WorldWideScience

Sample records for vehicle control device

  1. Research on charging and discharging control strategy for electric vehicles as distributed energy storage devices

    Science.gov (United States)

    Zhang, Min; Yang, Feng; Zhang, Dongqing; Tang, Pengcheng

    2018-02-01

    A large number of electric vehicles are connected to the family micro grid will affect the operation safety of the power grid and the quality of power. Considering the factors of family micro grid price and electric vehicle as a distributed energy storage device, a two stage optimization model is established, and the improved discrete binary particle swarm optimization algorithm is used to optimize the parameters in the model. The proposed control strategy of electric vehicle charging and discharging is of practical significance for the rational control of electric vehicle as a distributed energy storage device and electric vehicle participating in the peak load regulation of power consumption.

  2. Method of Controlling Steering of a Ground Vehicle

    Science.gov (United States)

    Dawson, Andrew D. (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Guo, Raymond (Inventor); Atluri, Venkata Prasad (Inventor)

    2016-01-01

    A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.

  3. Universal Safety Distance Alert Device for Road Vehicles

    Directory of Open Access Journals (Sweden)

    Matic Virant

    2016-04-01

    Full Text Available Driving with too short of a safety distance is a common problem in road traffic, often with traffic accidents as a consequence. Research has identified a lack of vehicle-mountable devices for alerting the drivers of trailing vehicles about keeping a sufficient safe distance. The principal requirements for such a device were defined. A conceptual study was performed in order to select the components for the integration of the device. Based on the results of this study, a working prototype of a flexible, self-contained device was designed, built and tested. The device is intended to be mounted on the rear of a vehicle. It uses radar as the primary distance sensor, assisted with a GPS receiver for velocity measurement. A Raspberry Pi single-board computer is used for data acquisition and processing. The alerts are shown on an LED-matrix display mounted on the rear of the host vehicle. The device software is written in Python and provides automatic operation without requiring any user intervention. The tests have shown that the device is usable on almost any motor vehicle and performs reliably in simulated and real traffic. The open issues and possibilities for future improvements are presented in the Discussion.

  4. A magnetorheological fluid-based multifunctional haptic device for vehicular instrument controls

    International Nuclear Information System (INIS)

    Han, Young-Min; Kim, Chan-Jung; Choi, Seung-Bok

    2009-01-01

    This paper presents control performances of a magnetorheological (MR) fluid-based multifunctional haptic device which is applicable to vehicular instrument controls. By combining in-vehicle functions into a single device, the proposed haptic device can transmit various reflection forces for each comfort function to a driver without requiring the driver's visual attention. As a multifunctional haptic device, a MR knob is proposed in this work and then devised to be capable of both rotary and push motions with a single knob. Under consideration of the spatial limitations of vehicle dashboards, design parameters are optimally determined by finite element analysis, and the objective function is to maximize a relative control torque. The proposed haptic device is then manufactured, and in-vehicle comfort functions are constructed in a virtual environment which makes the functions to communicate with the haptic device. Subsequently, a feed-forward controller using torque/force maps is formulated for the force tracking control. Control performances such as reflection force of the haptic device are experimentally evaluated via the torque/force map-based feed-forward controller

  5. Control of Supercavitating Vehicles using Transverse Jets

    Science.gov (United States)

    2016-03-15

    Supercavitating Vehicles using Transverse Jets Sb. GRANT NUMBER N00014-13-1-0747 Sc. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Sd. PROJECT NUMBER Ayers, Bradley...ANSI Std. Z39.18 CONTROL OF SUPERCAVITATING VEHICLES USING TRANSVERSE JETS Final Technical Report for Office of Naval Research contract N00014-13-1...fully-submerged, supercavitating vehicle model using the thrust of the zero-net-mass-flux device. The experiments were conducted in NUWC Newport’ s

  6. Vehicle Awareness Device Data from Leesburg, Virginia

    Data.gov (United States)

    Department of Transportation — The files in this data environment were produced using the Vehicle Awareness Device (VAD) installed on one test vehicle over a two month period. The VAD installed in...

  7. Gaze-Based Controlling a Vehicle

    DEFF Research Database (Denmark)

    Mardanbeigi, Diako; Witzner Hansen, Dan

    ) as an example of a complex gaze-based task in environment. This paper discusses the possibilities and limitations of how gaze interaction can be performed for controlling vehicles not only using a remote gaze tracker but also in general challenging situations where the user and robot are mobile...... modality if gaze trackers are embedded into the head- mounted devices. The domain of gaze-based interactive applications increases dramatically as interaction is no longer constrained to 2D displays. This paper proposes a general framework for gaze-based controlling a non- stationary robot (vehicle...... and the movements may be governed by several degrees of freedom (e.g. flying). A case study is also introduced where the mobile gaze tracker is used for controlling a Roomba vacuum cleaner....

  8. Statistical analysis of vehicle loads measured with three different vehicle weighing devices

    CSIR Research Space (South Africa)

    Mkhize, ZQP

    2005-07-01

    Full Text Available MEASURED WITH THREE DIFFERENT VEHICLE WEIGHING DEVICES Z Q P MKHIZE and M DE BEER CSIR Transportek, PO Box 395, Pretoria, 0001 ABSTRACT This study introduces a new scale for weighing individual tyres of slow moving vehicles. The new technology... that vehicles exert on pavements plays a vital part in the deterioration of the structural and functional capacity of the road. It also influences the safety of the vehicles, especially when vehicles are operated under overloaded and/or inappropriately loaded...

  9. Evaluation of semiconductor devices for Electric and Hybrid Vehicle (EHV) ac-drive applications, volume 1

    Science.gov (United States)

    Lee, F. C.; Chen, D. Y.; Jovanovic, M.; Hopkins, D. C.

    1985-01-01

    The results of evaluation of power semiconductor devices for electric hybrid vehicle ac drive applications are summarized. Three types of power devices are evaluated in the effort: high power bipolar or Darlington transistors, power MOSFETs, and asymmetric silicon control rectifiers (ASCR). The Bipolar transistors, including discrete device and Darlington devices, range from 100 A to 400 A and from 400 V to 900 V. These devices are currently used as key switching elements inverters for ac motor drive applications. Power MOSFETs, on the other hand, are much smaller in current rating. For the 400 V device, the current rating is limited to 25 A. For the main drive of an electric vehicle, device paralleling is normally needed to achieve practical power level. For other electric vehicle (EV) related applications such as battery charger circuit, however, MOSFET is advantageous to other devices because of drive circuit simplicity and high frequency capability. Asymmetrical SCR is basically a SCR device and needs commutation circuit for turn off. However, the device poses several advantages, i.e., low conduction drop and low cost.

  10. Vehicle electrical system state controller

    Science.gov (United States)

    Bissontz, Jay E.

    2017-10-17

    A motor vehicle electrical power distribution system includes a plurality of distribution sub-systems, an electrical power storage sub-system and a plurality of switching devices for selective connection of elements of and loads on the power distribution system to the electrical power storage sub-system. A state transition initiator provides inputs to control system operation of switching devices to change the states of the power distribution system. The state transition initiator has a plurality of positions selection of which can initiate a state transition. The state transition initiator can emulate a four position rotary ignition switch. Fail safe power cutoff switches provide high voltage switching device protection.

  11. Control system and method for a hybrid electric vehicle

    Science.gov (United States)

    Tamor, Michael Alan

    2001-03-06

    Several control methods are presented for application in a hybrid electric vehicle powertrain including in various embodiments an engine, a motor/generator, a transmission coupled at an input thereof to receive torque from the engine and the motor generator coupled to augment torque provided by the engine, an energy storage device coupled to receive energy from and provide energy to the motor/generator, an engine controller (EEC) coupled to control the engine, a transmission controller (TCM) coupled to control the transmission and a vehicle system controller (VSC) adapted to control the powertrain.

  12. Optimal Vibration Control for Tracked Vehicle Suspension Systems

    Directory of Open Access Journals (Sweden)

    Yan-Jun Liang

    2013-01-01

    Full Text Available Technique of optimal vibration control with exponential decay rate and simulation for vehicle active suspension systems is developed. Mechanical model and dynamic system for a class of tracked vehicle suspension vibration control is established and the corresponding system of state space form is described. In order to prolong the working life of suspension system and improve ride comfort, based on the active suspension vibration control devices and using optimal control approach, an optimal vibration controller with exponential decay rate is designed. Numerical simulations are carried out, and the control effects of the ordinary optimal controller and the proposed controller are compared. Numerical simulation results illustrate the effectiveness of the proposed technique.

  13. Wireless Control of Miniaturized Mobile Vehicle for Indoor Surveillance

    International Nuclear Information System (INIS)

    Saquib, Syed M Taha; Hameed, Sarmad; Jafri, Raza; Usman Ali, Syed M; Amin, Imran

    2013-01-01

    This work is based upon electronic automation and Smart Control techniques, which constitute the basis of Control Area Network (CAN) and Personal Area Network (PAN). Bluetooth technology has been interfaced with a programmable controller to provide multi-dimensional vehicle control. A network is proposed which contains a remote, mobile host controller and an android operating system based mobile set (Client). The client communicates with a host controller through a Bluetooth device. The system incorporates duplex communication after successful confirmation between the host and the client; the android based mobile unit controls the vehicle through the Bluetooth module

  14. Converted vehicle for battery electric drive. Aspects on the design of the software-driven vehicle control unit

    Energy Technology Data Exchange (ETDEWEB)

    Giessler, Martin; Paul, Jens; Gauterin, Frank [Karlsruher Institut fuer Technologie (KIT), Karlsruhe (Germany). Inst. fuer Fahrzeugsystemtechnik (FAST); Fritz, Alexander; Sander, Oliver; Mueller-Glaser, Klaus D. [Karlsruher Institut fuer Technologie (KIT), Karlsruhe (Germany). Inst. fuer Technik der Informationsverarbeitung (ITIV)

    2012-11-01

    At the Karlsruher Institute of Technology (KIT) a vehicle was converted for full battery electric drive within a cooperation of several faculties under the direction of the chair of vehicle technology. Within this paper the developed software to control the main functions of the vehicle will be presented and potentials to increase the energy efficiency will be discussed. The software based vehicle control unit is the central control unit to realize drivers command with respect to the system parameters, which are important for safety, dynamics, range and comfort of the vehicle. The structure of the software architecture, the interaction with the main electric vehicle specific control units and components and the main implemented functions will be described within this paper. The converted vehicle consists mainly of one electric motor with water cooled power electronics that drives the front axle, 21 battery modules controlled and managed by the battery management system, one on board charging device and an universal control unit. Not only strategies for power recovery while braking, but also strategies for driving and operation can help increase the energy efficiency. Select measures to recover and safe energy are also shown. (orig.)

