted manual modes to fully automatic modes including automatic landing. A high-level system overview as well as a description of each software module comprising the system is provided. Digital systems diagrams are included for each major flight control component and selected flight management functions.

  20. Simulating advanced life support systems to test integrated control approaches

    Kortenkamp, D.; Bell, S.

    Simulations allow for testing of life support control approaches before hardware is designed and built. Simulations also allow for the safe exploration of alternative control strategies during life support operation. As such, they are an important component of any life support research program and testbed. This paper describes a specific advanced life support simulation being created at NASA Johnson Space Center. It is a discrete-event simulation that is dynamic and stochastic. It simulates all major components of an advanced life support system, including crew (with variable ages, weights and genders), biomass production (with scalable plantings of ten different crops), water recovery, air revitalization, food processing, solid waste recycling and energy production. Each component is modeled as a producer of certain resources and a consumer of certain resources. The control system must monitor (via sensors) and control (via actuators) the flow of resources throughout the system to provide life support functionality. The simulation is written in an object-oriented paradigm that makes it portable, extensible and reconfigurable.


    A. A. SHAFIE


    Full Text Available Traffic signal light can be optimized using vehicle flow statistics obtained by Smart Video Surveillance Software (SVSS. This research focuses on efficient traffic control system by detecting and counting the vehicle numbers at various times and locations. At present, one of the biggest problems in the main city in any country is the traffic jam during office hour and office break hour. Sometimes it can be seen that the traffic signal green light is still ON even though there is no vehicle coming. Similarly, it is also observed that long queues of vehicles are waiting even though the road is empty due to traffic signal light selection without proper investigation on vehicle flow. This can be handled by adjusting the vehicle passing time implementing by our developed SVSS. A number of experiment results of vehicle flows are discussed in this research graphically in order to test the feasibility of the developed system. Finally, adoptive background model is proposed in SVSS in order to successfully detect target objects such as motor bike, car, bus, etc.

  2. Modeling the Behaviour of an Advanced Material Based Smart Landing Gear System for Aerospace Vehicles

    The last two decades have seen a substantial rise in the use of advanced materials such as polymer composites for aerospace structural applications. In more recent years there has been a concerted effort to integrate materials, which mimic biological functions (referred to as smart materials) with polymeric composites. Prominent among smart materials are shape memory alloys, which possess both actuating and sensory functions that can be realized simultaneously. The proper characterization and modeling of advanced and smart materials holds the key to the design and development of efficient smart devices/systems. This paper focuses on the material characterization; modeling and validation of the model in relation to the development of a Shape Memory Alloy (SMA) based smart landing gear (with high energy dissipation features) for a semi rigid radio controlled airship (RC-blimp). The Super Elastic (SE) SMA element is configured in such a way that it is forced into a tensile mode of high elastic deformation. The smart landing gear comprises of a landing beam, an arch and a super elastic Nickel-Titanium (Ni-Ti) SMA element. The landing gear is primarily made of polymer carbon composites, which possess high specific stiffness and high specific strength compared to conventional materials, and are therefore ideally suited for the design and development of an efficient skid landing gear system with good energy dissipation characteristics. The development of the smart landing gear in relation to a conventional metal landing gear design is also dealt with

  3. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.


    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  4. Wireless Control of Vehicle Mirror System Using Head Movement and PIC Microcontroller

    Nidal F. Shilbayeh


    Full Text Available A PIC controlled IR system for the control car mirror system movement is designed and implemented. The designed and built system allows the side view mirrors to be adjusted based on the driver head movement. The infrared based head tracking system maps a predetermined coordinates for head movements and results in a triangularly computable geometry which is fed to the PIC based controlling system. This will cause the vehicle mirror movement via carefully selected miniature motors. The system takes blind spots and their angles into consideration

  5. Advances and applications in sliding mode control systems

    Zhu, Quanmin


    This book describes the advances and applications in Sliding mode control (SMC) which is widely used as a powerful method to tackle uncertain nonlinear systems. The book is organized into 21 chapters which have been organised by the editors to reflect the various themes of sliding mode control. The book provides the reader with a broad range of material from first principles up to the current state of the art in the area of SMC and observation presented in a clear, matter-of-fact style. As such it is appropriate for graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems. The resulting design procedures are emphasized using Matlab/Simulink software.    

  6. Design of Neural Network Variable Structure Reentry Control System for Reusable Launch Vehicle

    HU Wei-jun; ZHOU Jun


    A flight control system is designed for a reusable launch vehicle with aerodynamic control surfaces and reaction control system based on a variable-structure control and neural network theory. The control problems of coupling among the channels and the uncertainty of model parameters are solved by using the method. High precise and robust tracking of required attitude angles can be achieved in complicated air space. A mathematical model of reusable launch vehicle is pre-sented first, and then a controller of flight system is presented. Base on the mathematical model, the controller is divided into two parts: variable-structure controller and neural network module which is used to modify the parameters of con-troller. This control system decouples the lateral/directional tunnels well with a neural network sliding mode controller and provides a robust and de-coupled tracking for mission angle profiles. After this a control allocation algorithm is employed to allocate the torque moments to aerodynamic control surfaces and thrusters. The final simulation shows that the control system has a good accurate, robust and de-coupled tracking performance. The stable state error is less than 1°, and the overshoot is less than 5%.

  7. Modeling and control of an unmanned underwater vehicle using a mass moving system

    Byun, Seung-Woo; Kim, Donghee; Choi, Hyeung-Sik; Kim, Joon-Young


    This paper describes the mathematical modeling and control algorithms of an unmanned underwater vehicle (UUV) named Minekiller. This UUV has two longitudinal thrusters, one vertical thruster, and an internal mass moving system, which can control the pitch rate. The UUV is equipped with a movable mass for pitch control. It is different from other common UUVs, in that it can maintain a static pitch angle. The UUV's 6-DOF (Degrees of Freedom) dynamics model is derived from the hydrodynamic forces and moments acting on it. We applied these hydrodynamic coefficients to dynamic modeling for numerical simulations by MATLAB/SIMULINK©. To compare the performance in various cases, we used a PID controller for depth and heading control. Also, the navigation controller can analyze the way-point tracking performance. These simulation results show the performance of the control algorithms and maneuvering performance of the underwater vehicle.

  8. Smart Vehicle Tracking System



    Full Text Available It is amazing to know how simple ideas can give a whole new dimension to the tracking and navigation industry and smart vehicle tracking system is used for tracking the vehicles. You can optimize driver routes, save petrol or gas and time, reduce theft and control the vehicle functions. Many a times it is not required to track your vehicle or target globally. In majority of cases tracking is more restricted to local purposes only, such as tracking movement of vehicle within city, tracking the raw materials within industrial estate or to know the present position of your daughter or son within city. But unfortunately in the pursuit of making things complex this simple idea is forgotten. This simple yet powerful idea forms the basis of this revolutionary project. All this coupled with a very low cost, a robust design and tremendous market potential makes this model even more attractive.

  9. Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID

    Pan Zhao


    Full Text Available The autonomous vehicle is a mobile robot integrating multi‐sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree‐of‐freedom dynamic model is developed to formulate the path‐tracking problem in state space format. For controlling the instantaneous path error, traditional controllers have difficulty in guaranteeing performance and stability over a wide range of parameter changes and disturbances. Therefore, a newly developed adaptive‐PID controller will be used. By using this approach the flexibility of the vehicle control system will be increased and achieving great advantages. Throughout, we provide examples and results from Intelligent Pioneer and the autonomous vehicle using this approach competed in the 2010 and 2011 Future Challenge of China. Intelligent Pioneer finished all of the competition programmes and won first position in 2010 and third position in 2011.

  10. 77 FR 39206 - Public Hearing on Proposed Rule for Heavy Vehicle Electronic Stability Control Systems


    .... To accommodate as many speakers as possible, we prefer that speakers who are using audio- visual aids... No. 136, Electronic Stability Control Systems for Heavy Vehicles (77 FR 30766). The standard would..., use the local area zip code of 20003. FOR FURTHER INFORMATION CONTACT: If you would like to...

  11. A Control Algorithm for Electric Vehicle Fast Charging Stations Equipped with Flywheel Energy Storage Systems

    Sun, Bo; Dragicevic, Tomislav; Freijedo Fernandez, Francisco Daniel;


    This paper proposes a control strategy for plugin electric vehicle (PEV) fast charging station (FCS) equipped with a flywheel energy storage system (FESS). The main role of the FESS is not to compromise the predefined charging profile of PEV battery during the provision of a hysteresis-type active...

  12. Research prototype of remote controlled engineering vehicle system against CBRN threat. Phase 1

    This research was triggered by the nuclear accident successively happened after the Great East Japan Earthquake. The project focuses on the Remote Controlled Engineering Vehicle System that can be used for multi purpose such as debris/obstacle clearing operation, various reconnaissance operation, under CBRN threat. (author)

  13. Advanced Ground Systems Maintenance Cryogenics Test Lab Control System Upgrade Project

    Harp, Janice Leshay


    This project will outfit the Simulated Propellant Loading System (SPLS) at KSC's Cryogenics Test Laboratory with a new programmable logic control system. The control system upgrade enables the Advanced Ground Systems Maintenace Element Integration Team and other users of the SPLS to conduct testing in a controls environment similar to that used at the launch pad.

  14. Development of Electronic Control Unit For Body Control System of Pure Electric Vehicle

    Li Hongqiang


    Full Text Available This study concerns the design of Electronic Control Units (ECUs for the Body Control System (BCS of Pure Electric Vehicle (PEV. The main research contents are divided into two parts: its CANopen application layer protocol and the model based design of fault detection for anti-pinch window. Firstly, the structure of the BCS and the function of each ECU were analyzed. Then according to the communication needs among the ECUs, the CANopen protocol for each ECU was designed. It contained the design of Network Management, Process Data Objects and Service Data Objects. A CANopen network simulation platform was designed by CANoe software and its components CANoe.CANopen. According to the analysis of anti-pinch window model system, the algorithm based on H-/H∞ fault detection observer estimation is proposed. Apart from the previous methods, the pinch torque rate is considered as a fault under the pinched condition to generate a residual. A residual is zero in normal, but it will deviate from the constant when sensing the pinched condition. Co-simulation model of CANopen protocol and the anti-pinch model based on CANoe-MATLAB and the bench test are design to verify the designed ECUs. The test results show that the bus load rate is 3.49% and the results of detection time are respectively 0.18 and 0.185s, which show the CANopen protocol and the anti-pinch algorithm are proper to the BCS of PEV.

  15. Discrete-time sliding mode control for MR vehicle suspension system

    This paper presents control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers via a discrete-time sliding mode control algorithm (DSMC). A cylindrical MR damper is designed by incorporating Bingham model of the MR fluid and the field-dependent damping characteristics of the MR damper are evaluated. A full-vehicle suspension model installed with independent four MR dampers is constructed and the governing equations which include vertical, pitch and roll motion are derived. A discrete-time control model is established with considering system uncertainties and a discrete-time sliding mode controller which has inherent robustness to model uncertainty and external disturbance is formulated. Vibration control performances under bump excitation are evaluated and presented.

  16. An Advanced Permanent Magnet Motor Drive System for Battery-Powered Electric Vehicles

    Chan, CC; Chau, KT


    Recent availability of high-energy neodymium-ironboron (Nd-Fe-B) permanent magnet (PM) material has focused attention on the use of the PM synchronous motor (PMSM) drive for electric vehicles (EV's). A new Nd-Fe-B PMSM is proposed for the drive system, which possesses high power density and high efficiency, resulting in greater energy and space savings. The design and optimization of the motor employ finite element analysis and computer graphics. Increasingly, a new PWM inverter algorithm is ...

  17. Applications of a Controller Design Method for Nonholonomic Systems to Auto-Steering Vehicles

    Hamamatsu, Masanori; Kubota, Tetsuya; Kohno, Yukinobu; Iwata, Shinichi

    In the industrial field of motion control, many systems are nonholonomic, and thefore are difficult to control by static state feedback. As a controller design method for nonholonomic systems, a time-state control form that is applicable to a broad class of nonholonomic systems has been proposed. This paper describes three applications of controllers designed to utilize the time-state control form for the motion control of the following ground vehicles: a large-scale transfer crane, a rotary snow remover, and the mobile field of the Sapporo Dome stadium. In the first two examples, we develop a control function in a time-state control form into an integral type, and a combination of a filter and the Smith compensator. In the third example, we confirm the validity of the motion control by computer simulations and actual experiments.

  18. Advances in fuel cell vehicle design

    Bauman, Jennifer

    Factors such as global warming, dwindling fossil fuel reserves, and energy security concerns combine to indicate that a replacement for the internal combustion engine (ICE) vehicle is needed. Fuel cell vehicles have the potential to address the problems surrounding the ICE vehicle without imposing any significant restrictions on vehicle performance, driving range, or refuelling time. Though there are currently some obstacles to overcome before attaining the widespread commercialization of fuel cell vehicles, such as improvements in fuel cell and battery durability, development of a hydrogen infrastructure, and reduction of high costs, the fundamental concept of the fuel cell vehicle is strong: it is efficient, emits zero harmful emissions, and the hydrogen fuel can be produced from various renewable sources. Therefore, research on fuel cell vehicle design is imperative in order to improve vehicle performance and durability, increase efficiency, and reduce costs. This thesis makes a number of key contributions to the advancement of fuel cell vehicle design within two main research areas: powertrain design and DC/DC converters. With regards to powertrain design, this research first analyzes various powertrain topologies and energy storage system types. Then, a novel fuel cell-battery-ultracapacitor topology is presented which shows reduced mass and cost, and increased efficiency, over other promising topologies found in the literature. A detailed vehicle simulator is created in MATLAB/Simulink in order to simulate and compare the novel topology with other fuel cell vehicle powertrain options. A parametric study is performed to optimize each powertrain and general conclusions for optimal topologies, as well as component types and sizes, for fuel cell vehicles are presented. Next, an analytical method to optimize the novel battery-ultracapacitor energy storage system based on maximizing efficiency, and minimizing cost and mass, is developed. This method can be applied

  19. Advanced information processing system - Status report. [for fault tolerant and damage tolerant data processing for aerospace vehicles

    Brock, L. D.; Lala, J.