  15. Signal processing and control challenges for smart vehicles

    Science.gov (United States)

    Zhang, Hui; Braun, Simon G.

    2017-03-01

    Smart phones have changed not only the mobile phone market but also our society during the past few years. Could the next potential intelligent device may be the vehicle? Judging by the visibility, in all media, of the numerous attempts to develop autonomous vehicles, this is certainly one of the logical outcomes. Smart vehicles would be equipped with an advanced operating system such that the vehicles could communicate with others, optimize the operation to reduce fuel consumption and emissions, enhance safety, or even become self-driving. These combined new features of vehicles require instrumentation and hardware developments, fast signal processing/fusion, decision making and online optimization. Meanwhile, the inevitable increasing system complexity would certainly challenges the control unit design.

  16. Two wheel speed robust sliding mode control for electric vehicle drive

    Directory of Open Access Journals (Sweden)

    Abdelfatah Nasri

    2008-01-01

    Full Text Available Nowadays the uses of electrical power resources are integrated in the modern vehicle motion traction chain so new technologies allow the development of electric vehicles (EV by means of static converters-related electric motors. All mechanical transmission devices are eliminated and vehicle wheel motion can be controlled by means of power electronics. The proposed propulsing system consists of two induction motors (IM that ensure the drive of the two back driving wheels. The proposed control structure-called independent machines- for speed control permit the achievement of an electronic differential. The electronic differential system ensures the robust control of the vehicle behavior on the road. It also allows controlling independently, every driving wheel to turn at different speeds in any curve. This paper presents the study and the sliding mode control strategy of the electric vehicle driving wheels.

  17. VEHIOT: Design and Evaluation of an IoT Architecture Based on Low-Cost Devices to Be Embedded in Production Vehicles.

    Science.gov (United States)

    Redondo, Jonatan Pajares; González, Lisardo Prieto; Guzman, Javier García; Boada, Beatriz L; Díaz, Vicente

    2018-02-06

    Nowadays, the current vehicles are incorporating control systems in order to improve their stability and handling. These control systems need to know the vehicle dynamics through the variables (lateral acceleration, roll rate, roll angle, sideslip angle, etc.) that are obtained or estimated from sensors. For this goal, it is necessary to mount on vehicles not only low-cost sensors, but also low-cost embedded systems, which allow acquiring data from sensors and executing the developed algorithms to estimate and to control with novel higher speed computing. All these devices have to be integrated in an adequate architecture with enough performance in terms of accuracy, reliability and processing time. In this article, an architecture to carry out the estimation and control of vehicle dynamics has been developed. This architecture was designed considering the basic principles of IoT and integrates low-cost sensors and embedded hardware for orchestrating the experiments. A comparison of two different low-cost systems in terms of accuracy, acquisition time and reliability has been done. Both devices have been compared with the VBOX device from Racelogic, which has been used as the ground truth. The comparison has been made from tests carried out in a real vehicle. The lateral acceleration and roll rate have been analyzed in order to quantify the error of these devices.

  18. VEHIOT: Design and Evaluation of an IoT Architecture Based on Low-Cost Devices to Be Embedded in Production Vehicles

    Science.gov (United States)

    Díaz, Vicente

    2018-01-01

    Nowadays, the current vehicles are incorporating control systems in order to improve their stability and handling. These control systems need to know the vehicle dynamics through the variables (lateral acceleration, roll rate, roll angle, sideslip angle, etc.) that are obtained or estimated from sensors. For this goal, it is necessary to mount on vehicles not only low-cost sensors, but also low-cost embedded systems, which allow acquiring data from sensors and executing the developed algorithms to estimate and to control with novel higher speed computing. All these devices have to be integrated in an adequate architecture with enough performance in terms of accuracy, reliability and processing time. In this article, an architecture to carry out the estimation and control of vehicle dynamics has been developed. This architecture was designed considering the basic principles of IoT and integrates low-cost sensors and embedded hardware for orchestrating the experiments. A comparison of two different low-cost systems in terms of accuracy, acquisition time and reliability has been done. Both devices have been compared with the VBOX device from Racelogic, which has been used as the ground truth. The comparison has been made from tests carried out in a real vehicle. The lateral acceleration and roll rate have been analyzed in order to quantify the error of these devices. PMID:29415507

  19. VEHIOT: Design and Evaluation of an IoT Architecture Based on Low-Cost Devices to Be Embedded in Production Vehicles

    Directory of Open Access Journals (Sweden)

    Jonatan Pajares Redondo

    2018-02-01

    Full Text Available Nowadays, the current vehicles are incorporating control systems in order to improve their stability and handling. These control systems need to know the vehicle dynamics through the variables (lateral acceleration, roll rate, roll angle, sideslip angle, etc. that are obtained or estimated from sensors. For this goal, it is necessary to mount on vehicles not only low-cost sensors, but also low-cost embedded systems, which allow acquiring data from sensors and executing the developed algorithms to estimate and to control with novel higher speed computing. All these devices have to be integrated in an adequate architecture with enough performance in terms of accuracy, reliability and processing time. In this article, an architecture to carry out the estimation and control of vehicle dynamics has been developed. This architecture was designed considering the basic principles of IoT and integrates low-cost sensors and embedded hardware for orchestrating the experiments. A comparison of two different low-cost systems in terms of accuracy, acquisition time and reliability has been done. Both devices have been compared with the VBOX device from Racelogic, which has been used as the ground truth. The comparison has been made from tests carried out in a real vehicle. The lateral acceleration and roll rate have been analyzed in order to quantify the error of these devices.

  20. Distributed Control in Multi-Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Paul A. Avery

    2013-12-01

    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.

  1. 77 FR 24764 - Visual-Manual NHTSA Driver Distraction Guidelines for In-Vehicle Electronic Devices

    Science.gov (United States)

    2012-04-25

    ...-0053] Visual-Manual NHTSA Driver Distraction Guidelines for In-Vehicle Electronic Devices AGENCY... proposed voluntary NHTSA Driver Distraction Guidelines for in-vehicle electronic devices. The agency... Driver Distraction Guidelines for in-vehicle electronic devices (77 FR 11200). The proposed NHTSA...

  2. Comparison of three control methods for an autonomous vehicle

    Science.gov (United States)

    Deshpande, Anup; Mathur, Kovid; Hall, Ernest

    2010-01-01

    The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate this research- a study for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. Computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program using WSDK (Windows Servo Design Kit) as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++. The voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety by removing human error in control of a motor vehicle.

  3. Creation of electromechanical device for electric vehicle traction

    Directory of Open Access Journals (Sweden)

    Денис Юрьевич Зубенко

    2016-10-01

    Full Text Available The problems of creation of electromechanical device for electric vehicle traction are considered in the article. The aim of creation this design are the replacement of the internal combustion engine on electromechanical device. For this electromechanical device are constructed model, which describe processes that occur in the electric drive of electromechanical device. Characteristics of the main modes of motion were recorded. The introduction of electromechanical device will reduce the level of emissions and reduce noise in the cities

  4. Optimization and Control of Cyber-Physical Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Justin M. Bradley

    2015-09-01

    Full Text Available 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.

  5. Optimization and Control of Cyber-Physical Vehicle Systems.

    Science.gov (United States)

    Bradley, Justin M; Atkins, Ella M

    2015-09-11

    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.

  6. Advanced laser-based tracking device for motor vehicle lane position monitoring and steering assistance

    Science.gov (United States)

    Bachalo, William D.; Inenaga, Andrew; Schuler, Carlos A.

    1995-12-01

    Aerometrics is developing an innovative laser-diode based device that provides a warning signal when a motor-vehicle deviates from the center of the lane. The device is based on a sensor that scans the roadway on either side of the vehicle and determines the lateral position relative to the existing painted lines marking the lane. No additional markings are required. A warning is used to alert the driver of excessive weaving or unanticipated departure from the center of the lane. The laser beams are at invisible wavelengths to that operation of the device does not pose a distraction to the driver or other motorists: When appropriate markers are not present on the road, the device is capable of detecting this condition and warn the driver. The sensor system is expected to work well irrespective of ambient light levels, fog and rain. This sensor has enormous commercial potential. It could be marketed as an instrument to warn drivers that they are weaving, used as a research tool to monitor driving patterns, be required equipment for those previously convicted of driving under the influence, or used as a backup sensor for vehicle lateral position control. It can also be used in storage plants to guide robotic delivery vehicles. In this paper, the principles of operation of the sensor, and the results of Aerometrics ongoing testing will be presented.

  7. MAINTAINING VEHICLE SPEED USING A MECHANICAL CRUISE CONTROL

    Directory of Open Access Journals (Sweden)

    Peter GIROVSKÝ

    2017-06-01

    Full Text Available In this article we would like to present cruise control realization. This cruise control is presented as mechanical device for vehicle speed maintenance and has been proposed as a low cost solution. Principle of function in mechanical cruise control is based on a position control of throttle. For the right action of mechanical cruise control it was need to solve some particular tasks related with speed sensing, construct of device for control of throttle position and design of control system of whole mechanical cruise control. Information about car velocity we have gained using Hall sensor attached on a magnetic ring of car tachometer. For control of the throttle was used a small servo drive and as the control unit was used Arduino. The designed solution of mechanical cruise control have been realized for car Škoda Felicia.

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

    Science.gov (United States)

    Bockelmann, Thomas R [Battle Creek, MI; Beaty, Kevin D [Kalamazoo, MI; Zou, Zhanijang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

    2009-07-21

    A battery control system for controlling a state of charge of a hybrid vehicle battery includes a detecting arrangement for determining a vehicle operating state or an intended vehicle operating state and a controller for setting a target state of charge level of the battery based on the vehicle operating state or the intended vehicle operating state. The controller is operable to set a target state of charge level at a first level during a mobile vehicle operating state and at a second level during a stationary vehicle operating state or in anticipation of the vehicle operating in the stationary vehicle operating state. The invention further includes a method for controlling a state of charge of a hybrid vehicle battery.

  9. Generalized dynamic model and control of ambiguous mono axial vehicle robot

    Directory of Open Access Journals (Sweden)

    Frantisek Duchon

    2016-09-01

    Full Text Available This article deals with the novel concept of ambiguous mono axial vehicle robot. Such robot is a combination of Segway and dicycle, which utilizes the advantages of each chassis. The advantage of dicycle is lower energy consumption during the movement and the higher safety of carried payload. The movable platform inside the ambiguous mono axial vehicle allows using the various sensors or devices. This will change the ambiguous mono axial vehicle to the Segway type robot. Both these modes are necessary to control in the stable mode to ensure the safety of the ambiguous mono axial vehicle’s movement. The main contents of the article contain description of generalized dynamic model of ambiguous mono axial vehicle and related control of ambiguous mono axial vehicle. The proposal is unique in that the same controller is used for both modes. Several simulations verify proposed control schemes and identified parameters. Moreover, the dicycle type of platform has never been used in robotics and that is another novelty.