    The Advanced Information Processing System (AIPS) is designed to provide a fault tolerant and damage tolerant data processing architecture for a broad range of aerospace vehicles. The AIPS architecture also has attributes to enhance system effectiveness such as graceful degradation, growth and change tolerance, integrability, etc. Two key building blocks being developed by the AIPS program are a fault and damage tolerant processor and communication network. A proof-of-concept system is now being built and will be tested to demonstrate the validity and performance of the AIPS concepts.

  20. Vibration control of an MR vehicle suspension system considering both hysteretic behavior and parameter variation

    This paper presents vibration control responses of a controllable magnetorheological (MR) suspension system considering the two most important characteristics of the system; the field-dependent hysteretic behavior of the MR damper and the parameter variation of the suspension. In order to achieve this goal, a cylindrical MR damper which is applicable to a middle-sized passenger car is designed and manufactured. After verifying the damping force controllability, the field-dependent hysteretic behavior of the MR damper is identified using the Preisach hysteresis model. The full-vehicle suspension model is then derived by considering vertical, pitch and roll motions. An H∞ controller is designed by treating the sprung mass of the vehicle as a parameter variation and integrating it with the hysteretic compensator which produces additional control input. In order to demonstrate the effectiveness and robustness of the proposed control system, the hardware-in-the-loop simulation (HILS) methodology is adopted by integrating the suspension model with the proposed MR damper. Vibration control responses of the vehicle suspension system such as vertical acceleration are evaluated under both bump and random road conditions

  1. Design and vibration control of military vehicle suspension system using magnetorheological damper and disc spring

    This paper proposes a new type of magnetorheological (MR) fluid based suspension system and applies it to military vehicles for vibration control. The suspension system consists of a gas spring, a MR damper and a safety passive damper (disc spring). Firstly, a dynamic model of the MR damper is derived by considering the pressure drop due to the viscosity and the yield stress of the MR fluid. A dynamic model of the disc spring is then established for its evaluation as a safety damper with respect to load and pressure. Secondly, a full military vehicle is adopted for the integration of the MR suspension system. A skyhook controller associated with a semi-active actuating condition is then designed to reduce the imposed vibration. In order to demonstrate the effectiveness of the proposed MR suspension system, a computer simulation is undertaken showing the vibration control performance of such properties as vertical displacement and pitch angle, evaluated for a bumpy road profile. (paper)

  2. H2-O2 fuel cell and advanced battery power systems for autonomous underwater vehicles: performance envelope comparisons

    Autonomous underwater vehicles have traditionally been powered by low energy density lead-acid batteries. Recently, advanced battery technologies and H2-O2 fuel cells have become available, offering significant improvements in performance. This paper compares the solid polymer fuel cell to the lithium-thionyl chloride primary battery, sodium-sulfur battery, and lead acid battery for a variety of missions. The power system performance is simulated using computer modelling techniques. Performance envelopes are constructed, indicating domains of preference for competing power system technologies. For most mission scenarios, the solid polymer fuel cell using liquid reactant storage is the preferred system. Nevertheless, the advanced battery systems are competitive with the fuel cell systems using gaseous hydrogen storage, and they illustrate preferred performance for missions requiring high power density. 11 figs., 4 tabs., 15 refs

  3. Control system and laser-based sensor design of an automonous vehicle for industrial environments

    Sanchiz, Jose M.; Badenas, Jorge; Pla, Filiberto


    This work presents an approach to the sensorial device and control system of an autonomous vehicle intended for navigating and performing precise load/unload tasks in industrial environments. The control system is able to perform turns, line following, and arbitrary curve following specified as splines. It is based on a multivariable design using the technique of pole placement in state space. The control system uses results from parameter estimation modules to adapt to the changing responses of traction motors when loaded or unloaded, such estimators are Kalman filters that recover the vehicle motion parameters from measurements performed by the positioning sensor. Several steering configurations are possible since the control system provides a radius of turn as output. So differential drive, tricycle drive or Ackerman steering can be done by transforming this radius in motor orders, depending on the geometry of the vehicle. The only sensor the system relies on is a laser-based local positioning system consisting of a rotating laser and retro-reflectors. Robust algorithms for signal analysis and position/orientation estimation have been developed. The sensor is able to detect reflectors 25 meters away in daylight or in dusty industrial environments using a low-cost 1 mW laser. The system has been tested on two mobile bases, using differential drive and tricycle drive.

  4. Multi-sources model and control algorithm of an energy management system for light electric vehicles

    Highlights: ► An energy management system (EMS) is developed for a scooter under normal and heavy power load conditions. ► The battery, FC, SC, EMS, DC machine and vehicle dynamics are modeled and designed for the system. ► State-based logic control algorithms provide an efficient and feasible multi-source EMS for light electric vehicles. ► Vehicle’s speed and power are closely matched with the ECE-47 driving cycle under normal and heavy load conditions. ► Sources of energy changeover occurred at 50% of the battery state of charge level in heavy load conditions. - Abstract: This paper presents the multi-sources energy models and ruled based feedback control algorithm of an energy management system (EMS) for light electric vehicle (LEV), i.e., scooters. The multiple sources of energy, such as a battery, fuel cell (FC) and super-capacitor (SC), EMS and power controller, DC machine and vehicle dynamics are designed and modeled using MATLAB/SIMULINK. The developed control strategies continuously support the EMS of the multiple sources of energy for a scooter under normal and heavy power load conditions. The performance of the proposed system is analyzed and compared with that of the ECE-47 test drive cycle in terms of vehicle speed and load power. The results show that the designed vehicle’s speed and load power closely match those of the ECE-47 test driving cycle under normal and heavy load conditions. This study’s results suggest that the proposed control algorithm provides an efficient and feasible EMS for LEV.


    Weiji Wang


    Full Text Available A Field Programmable Gate Array (FPGA is proposed to build an Adaptive Neuro Fuzzy Inference System(ANFIS for controlling a full vehicle nonlinear active suspension system. A Very High speed integratedcircuit Hardware Description Language (VHDL has been used to implement the proposed controller. Anoptimal Fraction Order PIlDμ (FOPID controller is designed for a full vehicle nonlinear activesuspension system. Evolutionary Algorithm (EA has been applied to modify the five parameters of theFOPID controller (i.e. proportional constant Kp, integral constant Ki, derivative constant Kd, integralorder l and derivative order μ. The data obtained from the FOPID controller are used as a reference todesign the ANFIS model as a controller for the controlled system. A hybrid approach is introduced to trainthe ANFIS. A Matlab Program has been used to design and simulate the proposed controller. The ANFIScontrol parameters obtained from the Matlab program are used to write the VHDL codes. Hardwareimplementation of the FPGA is dependent on the configuration file obtained from the VHDL program. Theexperimental results have proved the efficiency and robustness of the hardware implementation for theproposed controller. It provides a novel technique to be used to design NF controller for full vehiclenonlinear active suspension systems with hydraulic actuators.

  6. Ervaringen met Advanced Cruise Control (ACC) in een korte praktijkproef.

    Oei, H.-l.


    Experiences with Advanced Cruise Control in traffic; a limited experiment. Advanced Cruise Control (ACC) is an ordinary cruise control in which the desired speed is installed manually, but in which the headway time to the vehicle in front is also taken into account. If the headway time becomes less than the installed critical threshold value, the system brakes the vehicle gradually. If the vehicle in front is no longer there, or the headway time is greater than the threshold value, the instal...

  7. Battery charging control methods, electric vehicle charging methods, battery charging apparatuses and rechargeable battery systems

    Tuffner, Francis K.; Kintner-Meyer, Michael C. W.; Hammerstrom, Donald J.; Pratt, Richard M.


    Battery charging control methods, electric vehicle charging methods, battery charging apparatuses and rechargeable battery systems. According to one aspect, a battery charging control method includes accessing information regarding a presence of at least one of a surplus and a deficiency of electrical energy upon an electrical power distribution system at a plurality of different moments in time, and using the information, controlling an adjustment of an amount of the electrical energy provided from the electrical power distribution system to a rechargeable battery to charge the rechargeable battery.

  8. Practical control schemes of a battery/supercapacitor system for electric vehicle

    CASTAINGS, Ali; Lhomme, Walter; TRIGUI, Rochdi; Bouscayrol, Alain


    A hybrid energy storage system for electric vehicle using supercapacitors and a battery is studied. Using energetic macroscopic representation formalism, an inversion-based control (IBC) can be deduced. A comparison between IBC and two other control schemes is performed within a practical aspect. Simulation and experimental tests with a reduced-scale test bed are provided using a real driving cycle of an electric car. The results point out a more effective behaviour for the IBC than the other...

  9. Design, Modeling and Implementation of Pic Based Wireless Control System to Eliminate Blind Spots in Vehicle Side Mirrors

    Mahmoud Z. Iskandarani; Nidal F. Shilbayeh


    A PIC controlled IR system for the control of vehicle side mirror system movements for the purpose of revealing blind spots is designed and implemented. The designed and built system allows the side view mirrors to be adjusted based on the driver head movement. The infrared-based head tracking system maps a predetermined coordinates for head movements and results in a triangularly computable geometry, which is fed to the PIC, based controlling system. This will cause the vehicle mirror moveme...

  10. Disturbance decoupling robust control of vehicle full speed cruise dynamic system

    BIN Yang; LI KeQiang; FENG NengLian


    In this study,an innovative dynamics model of LFS(longitudinal vehicle full-speed cruise system)is developed by lumping the dynamics of a controlled vehicle and an inter-vehicles together.On account of the external disturbance,parameters uncertainty and the nonlinearity within LFS,a DDRC(disturbance decoupling robust control)method is proposed.For this method,the theory of NDD(nonlinear disturbance decoupling)is utilized firstly to separate the external disturbance from certain part of the proposed dynamics model.Then,the invariance over the sliding mode of VSC(variable structure control)is used to eliminate the influence of remaining uncertain part.Finally,the DDRC method is adopted to design an LFS ACC(adaptive cruise control)system,and some numerical simulations are carried out to validate its performance.The simulation results demonstrate that the proposed control system not only exhibits an expected dynamic response,high tracking accuracy and a strong robustness,but also achieves a global optimization by means of a simplified control structure.

  11. Implementation of advanced modified PCF in large telescope control system

    Shuai, Xiaoying; Zhang, Zhenchao; Zhu, Yongtian


    Large Telescope Control System (TCS) is a complicated system, which contains thousands of actuators. Wired TCS is inconvenient to point and track for a large telescope. This paper proposes a TCS based on IEEE 802.11 Wireless Local Area Network (WLAN), which provides flexibility, reduced infrastructure costs, and greater convenience. The IEEE 802.11 standard MAC protocol includes the DCF and the PCF. The DCF is designed for asynchronous data transmission, while the PCF is designed for real-time data. The performance of a WLAN with DCF will fall when the number of wireless station increase in a basic service set (BSS). An advanced modified PCF (APCF) is presented to poll data from the AP to stations and response data from stations to the AP in CFP. The analysis indicates that APCF can improve communication performance, and is very suitable for large TCS.

  12. Modeling and Nonlinear Control of Fuel Cell / Supercapacitor Hybrid Energy Storage System for Electric Vehicles

    El Fadil, Hassan; Giri, Fouad; Guerrero, Josep M.;


    This paper deals with the problem of controlling hybrid energy storage system (HESS) for electric vehicle. The storage system consists of a fuel cell (FC), serving as the main power source, and a supercapacitor (SC), serving as an auxiliary power source. It also contains a power block for energy...... requirements: i) tight dc bus voltage regulation; ii) perfect tracking of SC current to its reference; iii) and asymptotic stability of the closed loop system. A nonlinear controller is developed, on the basis of the system nonlinear model, making use of Lyapunov stability design techniques. The latter...

  13. A LabVIEW-based Autonomous Vehicle Navigation System using Robot Vision and Fuzzy Control

    Ramírez-Cortés J.M.; Gómez-Gil P.; Martínez-Carballido J.; López-Larios F.


    This paper describes a navigation system for an autonomous vehicle using machine vision techniques applied to real-time captured images of the track, for academic purposes. The experiment consists of the automatic navigation of a remote control car through a closed circuit. Computer vision techniques are used for the sensing of the environment through a wireless camera. The received images are captured into the computer through the acquisition card NI USB-6009, and processed in a system devel...

  14. Integration of Advanced Concepts and Vehicles Into the Next Generation Air Transportation System. Volume 1; Introduction, Key Messages, and Vehicle Attributes

    Zellweger, Andres; Resnick, Herbert; Stevens, Edward; Arkind, Kenneth; Cotton William B.


    Raytheon, in partnership with NASA, is leading the way in ensuring that the future air transportation continues to be a key driver of economic growth and stability and that this system provides an environmentally friendly, safe, and effective means of moving people and goods. A Raytheon-led team of industry and academic experts, under NASA contract NNA08BA47C, looked at the potential issues and impact of introducing four new classes of advanced aircraft into the next generation air transportation system -- known as NextGen. The study will help determine where NASA should further invest in research to support the safe introduction of these new air vehicles. Small uncrewed or unmanned aerial systems (SUAS), super heavy transports (SHT) including hybrid wing body versions (HWB), very light jets (VLJ), and supersonic business jets (SSBJ) are the four classes of aircraft that we studied. Understanding each vehicle's business purpose and strategy is critical to assessing the feasibility of new aircraft operations and their impact on NextGen's architecture. The Raytheon team used scenarios created by aviation experts that depict vehicles in year 2025 operations along with scripts or use cases to understand the issues presented by these new types of vehicles. The information was then mapped into the Joint Planning and Development Office's (JPDO s) Enterprise Architecture to show how the vehicles will fit into NextGen's Concept of Operations. The team also identified significant changes to the JPDO's Integrated Work Plan (IWP) to optimize the NextGen vision for these vehicles. Using a proven enterprise architecture approach and the JPDO s Joint Planning Environment (JPE) web site helped make the leap from architecture to planning efficient, manageable and achievable. Very Light Jets flying into busy hub airports -- Supersonic Business Jets needing to climb and descend rapidly to achieve the necessary altitude Super-heavy cargo planes requiring the shortest common flight

  15. Robust H2/H∞ Control for the Electrohydraulic Steering System of a Four-Wheel Vehicle

    Min Ye


    Full Text Available To shorten the steer diameter and to improve the maneuverability flexibility of a construction vehicle, four wheels’ steering system is presented. This steering system consists of mechanical-electrical-hydraulic assemblies. Its diagram and principle are depicted in detail. Then the mathematical models are derived step by step, including the whole vehicle model and the hydraulic route model. Considering the nonlinear and time-varying uncertainty of the steering system, robust H2/H∞ controller is put forward to guarantee both the system performance and the robust stability. The H∞ norm of the sensitive function from the parameter perturbation of the hydraulic system to the yaw velocity of the vehicle is taken as the evaluating index of the robustness and the H2 norm of the transfer function from the external disturbance to the steering angle of the wheel as the index of linear quadratic Gaussian. The experimental results showed that the proposed scheme was superior to classical PID controller and can guarantee both the control performance and the robustness of the steering system.