  10. Method and apparatus for controlling battery charging in a hybrid electric vehicle

    Science.gov (United States)

    Phillips, Anthony Mark; Blankenship, John Richard; Bailey, Kathleen Ellen; Jankovic, Miroslava

    2003-06-24

    A starter/alternator system (24) for hybrid electric vehicle (10) having an internal combustion engine (12) and an energy storage device (34) has a controller (30) coupled to the starter/alternator (26). The controller (30) has a state of charge manager (40) that monitors the state of charge of the energy storage device. The controller has eight battery state-of-charge threshold values that determine the hybrid operating mode of the hybrid electric vehicle. The value of the battery state-of-charge relative to the threshold values is a factor in the determination of the hybrid mode, for example; regenerative braking, charging, battery bleed, boost. The starter/alternator may be operated as a generator or a motor, depending upon the mode.

  11. Investigation on a Power Coupling Steering System for Dual-Motor Drive Tracked Vehicles Based on Speed Control

    Directory of Open Access Journals (Sweden)

    Li Zhai

    2017-08-01

    Full Text Available Double-motor drive tracked vehicles (2MDTV are widely used in the tracked vehicle industry due to the development of electric vehicle drive systems. The aim of this paper is to solve the problem of insufficient propulsion motor torque in low-speed, small-radius steering and insufficient power in high-speed large-radius steering. In order to do this a new type of steering system with a coupling device is designed and a closed-loop control strategy based on speed is adopted to improve the lateral stability of the vehicle. The work done entails modeling and simulating the 2MDTV and the proposed control strategy in RecurDyn and Matlab/Simulink. The simulation results show that the 2MDTV with the coupling device outputs more torque and power in both steering cases compared to the 2MDTV without the coupling device, and the steering stability of the vehicle is improved by using the strategy based on speed.

  12. A Multi-Vehicles, Wireless Testbed for Networked Control, Communications and Computing

    Science.gov (United States)

    Murray, Richard; Doyle, John; Effros, Michelle; Hickey, Jason; Low, Steven

    2002-03-01

    We have constructed a testbed consisting of 4 mobile vehicles (with 4 additional vehicles being completed), each with embedded computing and communications capability for use in testing new approaches for command and control across dynamic networks. The system is being used or is planned to be used for testing of a variety of communications-related technologies, including distributed command and control algorithms, dynamically reconfigurable network topologies, source coding for real-time transmission of data in lossy environments, and multi-network communications. A unique feature of the testbed is the use of vehicles that have second order dynamics. Requiring real-time feedback algorithms to stabilize the system while performing cooperative tasks. The testbed was constructed in the Caltech Vehicles Laboratory and consists of individual vehicles with PC-based computation and controls, and multiple communications devices (802.11 wireless Ethernet, Bluetooth, and infrared). The vehicles are freely moving, wheeled platforms propelled by high performance dotted fairs. The room contains an access points for an 802.11 network, overhead visual sensing (to allow emulation of CI'S signal processing), a centralized computer for emulating certain distributed computations, and network gateways to control and manipulate communications traffic.

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

    Science.gov (United States)

    Bockelmann, Thomas R [Battle Creek, MI; Hope, Mark E [Marshall, MI; Zou, Zhanjiang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

    2009-02-10

    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.

  14. Algorithm for Public Electric Transport Schedule Control for Intelligent Embedded Devices

    Science.gov (United States)

    Alps, Ivars; Potapov, Andrey; Gorobetz, Mikhail; Levchenkov, Anatoly

    2010-01-01

    In this paper authors present heuristics algorithm for precise schedule fulfilment in city traffic conditions taking in account traffic lights. The algorithm is proposed for programmable controller. PLC is proposed to be installed in electric vehicle to control its motion speed and signals of traffic lights. Algorithm is tested using real controller connected to virtual devices and real functional models of real tram devices. Results of experiments show high precision of public transport schedule fulfilment using proposed algorithm.

  15. Optimal vehicle control

    NARCIS (Netherlands)

    Alirezaei, M.; Kanarachos, S.A.; Scheepers, B.T.M.; Maurice, J.P.

    2013-01-01

    The Integrated Vehicle Safety Department of TNO (Dutch Organization for Applied Scientific Research) investigates the application of modern control methods in the Integrated Vehicle Dynamics Control (IVDC) field, as a strategic research topic of the Beyond Safe framework. The aim of IVDC is to

  16. A Parallel Energy-Sharing Control Strategy for Fuel Cell Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    Nik Rumzi Nik Idris

    2011-08-01

    Full Text Available This paper presents a parallel energy-sharing control strategy for the application of fuel cell hybrid vehicles (FCHVs. The hybrid source discussed consists of a fuel cells (FCs generator and energy storage units (ESUs which composed by the battery and ultracapacitor (UC modules. A direct current (DC bus is used to interface between the energy sources and the electric vehicles (EV propulsion system (loads. Energy sources are connected to the DC bus using of power electronics converters. A total of six control loops are designed in the supervisory system in order to regulate the DC bus voltage, control of current flow and to monitor the state of charge (SOC of each energy storage device at the same time. Proportional plus integral (PI controllers are employed to regulate the output from each control loop referring to their reference signals. The proposed energy control system is simulated in MATLAB/Simulink environment. Results indicated that the proposed parallel energy-sharing control system is capable to provide a practical hybrid vehicle in respond to the vehicle traction response and avoids the FC and battery from overstressed at the same time.

  17. Vehicle Dynamics and Control

    CERN Document Server

    Rajamani, Rajesh

    2012-01-01

    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...

  18. Electric vehicle battery charging controller

    DEFF Research Database (Denmark)

    2016-01-01

    The present invention provides an electric vehicle charging controller. The charging controller comprises a first interface connectable to an electric vehicle charge source for receiving a charging current, a second interface connectable to an electric vehicle for providing the charging current...... to a battery management system in the electric vehicle to charge a battery therein, a first communication unit for receiving a charging message via a communication network, and a control unit for controlling a charging current provided from the charge source to the electric vehicle, the controlling at least...... in part being performed in response to a first information associated with a charging message received by the first communication unit...

  19. Control of Electric Vehicle

    OpenAIRE

    Huang, Qi; Chen, Yong; Li, Jian

    2010-01-01

    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...

  20. 76 FR 78 - Federal Motor Vehicle Safety Standard; Engine Control Module Speed Limiter Device

    Science.gov (United States)

    2011-01-03

    ... [Docket No. NHTSA-2007-26851] Federal Motor Vehicle Safety Standard; Engine Control Module Speed Limiter... occupants. IIHS stated that on-board electronic engine control modules (ECM) will maintain the desired speed... be equipped with an electronic control module (ECM) that is capable of limiting the maximum speed of...

  1. Florida DOT Orlando ITS World Congress Vehicle Awareness Device

    Data.gov (United States)

    Department of Transportation — Florida DOT (FDOT) installed Vehicle Awareness Devices (VADs) on a set of Lynx transit buses as part of a demonstration for the ITS World Congress held in Orlando in...

  2. Vehicle following controller design for autonomous intelligent vehicles

    Science.gov (United States)

    Chien, C. C.; Lai, M. C.; Mayr, R.

    1994-01-01

    A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

  3. Supercavitating Vehicle Control

    Science.gov (United States)

    2008-10-10

    401) 832-1511. DISTRIBUTION STATEMENT Approved for Public Release Distribution is unlimited 20081027289 Attorney Docket No. 96674 SUPERCAVITATING ...methods and more specifically to systems and methods for controlling a trajectory of a supercavitating vehicle. (2) Description of the Prior Art [0004...1 [0005) Some investigations into reducing the drag of high-speed, underwater vehicles have focused attention on supercavitating underwater vehicles

  4. Modular Robotic Vehicle

    Science.gov (United States)

    Borroni-Bird, Christopher E. (Inventor); Vitale, Robert L. (Inventor); Lee, Chunhao J. (Inventor); Ambrose, Robert O. (Inventor); Bluethmann, William J. (Inventor); Junkin, Lucien Q. (Inventor); Lutz, Jonathan J. (Inventor); Guo, Raymond (Inventor); Lapp, Anthony Joseph (Inventor); Ridley, Justin S. (Inventor)

    2015-01-01

    A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.

  5. Traffic collisions between electric mobility devices (wheelchairs) and motor vehicles: Accidents, hubris, or self-destructive behavior?

    Science.gov (United States)

    LaBan, Myron M; Nabity, Thomas S

    2010-07-01

    This study had its genesis in a personally observed collision between a motor vehicle and a motorized wheelchair (electric mobility device) on a busy street in the middle of the block at an unmarked crossing. To the observer, at the time, this appeared to be a suicidal act. This investigation was initiated to both delineate the number of these crashes nationally and understand this phenomena as a potentially planned act of self-destruction. An initial survey of police reports was immediately frustrated by an inability to separate motor vehicle and electric mobility device collisions from the much larger group that involved ambulatory citizens because both types were classified together as "pedestrian" accidents. Instead, the search engine NexisLexis was used to identify 107 newspaper articles each of which described a motor vehicle and electric mobility device accident. In the motor vehicle and electric mobility device collisions, men predominated women (3:1 ratio) with an average age of 56 yrs. Sixty of these accidents were fatal. Ninety-four percent involved an electric mobility device and 6% a manual wheelchair. In 50% of the cases, the motor vehicle was a truck, van, or sport utility vehicle. Fifty percent occurred at dusk or dawn or at night. The electric mobility device occupant was cited as the guilty party in 39% of the cases and the driver of the motor vehicle in 27%. Twenty percent were unwitnessed hit-and-run accidents, whereas "no fault" was found in 8% of the cases. Although many accidents do happen by chance, when an electric mobility device operator openly challenges busy traffic by attempting to traverse it in the middle of the block at an unmarked crossing, predisposing psychosocial factors must also be considered. Hubris or premeditated self-destructive behavior or both need to be explored as preeminent issues with reference to the prodromal of the "accident process."