  16. Advanced Propulsion Power Distribution System for Next Generation Electric/Hybrid Vehicle. Phase 1; Preliminary System Studies

    Bose, Bimal K.; Kim, Min-Huei


    The report essentially summarizes the work performed in order to satisfy the above project objective. In the beginning, different energy storage devices, such as battery, flywheel and ultra capacitor are reviewed and compared, establishing the superiority of the battery. Then, the possible power sources, such as IC engine, diesel engine, gas turbine and fuel cell are reviewed and compared, and the superiority of IC engine has been established. Different types of machines for drive motor/engine generator, such as induction machine, PM synchronous machine and switched reluctance machine are compared, and the induction machine is established as the superior candidate. Similar discussion was made for power converters and devices. The Insulated Gate Bipolar Transistor (IGBT) appears to be the most superior device although Mercury Cadmium Telluride (MCT) shows future promise. Different types of candidate distribution systems with the possible combinations of power and energy sources have been discussed and the most viable system consisting of battery, IC engine and induction machine has been identified. Then, HFAC system has been compared with the DC system establishing the superiority of the former. The detailed component sizing calculations of HFAC and DC systems reinforce the superiority of the former. A preliminary control strategy has been developed for the candidate HFAC system. Finally, modeling and simulation study have been made to validate the system performance. The study in the report demonstrates the superiority of HFAC distribution system for next generation electric/hybrid vehicle.


    F.A. Ali


    Full Text Available Remotely Operated Vehicles are underwater robots designed specifically for surveillance, monitoring and collecting data for underwater activities. In the underwater vehicle industries, the thruster is an important part in controlling the direction, depth and speed of the ROV. However, there are some ROVs that cannot be maintained at the specified depth for a long time because of disturbance. This paper proposes an auto depth control using a thruster system. A prototype of a thruster with an auto depth control is developed and attached to the previously fabricated UTeM ROV. This paper presents the operation of auto depth control as well as thrusters for submerging and emerging purposes and maintaining the specified depth. The thruster system utilizes a microcontroller as its brain, a piezoresistive strain gauge pressure sensor and a DC brushless motor to run the propeller. Performance analysis of the auto depth control system is conducted to identify the sensitivity of the pressure sensor, and the accuracy and stability of the system. The results show that the thruster system performs well in maintaining a specified depth as well as stabilizing itself when a disturbanceoccurs even with a simple proportional controller used to control the thruster, where the thruster is an important component of the ROV.

  18. Lyapunov based control of hybrid energy storage system in electric vehicles

    El Fadil, H.; Giri, F.; Guerrero, Josep M.


    This paper deals with a Lyapunov based control principle in a hybrid energy storage system for electric vehicle. The storage system consists on fuel cell (FC) as a main power source and a supercapacitor (SC) as an auxiliary power source. The power stage of energy conversion consists on a boost...... voltage regulations, ii) perfect tracking of SC current to its reference, and iii) asymptotic stability of the closed loop system. It is clearly shown, using formal analysis and simulations that the designed controller meets all the objectives....

  19. Experimental Autonomous Vehicle Systems

    Ravn, Ole; Andersen, Nils Axel


    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple. The...

  20. The Integrated Safety-Critical Advanced Avionics Communication and Control (ISAACC) System Concept: Infrastructure for ISHM

    Gwaltney, David A.; Briscoe, Jeri M.


    Integrated System Health Management (ISHM) architectures for spacecraft will include hard real-time, critical subsystems and soft real-time monitoring subsystems. Interaction between these subsystems will be necessary and an architecture supporting multiple criticality levels will be required. Demonstration hardware for the Integrated Safety-Critical Advanced Avionics Communication & Control (ISAACC) system has been developed at NASA Marshall Space Flight Center. It is a modular system using a commercially available time-triggered protocol, ?Tp/C, that supports hard real-time distributed control systems independent of the data transmission medium. The protocol is implemented in hardware and provides guaranteed low-latency messaging with inherent fault-tolerance and fault-containment. Interoperability between modules and systems of modules using the TTP/C is guaranteed through definition of messages and the precise message schedule implemented by the master-less Time Division Multiple Access (TDMA) communications protocol. "Plug-and-play" capability for sensors and actuators provides automatically configurable modules supporting sensor recalibration and control algorithm re-tuning without software modification. Modular components of controlled physical system(s) critical to control algorithm tuning, such as pumps or valve components in an engine, can be replaced or upgraded as "plug and play" components without modification to the ISAACC module hardware or software. ISAACC modules can communicate with other vehicle subsystems through time-triggered protocols or other communications protocols implemented over Ethernet, MIL-STD- 1553 and RS-485/422. Other communication bus physical layers and protocols can be included as required. In this way, the ISAACC modules can be part of a system-of-systems in a vehicle with multi-tier subsystems of varying criticality. The goal of the ISAACC architecture development is control and monitoring of safety critical systems of a

  1. Multichannel control systems for the attenuation of interior road noise in vehicles

    Cheer, Jordan; Elliott, Stephen J.


    This paper considers the active control of road noise in vehicles, using either multichannel feedback control, with both headrest and floor positioned microphones providing feedback error signals, or multichannel feedforward control, in which reference signals are provided by the microphones on the vehicle floor and error signals are provided by the microphones mounted on the headrests. The formulation of these control problems is shown to be similar if the constraints of robust stability, limited disturbance enhancement and open-loop stability are imposed. A novel formulation is presented for disturbance enhancement in multichannel systems, which limits the maximum enhancement of each individual error signal. The performance of these two systems is predicted using plant responses and disturbance signals measured in a small city car. The reduction in the sum of the squared pressure signals at the four error microphones for both systems is found to be up to 8 dB at low frequencies and 3 dB on average, where the sound level is particularly high from 80 to 180 Hz. The performance of both systems is found to be robust to measured variations in the plant responses. The enhancements in the disturbance at higher frequencies are smaller for the feedback controller than for the feedforward controller, although the performance of the feedback controller is more significantly reduced by the introduction of additional delay in the plant response.

  2. Heading Control System for a Multi-body Vehicle with a Virtual Test Driver



    Full Text Available This paper includes a Heading Control (HC system for a multi-body vehicle. HC system helps reducing the required torque from the driver and improves the lane keeping efficiency. HC system is important for safety and driver comfort in traffic. The controller performance is examined on a virtual test drive platform. The optimal control theory is applied to HC system and examined on a curved path and under a side wind disturbance. Different assistance levels are applied to see the characteristics of the controller with different virtual test drivers. The results are analyzed based on three performance indices; lane keeping performance (LKP index, assist torque performance (ATP index and driver torque performance (DTP index. As seen from the results while using HC system the lateral displacement decreases as the lane keeping performance increases and the driver torque performance decreases as the assist torque performance increases.

  3. FY2015 Vehicle Systems Annual Progress Report

    None, None


    The Vehicle Systems research and development (R&D) subprogram within the DOE Vehicle Technologies Office (VTO) provides support and guidance for many cutting-edge automotive technologies under development. Research focuses on addressing critical barriers to advancing light-, medium-, and heavy-duty vehicle systems to help maximize the number of electric miles driven and increase the energy efficiency of transportation vehicles.

  4. Design of an Integrated Vehicle Chassis Control System with Driver Behavior Identification

    Bing Zhu; Yizhou Chen; Jian Zhao; Yunfu Su


    An integrated vehicle chassis control strategy with driver behavior identification is introduced in this paper. In order to identify the different types of driver behavior characteristics, a driver behavior signals acquisition system was established using the dSPACE real-time simulation platform, and the driver inputs of 30 test drivers were collected under the double lane change test condition. Then, driver behavior characteristics were analyzed and identified based on the preview optimal cu...

  5. Vehicle Security System Using CAN

    Kavya, N.; B.Santhosh Kumar


    Avoiding the Vehicle Theft is making real buzz in the present automobile industry. For the design and development of a theft control system, it can be done by making use of GPS feature of mobile phone. The Engine control module is interfaced by using Control Area Network. The developed system is placed in the vehicle which communicates with the Engine control module, by using the GPS. Stolen vehicles can be stopped. Whenever the vehicle owner sends a predefined text from his mobile phone to t...

  6. The researches of GPS/GSM supervise and control system of vehicle

    Ji,Changpeng; Bao,Jian; Liu,Jianhui


    the treatise introduced the GPS supervision and con-trol system, analyzed the features of the VHF/UHF single chan-nel call web, composite groups mobile communication web whichare regularity used in current supervision and control system ofvehicle, and several traffics that the GSM provided, therebybrought forward the project of utilizing GSM-short message toaccomplish the GPS supervision and control system of vehicle ofthe ore deposit of yuanbaoshan, designed the system structureand the method of organizing web, put emphasis on how theGSM-short message technology was used in the supervise andcontrol system,including system constitution, channel using mode,calling mode, synchrony' s mode, data transmitted mode, etc.

  7. Integrated control of lateral and vertical vehicle dynamics based on multi-agent system

    Huang, Chen; Chen, Long; Yun, Chaochun; Jiang, Haobin; Chen, Yuexia


    The existing research of the integrated chassis control mainly focuses on the different evaluation indexes and control strategy. Among the different evaluation indexes, the comprehensive properties are usually not considered based on the non-linear superposition principle. But, the control strategy has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, based on belief, desire and intention(BDI)-agent model framework, the TYRE agent, electric power steering(EPS) agent and active suspension system(ASS) agent are proposed. In the system(SYS) agent, the coordination mechanism is employed to manage interdependences and conflicts among other agents, so as to improve the flexibility, adaptability, and robustness of the global control system. Due to the existence of the simulation demand of dynamic performance, the vehicle multi-body dynamics model is established by SIMPACK. And then the co-simulation analysis is conducted to evaluate the proposed multi-agent system(MAS) controller. The simulation results demonstrate that the MAS has good effect on the performance of EPS and ASS. Meantime, the better road feeling for the driver is provided considering the multiple and complex driving traffic. Finally, the MAS rapid control prototyping is built to conduct the real vehicle test. The test results are consistent to the simulation results, which verifies the correctness of simulation. The proposed research ensures the driving safety, enhances the handling stability, and improves the ride comfort.

  8. Practical Implementations of Advanced Process Control for Linear Systems

    Knudsen, Jørgen K . H.; Huusom, Jakob Kjøbsted; Jørgensen, John Bagterp

    This paper describes some practical problems encountered, when implementing Advanced Process Control, APC, schemes on linear processes. The implemented APC controllers discussed will be LQR, Riccati MPC and Condensed MPC controllers illustrated by simulation of the Four Tank Process and a...... linearised CSTR. Advantages and disadvantages of these controllers will be discussed. All three controller types shows a set of common undesirable characteristics, which must be accounted for. At the end of the evaluation horizon the "optimal" solution has an unstable characteristics, which can be suppressed...

  9. Progress on advanced dc and ac induction drives for electric vehicles

    Schwartz, H. J.


    Progress is reported in the development of complete electric vehicle propulsion systems, and the results of tests on the Road Load Simulator of two such systems representative of advanced dc and ac drive technology are presented. One is the system used in the DOE's ETV-1 integrated test vehicle which consists of a shunt wound dc traction motor under microprocessor control using a transistorized controller. The motor drives the vehicle through a fixed ratio transmission. The second system uses an ac induction motor controlled by transistorized pulse width modulated inverter which drives through a two speed automatically shifted transmission. The inverter and transmission both operate under the control of a microprocessor. The characteristics of these systems are also compared with the propulsion system technology available in vehicles being manufactured at the inception of the DOE program and with an advanced, highly integrated propulsion system upon which technology development was recently initiated.

  10. Pivotal decomposition for reliability analysis of fault tolerant control systems on unmanned aerial vehicles

    In this paper, we describe a framework to efficiently assess the reliability of fault tolerant control systems on low-cost unmanned aerial vehicles. The analysis is developed for a system consisting of a fixed number of actuators. In addition, the system includes a scheme to detect failures in individual actuators and, as a consequence, switch between different control algorithms for automatic operation of the actuators. Existing dynamic reliability analysis methods are insufficient for this class of systems because the coverage parameters for different actuator failures can be time-varying, correlated, and difficult to obtain in practice. We address these issues by combining new fault detection performance metrics with pivotal decomposition. These new metrics capture the interactions in different fault detection channels, and can be computed from stochastic models of fault detection algorithms. Our approach also decouples the high dimensional analysis problem into low dimensional sub-problems, yielding a computationally efficient analysis. Finally, we demonstrate the proposed method on a numerical example. The analysis results are also verified by Monte Carlo simulations. - Highlights: • We study fault tolerant control (FTC) systems on low-cost unmanned aerial vehicles. • We build a reliability structure model for FTC systems. • New fault detection performance metrics are integrated via pivotal decomposition. • The fault detection metrics capture the interactions in fault detection channels. • Numerical results show that FTC techniques can improve system reliability

  11. Electric vehicle motors and controllers

    Secunde, R. R.


    Improved and advanced components being developed include electronically commutated permanent magnet motors of both drum and disk configuration, an unconventional brush commutated motor, and ac induction motors and various controllers. Test results on developmental motors, controllers, and combinations thereof indicate that efficiencies of 90% and higher for individual components, and 80% to 90% for motor/controller combinations can be obtained at rated power. The simplicity of the developmental motors and the potential for ultimately low cost electronics indicate that one or more of these approaches to electric vehicle propulsion may eventually displace presently used controllers and brush commutated dc motors.