  6. Poster Abstract: Automatic Calibration of Device Attitude in Inertial Measurement Unit Based Traffic Probe Vehicles

    KAUST Repository

    Mousa, Mustafa; Sharma, Kapil; Claudel, Christian

    2016-01-01

    to replace them with inertial measurement units onboard vehicles, to estimate vehicle location and attitude using inertial data only. While promising, this technology requires one to carefully calibrate the orientation of the device inside the vehicle

  7. Intelligent behaviors through vehicle-to-vehicle and vehicle-to-infrastructure communication

    Science.gov (United States)

    Garcia, Richard D.; Sturgeon, Purser; Brown, Mike

    2012-06-01

    The last decade has seen a significant increase in intelligent safety devices on private automobiles. These devices have both increased and augmented the situational awareness of the driver and in some cases provided automated vehicle responses. To date almost all intelligent safety devices have relied on data directly perceived by the vehicle. This constraint has a direct impact on the types of solutions available to the vehicle. In an effort to improve the safety options available to a vehicle, numerous research laboratories and government agencies are investing time and resources into connecting vehicles to each other and to infrastructure-based devices. This work details several efforts in both the commercial vehicle and the private auto industries to increase vehicle safety and driver situational awareness through vehicle-to-vehicle and vehicle-to-infrastructure communication. It will specifically discuss intelligent behaviors being designed to automatically disable non-compliant vehicles, warn tractor trailer vehicles of unsafe lane maneuvers such as lane changes, passing, and merging, and alert drivers to non-line-of-sight emergencies.

  8. Process control device

    International Nuclear Information System (INIS)

    Hayashi, Toshifumi; Kobayashi, Hiroshi.

    1994-01-01

    A process control device comprises a memory device for memorizing a plant operation target, a plant state or a state of equipments related with each other as control data, a read-only memory device for storing programs, a plant instrumentation control device or other process control devices, an input/output device for performing input/output with an operator, and a processing device which conducts processing in accordance with the program and sends a control demand or a display demand to the input/output device. The program reads out control data relative to a predetermined operation target, compares and verify them with actual values to read out control data to be a practice premise condition which is further to be a practice premise condition if necessary, thereby automatically controlling the plant or requiring or displaying input. Practice presuming conditions for the operation target can be examined succesively in accordance with the program without constituting complicated logical figures and AND/OR graphs. (N.H.)

  9. The control of vehicles used in transport of sensitive nuclear material

    International Nuclear Information System (INIS)

    Loiseau, O.; Larrignon, D.; Autrusson, B.

    2010-01-01

    Most sensitive nuclear materials are usually shipped in specific vehicles with a reinforced protection; such vehicles are generally escorted, tracked and watched over from a distant control centre. Among the various publications made by the IAEA in relation with the CPPNM, the INFCIRC/225 introduces major recommendations for physical protection of nuclear materials in general and particularly during transport. For instance, the text recommends - for the terrestrial shipment of most sensitive material - the use of vehicles specially designed to resist attack and equipped with a vehicle disabling device. Applying such a recommendation at a state level requires the intervention of a competent authority; the competent authority defines the framework of a validation process starting with the design of the vehicle and ending with the vehicle protection approval. The validation process needs articulating responsibilities between the three major actors who are: the operator in charge of the design, a technical support body in charge of technical evaluation, and the competent authority who is responsible for the final approval of the protection. This paper focuses on the approval process of reinforced protection vehicles in France; it aims at showing how such a process may contribute to the security of nuclear material shipments. The paper notably focuses on the responsibilities of the operators, the competent authority and the technical support organization. This approval process of the protection of a vehicle allows the authority to ensure that the protection setup is effective and operational in order to protect the cargo from a malicious threat. In such a process, the authority defines the threat and the objectives of protection; the authority may choose, in certain case, to recommend protection devices or solutions; the need for recommendation versus objective definition mostly depends on the environment of the vehicle and the constraints induced. The authority may

  10. Optimal control of hybrid vehicles

    CERN Document Server

    Jager, Bram; Kessels, John

    2013-01-01

    Optimal Control of Hybrid Vehicles provides a description of power train control for hybrid vehicles. The background, environmental motivation and control challenges associated with hybrid vehicles are introduced. The text includes mathematical models for all relevant components in the hybrid power train. The power split problem in hybrid power trains is formally described and several numerical solutions detailed, including dynamic programming and a novel solution for state-constrained optimal control problems based on Pontryagin’s maximum principle.   Real-time-implementable strategies that can approximate the optimal solution closely are dealt with in depth. Several approaches are discussed and compared, including a state-of-the-art strategy which is adaptive for vehicle conditions like velocity and mass. Two case studies are included in the book: ·        a control strategy for a micro-hybrid power train; and ·        experimental results obtained with a real-time strategy implemented in...

  11. Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller

    Directory of Open Access Journals (Sweden)

    Muzaffer Metin

    2014-01-01

    Full Text Available In this study, vertical rail vehicle vibrations are controlled by the use of conventional PID and parameters which are adaptive to PID controllers. A parameters adaptive PID controller is designed to improve the passenger comfort by intuitional usage of this method that renews the parameters online and sensitively under variable track inputs. Sinusoidal vertical rail misalignment and measured real rail irregularity are considered as two different disruptive effects of the system. Active vibration control is applied to the system through the secondary suspension. The active suspension application of rail vehicle is examined by using 5-DOF quarter-rail vehicle model by using Manchester benchmark dynamic parameters. The new parameters of adaptive controller are optimized by means of genetic algorithm toolbox of MATLAB. Simulations are performed at maximum urban transportation speed (90 km/h of the rail vehicle with ±5% load changes of rail vehicle body to test the robustness of controllers. As a result, superior performance of parameters of adaptive controller is determined in time and frequency domain.

  12. Predistortion control device and method, assembly including a predistortion control device

    NARCIS (Netherlands)

    Kokkeler, Andre B.J.

    2003-01-01

    A predistortion control device (1). The device has a first predistortion control input connectable to a power amplifier output (21); a second predistortion control input (11) connectable to a signal contact of a predistortion device; and a predistortion control output (12) connectable to a control

  13. Decentralized Control of Autonomous Vehicles

    Science.gov (United States)

    2003-01-01

    Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

  14. User choices regarding vehicle-driving automation

    NARCIS (Netherlands)

    Marchau, V.A.W.J.; Molin, E.J.E.; Heijden, R.E.C.M. van der; Breddia, C.A.; Wadhwa, L.C.

    2004-01-01

    The introduction of Advanced Driver Assistance Systems (ADAS) in motor vehicles is expected to improve traffic efficiency and safety significantly. These systems support the driver in controlling his vehicle applying advanced sensing, computing and controlling devices. Successful implementation of

  15. Development of Pneumatic Aerodynamic Devices to Improve the Performance, Economics, and Safety of Heavy Vehicles

    International Nuclear Information System (INIS)

    Robert J. Englar

    2000-01-01

    Under contract to the DOE Office of Heavy Vehicle Technologies, the Georgia Tech Research Institute (GTRI) is developing and evaluating pneumatic (blown) aerodynamic devices to improve the performance, economics, stability and safety of operation of Heavy Vehicles. The objective of this program is to apply the pneumatic aerodynamic aircraft technology previously developed and flight-tested by GTRI personnel to the design of an efficient blown tractor-trailer configuration. Recent experimental results obtained by GTRI using blowing have shown drag reductions of 35% on a streamlined automobile wind-tunnel model. Also measured were lift or down-load increases of 100-150% and the ability to control aerodynamic moments about all 3 axes without any moving control surfaces. Similar drag reductions yielded by blowing on bluff afterbody trailers in current US trucking fleet operations are anticipated to reduce yearly fuel consumption by more than 1.2 billion gallons, while even further reduction is possible using pneumatic lift to reduce tire rolling resistance. Conversely, increased drag and down force generated instantaneously by blowing can greatly increase braking characteristics and control in wet/icy weather due to effective ''weight'' increases on the tires. Safety is also enhanced by controlling side loads and moments caused on these Heavy Vehicles by winds, gusts and other vehicles passing. This may also help to eliminate the jack-knifing problem if caused by extreme wind side loads on the trailer. Lastly, reduction of the turbulent wake behind the trailer can reduce splash and spray patterns and rough air being experienced by following vehicles. To be presented by GTRI in this paper will be results developed during the early portion of this effort, including a preliminary systems study, CFD prediction of the blown flowfields, and design of the baseline conventional tractor-trailer model and the pneumatic wind-tunnel model

  16. Development of Pneumatic Aerodynamic Devices to Improve the Performance, Economics, and Safety of Heavy Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Robert J. Englar

    2000-06-19

    Under contract to the DOE Office of Heavy Vehicle Technologies, the Georgia Tech Research Institute (GTRI) is developing and evaluating pneumatic (blown) aerodynamic devices to improve the performance, economics, stability and safety of operation of Heavy Vehicles. The objective of this program is to apply the pneumatic aerodynamic aircraft technology previously developed and flight-tested by GTRI personnel to the design of an efficient blown tractor-trailer configuration. Recent experimental results obtained by GTRI using blowing have shown drag reductions of 35% on a streamlined automobile wind-tunnel model. Also measured were lift or down-load increases of 100-150% and the ability to control aerodynamic moments about all 3 axes without any moving control surfaces. Similar drag reductions yielded by blowing on bluff afterbody trailers in current US trucking fleet operations are anticipated to reduce yearly fuel consumption by more than 1.2 billion gallons, while even further reduction is possible using pneumatic lift to reduce tire rolling resistance. Conversely, increased drag and down force generated instantaneously by blowing can greatly increase braking characteristics and control in wet/icy weather due to effective ''weight'' increases on the tires. Safety is also enhanced by controlling side loads and moments caused on these Heavy Vehicles by winds, gusts and other vehicles passing. This may also help to eliminate the jack-knifing problem if caused by extreme wind side loads on the trailer. Lastly, reduction of the turbulent wake behind the trailer can reduce splash and spray patterns and rough air being experienced by following vehicles. To be presented by GTRI in this paper will be results developed during the early portion of this effort, including a preliminary systems study, CFD prediction of the blown flowfields, and design of the baseline conventional tractor-trailer model and the pneumatic wind-tunnel model.

  17. Integrated robust controller for vehicle path following

    Energy Technology Data Exchange (ETDEWEB)

    Mashadi, Behrooz; Ahmadizadeh, Pouyan, E-mail: p-ahmadizadeh@iust.ac.ir; Majidi, Majid, E-mail: m-majidi@iust.ac.ir [Iran University of Science and Technology, School of Automotive Engineering (Iran, Islamic Republic of); Mahmoodi-Kaleybar, Mehdi, E-mail: m-mahmoodi-k@iust.ac.ir [Iran University of Science and Technology, School of Mechanical Engineering (Iran, Islamic Republic of)

    2015-02-15

    The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties.

  18. Integrated robust controller for vehicle path following

    International Nuclear Information System (INIS)

    Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi

    2015-01-01

    The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties

  19. Different Control Algorithms for a Platoon of Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Gacovski

    2014-05-01

    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.

  20. Investigations of the Impact of Biodiesel Metal Contaminants on Emissions Control Devices

    Energy Technology Data Exchange (ETDEWEB)

    Brookshear, D. W.; Lance, M. J.; McCormick, Robert L.; Toops, T. J.

    2017-02-27

    Biodiesel is a renewable fuel with the potential to displace a portion of petroleum use. However, as with any alternative fuel, in order to be a viable choice it must be compatible with the emissions control devices. The finished biodiesel product can contain up to 5 ppm Na+K and 5 ppm Ca+Mg, and these metal impurities can lead to durability issues with the devices used to control emissions in diesel vehicles. Significant work has been performed to understand how the presence of these metals impacts each individual component of diesel emissions control systems, and this chapter summarizes the findings of these research efforts.

  1. Control rod position control device

    International Nuclear Information System (INIS)

    Ubukata, Shinji.

    1997-01-01

    The present invention provides a control rod position control device which stores data such as of position signals and driving control rod instruction before and after occurrence of abnormality in control for the control rod position for controlling reactor power and utilized the data effectively for investigating the cause of abnormality. Namely, a plurality of individual control devices have an operation mismatching detection circuit for outputting signals when difference is caused between a driving instruction given to the control rod position control device and the control rod driving means and signals from a detection means for detecting an actual moving amount. A general control device collectively controls the individual control devices. In addition, there is also disposed a position storing circuit for storing position signals at least before and after the occurrence of the control rod operation mismatching. With such procedures, the cause of the abnormality can be determined based on the position signals before and after the occurrence of control rod mismatching operation stored in the position storing circuit. Accordingly, the abnormality cause can be determined to conduct restoration in an early stage. (I.S.)

  2. A survey of security and privacy in connected vehicles

    NARCIS (Netherlands)

    Ben Othmane, L.; Weffers, H.T.G.; Mohamad, M.M.; Wolf, M.; BenHaddou, D.; Al-Fuqaha, A.

    2015-01-01

    Electronic control units (ECUs) of a vehicle control the behavior of its devices—e.g., break and engine. They communicate through the in-vehicle network. Vehicles communicate with other vehicles and road side units (RSUs) through vehicular ad-hoc networks (VANets), with personal devices through

  3. State estimation for integrated vehicle dynamics control

    NARCIS (Netherlands)

    Zuurbier, J.; Bremmer, P.

    2002-01-01

    This paper discusses a vehicle controller and a state estimator that was implemented and tested in a vehicle equipped with a combined braking and chassis control system to improve handling. The vehicle dynamics controller consists of a feed forward body roll compensation and a feedback stability

  4. Effects of Hearing Protection Device Attenuation on Unmanned Aerial Vehicle (UAV) Audio Signatures

    Science.gov (United States)

    2016-03-01

    UAV ) Audio Signatures by Melissa Bezandry, Adrienne Raglin, and John Noble Approved for public release; distribution...Research Laboratory Effects of Hearing Protection Device Attenuation on Unmanned Aerial Vehicle ( UAV ) Audio Signatures by Melissa Bezandry...Aerial Vehicle ( UAV ) Audio Signatures 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Melissa Bezandry

  5. Improvement of cosmic ray ruggedness of hybrid vehicles power semiconductor devices

    International Nuclear Information System (INIS)

    Nishida, Shuichi; Ohnishi, Toyokazu; Fujikawa, Touma; Nose, Noboru; Hamada, Kimimori; Shoji, Tomoyuki; Ishiko, Masayasu

    2010-01-01

    Power semiconductors which are used under high voltage conditions in HVs (Hybrid Vehicles) are required to have high destruction tolerance against cosmic rays as well as to meet conventional quality standards. In this paper, an SEB (Single Event Burnout) failure mechanism induced by cosmic rays in IGBTs (Insulated Gate Bipolar Transistors) was investigated. Through an optimized device design in which thyristor action was suppressed, the device destruction tolerance was greatly improved. (author)

  6. Super-capacitors fuel-cell hybrid electric vehicle optimization and control strategy development

    International Nuclear Information System (INIS)

    Paladini, Vanessa; Donateo, Teresa; De Risi, Arturo; Laforgia, Domenico

    2007-01-01

    In the last decades, due to emissions reduction policies, research focused on alternative powertrains among which hybrid electric vehicles (HEVs) powered by fuel cells are becoming an attractive solution. One of the main issues of these vehicles is the energy management in order to improve the overall fuel economy. The present investigation aims at identifying the best hybrid vehicle configuration and control strategy to reduce fuel consumption. The study focuses on a car powered by a fuel cell and equipped with two secondary energy storage devices: batteries and super-capacitors. To model the powertrain behavior an on purpose simulation program called ECoS has been developed in Matlab/Simulink environment. The fuel cell model is based on the Amphlett theory. The battery and the super-capacitor models account for charge/discharge efficiency. The analyzed powertrain is also equipped with an energy regeneration system to recover braking energy. The numerical optimization of vehicle configuration and control strategy of the hybrid electric vehicle has been carried out with a multi objective genetic algorithm. The goal of the optimization is the reduction of hydrogen consumption while sustaining the battery state of charge. By applying the algorithm to different driving cycles, several optimized configurations have been identified and discussed

  7. Characterization of particle bound organic carbon from diesel vehicles equipped with advanced emission control technologies.

    Science.gov (United States)

    Pakbin, Payam; Ning, Zhi; Schauer, James J; Sioutas, Constantinos

    2009-07-01

    A chassis dynamometer study was carried out by the University of Southern California in collaboration with the Air Resources Board (CARB) to investigate the physical, chemical, and toxicological characteristics of diesel emissions of particulate matter (PM) from heavy-duty vehicles. These heavy-duty diesel vehicles (HDDV) were equipped with advanced emission control technologies, designed to meet CARB retrofit regulations. A HDDV without any emission control devices was used as the baseline vehicle. Three advanced emission control technologies; continuously regenerating technology (CRT), zeolite- and vanadium-based selective catalytic reduction technologies (Z-SCRT and V-SCRT), were tested under transient (UDDS) (1) and cruise (80 kmph) driving cycles to simulate real-world driving conditions. This paper focuses on the characterization of the particle bound organic species from the vehicle exhaust. Physical and chemical properties of PM emissions have been reported by Biswas et al. Atmos. Environ. 2008, 42, 5622-5634) and Hu et al. (Atmos. Environ. 2008, submitted) Significant reductions in the emission factors (microg/mile) of particle bound organic compounds were observed in HDDV equipped with advanced emission control technologies. V-SCRT and Z-SCRT effectively reduced PAHs, hopanes and steranes, n-alkanes and acids by more than 99%, and often to levels below detection limits for both cruise and UDDS cycles. The CRT technology also showed similar reductions with SCRT for medium and high molecular weight PAHs, acids, but with slightly lower removal efficiencies for other organic compounds. Ratios of particle bound organics-to-OC mass (microg/g) from the baseline exhaust were compared with their respective ratios in diesel fuel and lubricating oil, which revealed that hopanes and steranes originate from lubricating oil, whereas PAHs can either form during the combustion process or originate from diesel fuel itself. With the introduction of emission control

  8. Sensing and control for autonomous vehicles applications to land, water and air vehicles

    CERN Document Server

    Pettersen, Kristin; Nijmeijer, Henk

    2017-01-01

    This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite sy...

  9. Different control applications on a vehicle using fuzzy logic control

    Indian Academy of Sciences (India)

    Vehicle vibrations; active suspensions; fuzzy logic control; vehicle model. 1. .... The general expression of the mathematical model is shown below: .... Figure 5a presents the time history of the control force when the controller exists only under.

  10. OPTIMAL CONTROL FOR ELECTRIC VEHICLE STABILIZATION

    Directory of Open Access Journals (Sweden)

    MARIAN GAICEANU

    2016-01-01

    Full Text Available This main objective of the paper is to stabilize an electric vehicle in optimal manner to a step lane change maneuver. To define the mathematical model of the vehicle, the rigid body moving on a plane is taken into account. An optimal lane keeping controller delivers the adequate angles in order to stabilize the vehicle’s trajectory in an optimal way. Two degree of freedom linear bicycle model is adopted as vehicle model, consisting of lateral and yaw motion equations. The proposed control maintains the lateral stability by taking the feedback information from the vehicle transducers. In this way only the lateral vehicle’s dynamics are enough to considerate. Based on the obtained linear mathematical model the quadratic optimal control is designed in order to maintain the lateral stability of the electric vehicle. The numerical simulation results demonstrate the feasibility of the proposed solution.

  11. Decentralized fuzzy control of multiple nonholonomic vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Driessen, B.J.; Feddema, J.T.; Kwok, K.S.

    1997-09-01

    This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on simple 8-bit microcontrollers, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle are the (noisy) direction to the source, the distance to the closest neighbor vehicle, and the direction to the closest vehicle. These directions are discretized into four values: Forward, Behind, Left, and Right, and the distance into three values: Near, Far, Gone. The values of the control at these discrete values are obtained based on the collision-avoidance repulsive forces and the change of variables that reduces the motion control problem of each nonholonomic vehicle to a nonsingular one with two degrees of freedom, instead of three. A fuzzy inference system is used to obtain control values for inputs between the small number of discrete input values. Simulation results are provided which demonstrate that the fuzzy control law performs well compared to the exact controller. In fact, the fuzzy controller demonstrates improved robustness to noise.

  12. Virtual sensors for advanced vehicle stability control

    NARCIS (Netherlands)

    Leenen, R.; Schouten, H.

    2010-01-01

    Advanced vehicle control technologies provide a great potential to further improve vehicle handling, ride and safety. The goal of this research is to demonstrate the added value of the TNO Vehicle State Estimation module to integrated active safety. State-of-the-art Electronic Stability Control

  13. HYBRID VEHICLE CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Dvadnenko

    2016-06-01

    Full Text Available The hybrid vehicle control system includes a start–stop system for an internal combustion engine. The system works in a hybrid mode and normal vehicle operation. To simplify the start–stop system, there were user new possibilities of a hybrid car, which appeared after the conversion. Results of the circuit design of the proposed system of basic blocks are analyzed.