  12. Advanced modelling, monitoring, and process control of bioconversion systems

    Schmitt, Elliott C.

    Production of fuels and chemicals from lignocellulosic biomass is an increasingly important area of research and industrialization throughout the world. In order to be competitive with fossil-based fuels and chemicals, maintaining cost-effectiveness is critical. Advanced process control (APC) and optimization methods could significantly reduce operating costs in the biorefining industry. Two reasons APC has previously proven challenging to implement for bioprocesses include: lack of suitable online sensor technology of key system components, and strongly nonlinear first principal models required to predict bioconversion behavior. To overcome these challenges batch fermentations with the acetogen Moorella thermoacetica were monitored with Raman spectroscopy for the conversion of real lignocellulosic hydrolysates and a kinetic model for the conversion of synthetic sugars was developed. Raman spectroscopy was shown to be effective in monitoring the fermentation of sugarcane bagasse and sugarcane straw hydrolysate, where univariate models predicted acetate concentrations with a root mean square error of prediction (RMSEP) of 1.9 and 1.0 g L-1 for bagasse and straw, respectively. Multivariate partial least squares (PLS) models were employed to predict acetate, xylose, glucose, and total sugar concentrations for both hydrolysate fermentations. The PLS models were more robust than univariate models, and yielded a percent error of approximately 5% for both sugarcane bagasse and sugarcane straw. In addition, a screening technique was discussed for improving Raman spectra of hydrolysate samples prior to collecting fermentation data. Furthermore, a mechanistic model was developed to predict batch fermentation of synthetic glucose, xylose, and a mixture of the two sugars to acetate. The models accurately described the bioconversion process with an RMSEP of approximately 1 g L-1 for each model and provided insights into how kinetic parameters changed during dual substrate


    Prashantkumar R.; Sagar V. C.; Santosh S.; Siddharth Nambiar


    Vehicle security system has been a topic of great interest over the years due to the increasing vehicle theft cases reported all over the world. Most of the advanced vehicle security systems best suit the four wheelers. As of the security system for two wheelers is concerned, the systems available in market are of no match to the well equipped thieves. When under attack, these systems can only immobilize the engine and sound a loud alarm. It is a serious limitation. In this paper we propose a...


    Kalaivani Rajagopal


    Full Text Available This paper proposes the Multi Objective Optimization (MOO of Vehicle Active Suspension System (VASS with a hybrid Differential Evolution (DE based Biogeography-Based Optimization (BBO (DEBBO for the parameter tuning of Proportional Integral Derivative (PID controller. Initially a conventional PID controller, secondly a BBO, an rising nature enthused global optimization procedure based on the study of the ecological distribution of biological organisms and a hybridized DEBBO algorithm which inherits the behaviours of BBO and DE have been used to find the tuning parameters of the PID controller to improve the performance of VASS by considering a MOO function as the performance index. Simulations of passive system, active system having PID controller with and without optimizations have been performed by considering dual and triple bump kind of road disturbances in MATLAB/Simulink environment. The simulation results show the effectiveness of DEBBO based PID (DEBBOPID in achieving the goal.

  15. Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker

    Junho Jeong


    Full Text Available Tracking control system based on linear quadratic (LQ tracker is designed for a ducted-fan unmanned aerial vehicle (UAV under full flight envelope including hover, transition, and cruise modes. To design the LQ tracker, a system matrix is augmented with a tracking error term. Then the control input can be calculated to solve a single Riccati equation, but the steady-state errors might still remain in this control system. In order to reduce the steady-state errors, a linear quadratic tracker with integrator (LQTI is designed to add an integral term of tracking state in the state vector. Then the performance of the proposed controller is verified through waypoint navigation simulation under wind disturbance.

  16. Physical properties of particulate matter (PM) from late model heavy-duty diesel vehicles operating with advanced PM and NO x emission control technologies

    Biswas, Subhasis; Hu, Shaohua; Verma, Vishal; Herner, Jorn D.; Robertson, William H.; Ayala, Alberto; Sioutas, Constantinos

    Emission control technologies designed to meet the 2007 and 2010 emission standards for heavy-duty diesel vehicles (HDDV) remove effectively the non-volatile fraction of particles, but are comparatively less efficient at controlling the semi-volatile components. A collaborative study between the California Air Resources Board (CARB) and the University of Southern California was initiated to investigate the physicochemical and toxicological characteristics of the semi-volatile and non-volatile particulate matter (PM) fractions from HDDV emissions. This paper reports the physical properties, including size distribution, volatility (in terms of number and mass), surface diameter, and agglomeration of particles emitted from HDDV retrofitted with advanced emission control devices. Four vehicles in combination with six after-treatment devices (V-SCRT ®, Z-SCRT ®, CRT ®, DPX, Hybrid-CCRT ®, EPF) were tested under three driving cycles: steady state (cruise), transient (urban dynamometer driving schedule, UDDS), and idle. An HDDV without any control device is served as the baseline vehicle. Substantial reduction of PM mass emissions (>90%) was accomplished for the HDDV operating with advanced emission control technologies. This reduction was not observed for particle number concentrations under cruise conditions, with the exceptions of the Hybrid-CCRT ® and EPF vehicles, which were efficient in controlling both—mass and number emissions. In general, significant nucleation mode particles (<50 nm) were formed during cruise cycles in comparison with the UDDS cycles, which emit higher PM mass in the accumulation mode. The nucleation mode particles (<50 nm) were mainly internally mixed, and evaporated considerably between 150 and 230 °C. Compared to the baseline vehicle, particles from vehicles with controls (except of the Hybrid-CCRT ®) had a higher mass specific surface area.

  17. The model of the optical-electronic control system of vehicles location at level crossing

    Verezhinskaia, Ekaterina A.; Gorbachev, Aleksei A.; Maruev, Ivan A.; Shavrygina, Margarita A.


    Level crossing - one of the most dangerous sections of the road network, where railway line crosses motor road at the same level. The collision of trains with vehicles at a level crossing is a serious type of road traffic accidents. The purpose of this research is to develop complex optical electronic control system of vehicles location in the dangerous zone of level crossing. The system consists of registration blocks (including photodetector, lens, infrared emitting diode), determinant devices and camera installed within the boundaries of level crossing. The system performs detection of objects (vehicles) by analysing the time of the object movement opposite to the registration block and level of the reflected signal from the object. The paper presents theoretical description and experimental research of main principles of the system operation. Experimental research of the system model with selected optical-electronic components have confirmed the possibility of metal objects detection at the required distance (0.5 - 2 m) with different values of background illuminance.

  18. Adaptive Fuzzy Control for CVT Vehicle


    On the simple continuously variable transmission (CVT) driveline model, the design of adaptive fuzzy control system for CVT vehicle is presented. The adaptive fuzzy control system consists of a scaling factor self-tuning fuzzy-PI throttle controller, and a hybrid fuzzy-PID CVT ratio and brake controller. The presented adaptive fuzzy control strategy is vehicle model independent, which depends only on the instantaneous vehicle states, but does not depend on vehicle parameters. So it has good robustness against uncertain vehicle parameters and exogenous load disturbance. Simulation results show that the proposed adaptive fuzzy strategy has good adaptability and practicality value.