  14. Dynamics and Control of a Maglev Vehicle

    Directory of Open Access Journals (Sweden)

    Won ko

    2006-06-01

    Full Text Available In this paper, dynamics of a Maglev vehicle was analyzed and controls utilizing an optimized damping and an LQR algorithms were designed to stabilize the vehicle. The dynamics of magnetically levitated and propelled Maglev vehicle are complex and inherently unstable. Moreover, 6-DOF system dynamics is highly nonlinear and coupled. The proposed control schemes provide the dynamic stability and controllability, which computer simulations confirmed the effectiveness.

  15. Electric vehicle regenerative antiskid braking and traction control system

    Science.gov (United States)

    Cikanek, S.R.

    1995-09-12

    An antiskid braking and traction control system for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes one or more sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensors and determining if regenerative antiskid braking control, requiring hydraulic braking control, or requiring traction control are required. The processor then employs a control strategy based on the determined vehicle state and provides command signals to a motor controller to control the operation of the electric traction motor and to a brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative antiskid braking control, hydraulic braking control, and traction control. 10 figs.

  16. Electric vehicle regenerative antiskid braking and traction control system

    Science.gov (United States)

    Cikanek, Susan R.

    1995-01-01

    An antiskid braking and traction control system for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes one or more sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensors and determining if regenerative antiskid braking control, requiring hydrualic braking control, or requiring traction control are required. The processor then employs a control strategy based on the determined vehicle state and provides command signals to a motor controller to control the operation of the electric traction motor and to a brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative antiskid braking control, hydraulic braking control, and traction control.

  17. DeviceNet-based device-level control in SSRF

    CERN Document Server

    Leng Yong Bin; Lu Cheng Meng; Miao Hai Feng; Liu Song Qiang; Shen Guo Bao

    2002-01-01

    The control system of Shanghai Synchrotron Radiation Facility is an EPICS-based distributed system. One of the key techniques to construct the system is the device-level control. The author describes the design and implementation of the DeviceNet-based device controller. A prototype of the device controller was tested in the experiments of magnet power supply and the result showed a precision of 3 x 10 sup - sup 5

  18. Supercavitating Vehicle Control

    National Research Council Canada - National Science Library

    Kuklinski, Robert

    2008-01-01

    .... The segmented ring wing is controlled by a ring actuator. The ring actuator may be used to control the angle of attack of the ring wing. Alternately, or in combination the flow over the ring wing may be neutralized by using the cavitator of the vehicle to globally enlarge the cavity and thus limit the flow.

  19. Prospects for the application of GaN power devices in hybrid electric vehicle drive systems

    Science.gov (United States)

    Su, Ming; Chen, Chingchi; Rajan, Siddharth

    2013-07-01

    GaN, a wide bandgap semiconductor successfully implemented in optical and high-speed electronic devices, has gained momentum in recent years for power electronics applications. Along with rapid progress in material and device processing technologies, high-voltage transistors over 600 V have been reported by a number of teams worldwide. These advances make GaN highly attractive for the growing market of electrified vehicles, which currently employ bipolar silicon devices in the 600-1200 V class for the traction inverter. However, to capture this billion-dollar power market, GaN has to compete with existing IGBT products and deliver higher performance at comparable or lower cost. This paper reviews key achievements made by the GaN semiconductor industry, requirements of the automotive electric drive system and remaining challenges for GaN power devices to fit in the inverter application of hybrid vehicles.

  20. Climate control loads prediction of electric vehicles

    International Nuclear Information System (INIS)

    Zhang, Ziqi; Li, Wanyong; Zhang, Chengquan; Chen, Jiangping

    2017-01-01

    Highlights: • A model of vehicle climate control loads is proposed based on experiments. • Main climate control loads of the modeled vehicle are quantitatively analyzed. • Range reductions of the modeled vehicle under different conditions are simulated. - Abstract: A new model of electric vehicle climate control loads is provided in this paper. The mathematical formulations of the major climate control loads are developed, and the coefficients of the formulations are experimentally determined. Then, the detailed climate control loads are analyzed, and the New European Driving Cycle (NEDC) range reductions due to these loads are calculated under different conditions. It is found that in an electric vehicle, the total climate control loads vary with the vehicle speed, HVAC mode and blower level. The ventilation load is the largest climate control load, followed by the solar radiation load. These two add up to more than 80% of total climate control load in summer. The ventilation load accounts for 70.7–83.9% of total heating load under the winter condition. The climate control loads will cause a 17.2–37.1% reduction of NEDC range in summer, and a 17.1–54.1% reduction in winter, compared to the AC off condition. The heat pump system has an advantage in range extension. A heat pump system with an average heating COP of 1.7 will extend the range by 7.6–21.1% based on the simulation conditions.

  1. Fault Tolerant Autonomous Lateral Control for Heavy Vehicles

    OpenAIRE

    Talbot, Craig Matthew; Papadimitriou, Iakovos; Tomizuka, Masayoshi

    2004-01-01

    This report summarizes the research results of TO4233, "Fault Tolerant Autonomous Lateral Control for Heavy Vehicles". This project represents a continuing effort of PATH's research on Automated Highway Systems (AHS) and more specifically in the area of heavy vehicles. Research on the lateral control of heavy vehicles for AHS has been going on at PATH since 1993. MOU129, "Steering and Braking Control of Heavy Duty Vehicles" was the first project and it was followed by MOU242, "Lateral Control...

  2. Labview Application For A Vehicle Control

    Directory of Open Access Journals (Sweden)

    Douglas Paladine Vieira

    2002-01-01

    Full Text Available This article deals with the construction of a vehicle driven by electric motors and that is automated, that is, that can move anywhere without human intervention. The control was done using the software Labview, with data acquisition and generation of control signs. The vehicle has an infrared sensors system that indicates the existence of an obstacle ahead the vehicle, informing it that it should stop and bypass the obstacle. The program is the responsible for the engine control, making it possible for the prototype to run and bypass the objects that block its way. The possibility of remote-controlling a vehicle is very important is risky situations for human beings, for example in radioactive places. The main advantage of this system is the total flexibility for making alterations in the control software, without being necessary to touch the physical part of the prototype. The conclusion of this work is that the system is efficient and able to move in a room with objects without touching them.

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

    Science.gov (United States)

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

    2011-01-01

    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.

  4. Contribution to intelligent vehicle platoon control

    OpenAIRE

    Zhao , Jin

    2010-01-01

    This PhD thesis is dedicated to the control strategies for intelligent vehicle platoon in highway with the main aims of alleviating traffic congestion and improving traffic safety. After a review of the different existing automated driving systems, the vehicle longitudinal and lateral dynamic models are derived. Then, the longitudinal control and lateral control strategies are studied respectively. At first, the longitudinal control system is designed to be hierarchical with an upper level co...

  5. Evaluation of the antioxidant capacity and preventive effects of a topical emulsion and its vehicle control on the skin response to UV exposure.

    Science.gov (United States)

    Zhai, H; Behnam, S; Villarama, C D; Arens-Corell, M; Choi, M J; Maibach, H I

    2005-01-01

    Supplying topical exogenous antioxidants to the skin may prevent or minimize free radical-induced damaging. This study determines antioxidative capacity of a topical skin care emulsion (an oil-in-water vitamin E-containing formulation) versus its vehicle on human skin that was exposed to ultraviolet radiation (UVR) by utilizing a photochemiluminescence device and biophysical methods. Ten healthy Caucasians (3 male and 7 female; mean age 47 +/- 10 years) were enrolled. In a randomized and double-blind manner, a pH-balanced vitamin E emulsion or its vehicle control was applied onto predesignated forearm prior to UVR exposure. Thirty minutes after application, these test sites were exposed to a UV light to induce the minimal erythema dose. One untreated site served as a blank control. Visual scoring and instrumental measurements were recorded at baseline and at 24 h and 48 h thereafter. At day 3, after completing instrumental measurements, each test site was stripped three times in a consecutive manner with a proprietary adhesive tape disc. These tapes were quantified for antioxidant capacity using a photochemiluminescence device. Vitamin E emulsion and vehicle control significantly (p emulsion showed significantly (p emulsion and its vehicle control significantly (p emulsion significantly (p emulsion and its vehicle control showed significant (p emulsion and its vehicle control proved effective in preventing induction of erythema and reducing inflammatory damage caused by UV exposure. The effect of vitamin E emulsion exceeded that of an 'active control'. Copyright 2005 S. Karger AG, Basel

  6. Nonlinear analysis of vehicle control actuations based on controlled invariant sets

    Directory of Open Access Journals (Sweden)

    Németh Balázs

    2016-03-01

    Full Text Available In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which the lateral stability of the vehicle can be guaranteed by the peak-bounded control input. In the analysis, the nonlinear polynomial sum-of-squares programming method is applied. A practical computation technique is developed to calculate the maximum controlled invariant set of the system. The method calculates the maximum controlled invariant sets of the steering and braking control systems at various velocities and road conditions. Illustration examples show that, depending on the environments, different vehicle dynamic regions can be reached and stabilized by these controllers. The results can be applied to the theoretical basis of their interventions into the vehicle control system.

  7. Collaborative Exploration with a Micro Aerial Vehicle: A Novel Interaction Method for Controlling a MAV with a Hand-Held Device

    Directory of Open Access Journals (Sweden)

    David Pitman

    2012-01-01

    Full Text Available In order to collaboratively explore an environment with a Micro Aerial Vehicle (MAV, an operator needs a mobile interface, which can support the operator’s divided attention. To this end, we developed the Micro Aerial Vehicle Exploration of an Unknown Environment (MAV-VUE interface, which allows operators with minimal training the ability to remotely explore their environment with a MAV. MAV-VUE employs a concept we term Perceived First-Order (PFO control, which allows an operator to effectively “fly” a MAV with no risk to the vehicle. PFO control utilizes a position feedback control loop to fly the MAV while presenting rate feedback to the operator. A usability study was conducted to evaluate MAV-VUE. This interface was connected remotely to an actual MAV to explore a GPS-simulated urban environment.

  8. Development of automated ultrasonic device for in-service inspection of ABWR pressure vessel bottom head

    International Nuclear Information System (INIS)

    Kojima, Y.; Matsuyama, A.

    1995-01-01

    An automated device and its controller have been developed for the bottom head weld examination of pressure vessel of Advanced Boiling Water Reactor (ABWR). The internal pump casings and the housings of control rod prevent a conventional ultrasonic device from scanning the required inspection zone. With this reason, it is required to develop a new device to examine the bottom head area of ABWR. The developed device is characterized by the following features. (1) Composed of a mother vehicle and a compact inspection vehicle. They are connected only by an electric wire without using the conventional arm mechanism. (2) The mother vehicle travels on a track and lift up the inspection vehicle to the vessel. (3) The mother vehicle can automatically attach the inspection vehicle to the bottom head, and detach the inspection vehicle from it. (4) Collision avoidance control function with a touch sensor is installed at the front of the inspection vehicle. The device was successfully demonstrated using a mock-up of reactor pressure vessel

  9. Integrated control rod monitoring device

    International Nuclear Information System (INIS)

    Saito, Katsuhiro

    1997-01-01

    The present invention provides a device in which an entire control rod driving time measuring device and a control rod position support device in a reactor building and a central control chamber are integrated systematically to save hardwares such as a signal input/output device and signal cables between boards. Namely, (1) functions of the entire control rod driving time measuring device for monitoring control rods which control the reactor power and a control rod position indication device are integrated into one identical system. Then, the entire devices can be made compact by the integration of the functions. (2) The functions of the entire control rod driving time measuring device and the control rod position indication device are integrated in a central operation board and a board in the site. Then, the place for the installation of them can be used in common in any of the cases. (3) The functions of the entire control rod driving time measuring device and the control rod position indication device are integrated to one identical system to save hardware to be used. Then, signal input/output devices and drift branching panel boards in the site and the central operation board can be saved, and cables for connecting both of the boards is no more necessary. (I.S.)

  10. Research on Control System of Three - phase Brushless DC Motor for Electric Vehicle

    Science.gov (United States)

    Wang, Zhiwei; Jin, Hai; Guo, Jie; Su, Jie; Wang, Miao

    2017-12-01

    In order to study the three-phase brushless motor control system of electric vehicle, Freescale9S12XS128 chip is used as the control core, and the power MOSFET is used as the inverter device. The software is compiled by Codewarrior software. The speed control link adopts open-loop control, and the control chip collects the external sensor signal voltage Change control PWM signal output control three-phase brushless DC motor speed. The whole system consists of Hall position detection module, current detection module, power drive module and voltage detection module. The basic functions of three-phase brushless DC motor drive control are realized.

  11. Prospects for the application of GaN power devices in hybrid electric vehicle drive systems

    International Nuclear Information System (INIS)

    Su, Ming; Chen, Chingchi; Rajan, Siddharth

    2013-01-01

    GaN, a wide bandgap semiconductor successfully implemented in optical and high-speed electronic devices, has gained momentum in recent years for power electronics applications. Along with rapid progress in material and device processing technologies, high-voltage transistors over 600 V have been reported by a number of teams worldwide. These advances make GaN highly attractive for the growing market of electrified vehicles, which currently employ bipolar silicon devices in the 600–1200 V class for the traction inverter. However, to capture this billion-dollar power market, GaN has to compete with existing IGBT products and deliver higher performance at comparable or lower cost. This paper reviews key achievements made by the GaN semiconductor industry, requirements of the automotive electric drive system and remaining challenges for GaN power devices to fit in the inverter application of hybrid vehicles. (invited review)

  12. Control system and method for a hybrid electric vehicle

    Science.gov (United States)

    Phillips, Anthony Mark; Blankenship, John Richard; Bailey, Kathleen Ellen; Jankovic, Miroslava

    2001-01-01

    A vehicle system controller (20) is presented for a LSR parallel hybrid electric vehicle having an engine (10), a motor (12), wheels (14), a transmission (16) and a battery (18). The vehicle system controller (20) has a state machine having a plurality of predefined states (22-32) that represent operating modes for the vehicle. A set of rules is defined for controlling the transition between any two states in the state machine. The states (22-32) are prioritized according to driver demands, energy management concerns and system fault occurrences. The vehicle system controller (20) controls the transitions from a lower priority state to a higher priority state based on the set of rules. In addition, the vehicle system controller (20) will control a transition to a lower state from a higher state when the conditions no longer warrant staying in the current state. A unique set of output commands is defined for each state for the purpose of controlling lower level subsystem controllers. These commands serve to achieve the desire vehicle functionality within each state and insure smooth transitions between states.

  13. Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

    Directory of Open Access Journals (Sweden)

    Hongbo Gao

    2017-12-01

    Full Text Available Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control technique of autonomous vehicle is basic theory and one key complex technique which must have the reliability and precision of vehicle controller. The longitudinal control technique is one of the foundations of the safety and stability of autonomous vehicle control. In our paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. The longitudinal control algorithm mainly uses cloud model generator to control the acceleration of the autonomous vehicle to achieve the goal that controls the speed of Mengshi autonomous vehicle. The proposed longitudinal control algorithm based on cloud model is verified by real experiments on Highway driving scene. The experiments results of the acceleration and speed show that the algorithm is validity and stability.

  14. Innovative control systems for tracked vehicle platforms

    CERN Document Server

    2014-01-01

     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.

  15. A model predictive control approach combined unscented Kalman filter vehicle state estimation in intelligent vehicle trajectory tracking

    Directory of Open Access Journals (Sweden)

    Hongxiao Yu

    2015-05-01

    Full Text Available Trajectory tracking and state estimation are significant in the motion planning and intelligent vehicle control. This article focuses on the model predictive control approach for the trajectory tracking of the intelligent vehicles and state estimation of the nonlinear vehicle system. The constraints of the system states are considered when applying the model predictive control method to the practical problem, while 4-degree-of-freedom vehicle model and unscented Kalman filter are proposed to estimate the vehicle states. The estimated states of the vehicle are used to provide model predictive control with real-time control and judge vehicle stability. Furthermore, in order to decrease the cost of solving the nonlinear optimization, the linear time-varying model predictive control is used at each time step. The effectiveness of the proposed vehicle state estimation and model predictive control method is tested by driving simulator. The results of simulations and experiments show that great and robust performance is achieved for trajectory tracking and state estimation in different scenarios.

  16. Vehicle Controller

    Science.gov (United States)

    1985-01-01

    UNISTICK is an airplane-like joystick being developed by Johnson Engineering under NASA and VA sponsorship. It allows a driver to control a vehicle with one hand, and is based upon technology developed for the Apollo Lunar Landings of the 1970's. It allows severely handicapped drivers to operate an automobile or van easily. The system is expected to be in production by March 1986.

  17. High–Level Control System for Biomimetic Autonomous Under-water Vehicle

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2017-01-01

    Full Text Available Usually, a rough software architecture designed for a robot can be can be shortly presented in the form of layers. The lowest layer is responsible for direct control of the hardware, i.e. engines, energy system, sensors, navigation devices, etc. A next layer is a low–level control which knows how to use the hardware in order to achieve a desired state of the robot, e.g. to stay on a desired course. And the last layer, the layer which is the nearest to the human–operator, is a high–level control which decides how to use the low–level control and sometimes also individual pieces of the hardware to achieve predefined objectives. The paper describes architecture, tasks and operation of the high–level control system (HLCS designed for Biomimetic Autonomous Underwater Vehicle (BAUV.

  18. Control solutions for robots using Android and iOS devices

    Science.gov (United States)

    Evans, A. William, III; Gray, Jeremy P.; Rudnick, Dave; Karlsen, Robert E.

    2012-06-01

    As more Soldiers seek to utilize robots to enhance their mission capabilities, controls are needed which are intuitive, portable, and adaptable to a wide range of mission tasks. Android™ and iOS™ devices have the potential to meet each of these requirements as well as being based on readily available hardware. This paper will focus on some of the ways in which an Android™ or iOS™ device could be used to control specific and varied robot mobility functions and payload tools. Several small unmanned ground vehicle (SUGV) payload tools will have been investigated at Camp Pendleton during a user assessment and mission feasibility study for automatic remote tool changing. This group of payload tools will provide a basis, to researchers, concerning what types of control functions are needed to fully utilize SUGV robotic capabilities. Additional, mobility functions using tablet devices have been used as part of the Safe Operation of Unmanned systems for Reconnaissance in Complex Environments Army Technology Objective (SOURCE ATO) which is investigating the safe operation of robotics. Using Android™ and iOS™ hand-held devices is not a new concept in robot manipulation. However, the authors of this paper hope to introduce some novel concepts that may serve to make the interaction between Soldier and machine more fluid and intuitive. By creating a better user experience, Android™ and iOS™ devices could help to reduce training time, enhance performance, and increase acceptance of robotics as valuable mission tools for Soldiers.

  19. Automotive Control Systems: For Engine, Driveline, and Vehicle

    Science.gov (United States)

    Kiencke, Uwe; Nielsen, Lars

    Advances in automotive control systems continue to enhance safety and comfort and to reduce fuel consumption and emissions. Reflecting the trend to optimization through integrative approaches for engine, driveline, and vehicle control, this valuable book enables control engineers to understand engine and vehicle models necessary for controller design, and also introduces mechanical engineers to vehicle-specific signal processing and automatic control. The emphasis on measurement, comparisons between performance and modeling, and realistic examples derive from the authors' unique industrial experience

  20. Method of controlling innovative articulation for articulated vehicle

    Directory of Open Access Journals (Sweden)

    Szumilas Mateusz

    2018-01-01

    Full Text Available Operation of an articulated vehicle is dependent on an appropriate damping action taking place in its rotary articulation. In order to analyse an impact of the control of the articulation on the motion of the vehicle a model of the vehicle with a controllable hydraulic damping system has been developed. A 90 degree turn and lane change manoeuvres were simulated using LabVIEW software. Modification of the damping parameters of the articulation, according to the velocity and articulation angle of the vehicle, proved to have a significant impact on the vehicle motion stability. Moreover, the sensor layer necessary for the control algorithm as well as the diagnostic system is described.

  1. A Witricity-Based High-Power Device for Wireless Charging of Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Zhongyu Dai

    2017-03-01

    Full Text Available In this paper, a Witricity-based high-power device is proposed for wireless charging of electric vehicles. According to the specific requirements of three-stage charging for electric vehicles, four compensation modes of the Witricity system are analyzed by the Loosely Coupled Theory among transformer coils and the Substitution Theorem in circuit theory. In addition, when combining voltage withstand levels, the current withstand capability, the switching frequency of electronic switching tubes, and the features of the resonant circuit, the series-parallel (SP compensation mode is selected as the best compensation mode for matching the capacitor of the system. The performances of coils with different ferrite core arrangements are compared by simulations and models. The feasibility of the system is verified theoretically and the system functions are evaluated by the joint simulation of Simplorer and Maxwell. Finally, a Witricity-based high-power device is proposed as designed, and the correctness of theoretical analyses and simulation results are verified.

  2. Poster Abstract: Automatic Calibration of Device Attitude in Inertial Measurement Unit Based Traffic Probe Vehicles

    KAUST Repository

    Mousa, Mustafa

    2016-04-28

    Probe vehicles consist in mobile traffic sensor networks that evolve with the flow of vehicles, transmitting velocity and position measurements along their path, generated using GPSs. To address the urban positioning issues of GPSs, we propose to replace them with inertial measurement units onboard vehicles, to estimate vehicle location and attitude using inertial data only. While promising, this technology requires one to carefully calibrate the orientation of the device inside the vehicle to be able to process the acceleration and rate gyro data. In this article, we propose a scheme that can perform this calibration automatically by leveraging the kinematic constraints of ground vehicles, and that can be implemented on low-end computational platforms. Preliminary testing shows that the proposed scheme enables one to accurately estimate the actual accelerations and rotation rates in the vehicle coordinates. © 2016 IEEE.

  3. Fractional Control of An Active Four-wheel-steering Vehicle

    Science.gov (United States)

    Wang, Tianting; Tong, Jun; Chen, Ning; Tian, Jie

    2018-03-01

    A four-wheel-steering (4WS) vehicle model and reference model with a drop filter are constructed. The decoupling of 4WS vehicle model is carried out. And a fractional PIλDμ controller is introduced into the decoupling strategy to reduce the effects of the uncertainty of the vehicle parameters as well as the unmodelled dynamics on the system performance. Based on optimization techniques, the design of fractional controller are obtained to ensure the robustness of 4WS vehicle during the special range of frequencies through proper choice of the constraints. In order to compare with fractional robust controller, an optimal controller for the same vehicle is also designed. The simulations of the two control systems are carried out and it reveals that the decoupling and fractional robust controller is able to make vehicle model trace the reference model very well with better robustness.

  4. Performance evaluation and design of flight vehicle control systems

    CERN Document Server

    Falangas, Eric T

    2015-01-01

    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...

  5. Connected variable speed limits control and vehicle acceleration control to resolve moving jams

    NARCIS (Netherlands)

    Wang, M.; Daamen, W.; Hoogendoorn, S.P.; Van Arem, B.

    2015-01-01

    The vision of intelligent vehicles traveling in road networks has prompted numerous concepts to control future traffic flow, one of which is the in-vehicle actuation of traffic control signals. The key of this concept is using intelligent vehicles as actuators for traffic control systems, replacing

  6. Tensegrity Models and Shape Control of Vehicle Formations

    OpenAIRE

    Nabet, Benjamin; Leonard, Naomi Ehrich

    2009-01-01

    Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle system dynamics, where each node in the tensegrity structure maps to a vehicle and each interconnecting strut or cable in the structure maps to a virtual interconnection between vehicles. Our method provides a smooth map from any desired planar formation shape ...

  7. Velocity Controller for a Class of Vehicles

    Directory of Open Access Journals (Sweden)

    Herman Przemyslaw

    2017-02-01

    Full Text Available This paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on transformation of equations of motion allows one to use, in the control gain matrix, the dynamical couplings existing in the system. Consequently, the dynamics of the vehicle is incorporated into the control process what leads to fast velocity error convergence. The stability of the system under the controller is derived based on Lyapunov argument. Moreover, the robustness of the proposed controller is shown too. The general approach is valid for 6 DOF models as well as other reduced models of vehicles. Simulation results on a 6 DOF indoor airship validate the described velocity tracking methodology.

  8. Sharing Data between Mobile Devices, Connected Vehicles and Infrastructure Task 12 : D2X Hub Prototype Field Test, Evaluation Plan and Results.

    Science.gov (United States)

    2017-10-25

    Sharing Data between Mobile Devices, Connected Vehicles and Infrastructure was a U.S. DOT-sponsored research project to study the integration of mobile devices (such as smartphones) into the Connected Vehicle (CV) environment. Objectives includ...

  9. Variable friction device for structural control based on duo-servo vehicle brake: Modeling and experimental validation

    Science.gov (United States)

    Cao, Liang; Downey, Austin; Laflamme, Simon; Taylor, Douglas; Ricles, James

    2015-07-01

    Supplemental damping can be used as a cost-effective method to reduce structural vibrations. In particular, passive systems are now widely accepted and have numerous applications in the field. However, they are typically tuned to specific excitations and their performances are bandwidth-limited. A solution is to use semi-active devices, which have shown to be capable of substantially enhanced mitigation performance. The authors have recently proposed a new type of semi-active device, which consists of a variable friction mechanism based on a vehicle duo-servo drum brake, a mechanically robust and reliable technology. The theoretical performance of the proposed device has been previously demonstrated via numerical simulations. In this paper, we further the understanding of the device, termed Modified Friction Device (MFD) by fabricating a small scale prototype and characterizing its dynamic behavior. While the dynamics of friction is well understood for automotive braking technology, we investigate for the first time the dynamic behavior of this friction mechanism at low displacements and velocities, in both forward and backward directions, under various hydraulic pressures. A modified 3-stage dynamic model is introduced. A LuGre friction model is used to characterize the friction zone (Stage 1), and two pure stiffness regions to characterize the dynamics of the MFD once the rotation is reversed and the braking shoes are sticking to the drum (Stage 2) and the rapid build up of forces once the shoes are held by the anchor pin (Stage 3). The proposed model is identified experimentally by subjecting the prototype to harmonic excitations. It is found that the proposed model can be used to characterize the dynamics of the MFD, and that the largest fitting error arises at low velocity under low pressure input. The model is then verified by subjecting the MFD to two different earthquake excitations under different pressure inputs. The model is capable of tracking the

  10. Safety problems in vehicles with adaptive cruise control system

    Directory of Open Access Journals (Sweden)

    Yadav Arun K.

    2017-06-01

    Full Text Available In today’s world automotive industries are still putting efforts towards more autonomous vehicles (AVs. The main concern of introducing the autonomous technology is safety of driver. According to a survey 90% of accidents happen due to mistake of driver. The adaptive cruise control system (ACC is a system which combines cruise control with a collision avoidance system. The ACC system is based on laser and radar technologies. This system is capable of controlling the velocity of vehicle automatically to match the velocity of car, bus or truck in front of vehicle. If the lead vehicle gets slow down or accelerate, than ACC system automatically matches that velocity. The proposed paper is focusing on more accurate methods of detecting the preceding vehicle by using a radar and lidar sensors by considering the vehicle side slip and by controlling the distance between two vehicles. By using this approach i.e. logic for calculation of former vehicle distance and controlling the throttle valve of ACC equipped vehicle, an improvement in driving stability was achieved. The own contribution results with fuel efficient driving and with more safer and reliable driving system, but still some improvements are going on to make it more safe and reliable.

  11. Fuel cell powered vehicles using supercapacitors-device characteristics, control strategies, and simulation results

    Energy Technology Data Exchange (ETDEWEB)

    Zhao, H.; Burke, A.F. [Institute of Transportation Studies, University of California (United States)

    2010-10-15

    The fuel cell powered vehicle is one of the most attractive candidates for the future due to its high efficiency and capability to use hydrogen as the fuel. However, its relatively poor dynamic response, high cost and limited life time have impeded its widespread adoption. With the emergence of large supercapacitors (also know as ultracapacitors, UCs) with high power density and the shift to hybridisation in the vehicle technology, fuel cell/supercapacitor hybrid fuel cell vehicles are gaining more attention. Fuel cells in conjunction with supercapacitors can create high power with fast dynamic response, which makes it well suitable for automotive applications. Hybrid fuel cell vehicles with different powertrain configurations have been evaluated based on simulations performed at the Institute of Transportation Studies, University of California-Davis. The following powertrain configurations have been considered: (a)Direct hydrogen fuel cell vehicles (FCVs) without energy storage (b)FCVs with supercapacitors directly connected in parallel with fuel cells (c)FCVs with supercapacitors coupled in parallel with fuel cells through a DC/DC converter (d)FCVs with fuel cells connected to supercapacitors via a DC/DC converter. (Abstract Copyright [2010], Wiley Periodicals, Inc.)

  12. Advanced control architecture for autonomous vehicles

    Science.gov (United States)

    Maurer, Markus; Dickmanns, Ernst D.

    1997-06-01

    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.

  13. Automated mixed traffic vehicle control and scheduling study

    Science.gov (United States)

    Peng, T. K. C.; Chon, K.

    1976-01-01

    The operation and the expected performance of a proposed automatic guideway transit system which uses low speed automated mixed traffic vehicles (AMTVs) were analyzed. Vehicle scheduling and headway control policies were evaluated with a transit system simulation model. The effect of mixed traffic interference on the average vehicle speed was examined with a vehicle pedestrian interface model. Control parameters regulating vehicle speed were evaluated for safe stopping and passenger comfort. Some preliminary data on the cost and operation of an experimental AMTV system are included. These data were the result of a separate task conducted at JPL, and were included as background information.

  14. Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

    Science.gov (United States)

    Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

    2018-03-01

    Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

  15. Reactor control device

    International Nuclear Information System (INIS)

    Fukami, Haruo; Morimoto, Yoshinori.

    1981-01-01

    Purpose: To operate a reactor always with safety operation while eliminating the danger of tripping. Constitution: In a reactor control device adapted to detect the process variants of a reactor, control a control rod drive controlling system based on the detected signal to thereby control the driving the control rods, control the reactor power and control the electric power generated from an electric generator by the output from the reactor, detection means is provided for the detection of the electric power from said electric generator, and a compensation device is provided for outputting control rod driving compensation signals to the control rod driving controlling system in accordance with the amount of variation in the detected value. (Seki, T.)

  16. Automatic Control of Personal Rapid Transit Vehicles

    Science.gov (United States)

    Smith, P. D.

    1972-01-01

    The requirements for automatic longitudinal control of a string of closely packed personal vehicles are outlined. Optimal control theory is used to design feedback controllers for strings of vehicles. An important modification of the usual optimal control scheme is the inclusion of jerk in the cost functional. While the inclusion of the jerk term was considered, the effect of its inclusion was not sufficiently studied. Adding the jerk term will increase passenger comfort.

  17. Vehicle Dynamics Control of In-wheel Electric Motor Drive Vehicles Based on Averaging of Tire Force Usage

    Science.gov (United States)

    Masaki, Nobuo; Iwano, Haruo; Kamada, Takayoshi; Nagai, Masao

    For in-wheel electric motor drive vehicles, a new vehicle dynamics control which is based on the tire force usage rate is proposed. The new controller adopts non-linear optimal control could manage the interference between direct yaw-moment control and the tire force usage rate. The new control is considered total longitudinal and transverse tire force. Therefore the controller can prevent tire force saturation near tire force limit during cornering. Simulations and test runs by the custom made four wheel drive in-wheel motor electric vehicle show that higher driving stability performance compared to