  19. Design of an Integrated Vehicle Chassis Control System with Driver Behavior Identification

    Bing Zhu


    Full Text Available An integrated vehicle chassis control strategy with driver behavior identification is introduced in this paper. In order to identify the different types of driver behavior characteristics, a driver behavior signals acquisition system was established using the dSPACE real-time simulation platform, and the driver inputs of 30 test drivers were collected under the double lane change test condition. Then, driver behavior characteristics were analyzed and identified based on the preview optimal curvature model through genetic algorithm and neural network method. Using it as a base, an integrated chassis control strategy with active front steering (AFS and direct yaw moment control (DYC considering driver characteristics was established by model predictive control (MPC method. Finally, simulations were carried out to verify the control strategy by CarSim and MATLAB/Simulink. The results show that the proposed method enables the control system to adjust its parameters according to the driver behavior identification results and the vehicle handling and stability performance are significantly improved.

  20. Control and navigation system for a fixed-wing unmanned aerial vehicle

    Ruiyong Zhai


    Full Text Available This paper presents a flight control and navigation system for a fixed-wing unmanned aerial vehicle (UAV with low-cost micro-electro-mechanical system (MEMS sensors. The system is designed under the inner loop and outer loop strategy. The trajectory tracking navigation loop is the outer loop of the attitude loop, while the attitude control loop is the outer loop of the stabilization loop. The proportional-integral-derivative (PID control was adopted for stabilization and attitude control. The three-dimensional (3D trajectory tracking control of a UAV could be approximately divided into lateral control and longitudinal control. The longitudinal control employs traditional linear PID feedback to achieve the desired altitude of the UAV, while the lateral control uses a non-linear control method to complete the desired trajectory. The non-linear controller can automatically adapt to ground velocity change, which is usually caused by gust disturbance, thus the UAV has good wind resistance characteristics. Flight tests and survey missions were carried out with our self-developed delta fixed-wing UAV and MEMS-based autopilot to confirm the effectiveness and practicality of the proposed navigation method.

  1. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Jiankun Peng


    Full Text Available This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  2. SIRE (sight-integrated ranging equipment): an eyesafe laser rangefinder for armored vehicle fire control systems

    Keeter, Howard S.; Gudmundson, Glen A.; Woodall, Milton A., II


    The Sight Integrated Ranging Equipment (SIRE) incorporates an eyesafe laser rangefinder into the M-36 periscope used in tactical armored vehicles, such as the Commando Stingray light tank. The SIRE unit provides crucial range data simultaneously to the gunner and fire control computer. This capability greatly reduces 'time-to-fire', improves first-round hit probability, and increases the overall effectiveness of the vehicle under actual and simulated battlefield conditions. The SIRE can provide target range up to 10-km, with an accuracy of 10-meters. The key advantage of the SIRE over similar laser rangefinder systems is that it uses erbium:glass as the active lasing medium. With a nominal output wavelength of 1.54-microns, the SIRE can produce sufficient peak power to penetrate long atmospheric paths (even in the presence of obscurants), while remaining completely eyesafe under all operating conditions. The SIRE is the first eyesafe vehicle-based system to combine this level of accuracy, maximum range capability, and fire control interface. It simultaneously improves the accuracy and confidence of the operator, and eliminates the ocular hazard issues typically encountered with laser rangefinder devices.

  3. An Application of Computer Vision Systems to Solve the Problem of Unmanned Aerial Vehicle Control

    Aksenov Alexey Y.


    Full Text Available The paper considers an approach for application of computer vision systems to solve the problem of unmanned aerial vehicle control. The processing of images obtained through onboard camera is required for absolute positioning of aerial platform (automatic landing and take-off, hovering etc. used image processing on-board camera. The proposed method combines the advantages of existing systems and gives the ability to perform hovering over a given point, the exact take-off and landing. The limitations of implemented methods are determined and the algorithm is proposed to combine them in order to improve the efficiency.

  4. Modeling and Advanced Control for Sustainable Process Systems (chapter 5)

    This book chapter introduces a novel process systems engineering framework that integrates process control with sustainability assessment tools for the simultaneous evaluation and optimization of process operations. The implemented control strategy consists of a biologically-insp...

  5. Variable-Fidelity Conceptual Design System for Advanced Unconventional Air Vehicles Project

    National Aeronautics and Space Administration — Ongoing work in unconventional air-vehicles, i.e. deformable mold-lines and bio-mimetics, is beginning to provide the insight necessary to exploit performance...

  6. Robotic vehicle mobility and task performance: A flexible control modality for manned systems

    Eldredge, Frederick


    In the early 1980's, a number of concepts were developed for applying robotics to ground systems. The majority of these early application concepts envisioned robotics technology embedded in dedicated unmanned systems; i.e., unmanned systems with no provision for direct manned control of the platform. Although these concepts offered advantages peculiar to platforms designed from the outset exclusively for unmanned operation--i.e., no crew compartment--their findings would require costs and support for a new class of unmanned systems. The current era of reduced budgets and increasing focus on rapid force projection has created new opportunities to examine the value of an alternative concept: the use of existing manned platforms with an ability to quickly shift from normal manned operation to unmanned should a particularly harzardous situation arise. The author of this paper addresses the evolution of robotic vehicle concepts and technology testbeds from exclusively unmanned systems to a variety of 'optionally manned' systems which have been designed with minimum intrusion actuator and control equipment to minimize degradation of vehicle performance in manned modes of operation.


    Juan Manuel Sánchez


    Full Text Available This article describes the development of a security monitoring device for vehicles which gives instant reports to the user about any anomaly that occurs in his absence. This device also allows remote and local control actions, using GSM technology and Bluetooth, giving more functionality than common vehicle security systems. In this paper the different development stages are presented, starting with a short review about existing relevant devices in order to identify the necessary functional requirements and innovation opportunities. Later, a block diagram of the device is presented and the specific design parameter are detailed. The final experimentation showed that the developed equipment has a greater functionality than existing devices and lower production cost.

  8. Control of quality in the tests of systems of containment of vehicles. Intercomparison of the results of the tests

    This article tries to offer information on how Central Laboratory of Structures and Materials are made the tests for Marca N of AENOR of the systems of containment of vehicles and its control of external quality. (Author) 15 refs


    Yaroslav Kondrashov


    Full Text Available Abstract. According to the results of measurements on board of Unmanned Aerial Vehicle the distancevector D is formed in the inertial coordinate system, and in mathematical modeling - in the Greenwichsystem of coordinates. The velocity vector k V is formed by the navigation system in the trajectory coordinatesystem. Defined by this way the initial conditions gives the possibility to predict the terminal parameters offlight (descent of Unmanned Aerial Vehicle.Keywords: control system of the unmanned aerial vehicle flight path and landing, motion parameters,termination control.

  10. Advanced technology mobile robotics vehicle fleet

    A fleet of vehicles is being developed and maintained by Sandia National Laboratories for studies in remote control and autonomous operation. The vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as testbeds for developing concepts in the areas of remote control (teleoperation) and computer control (autonomy). Actuators control the vehicle speed, brakes, and steering via manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. Communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided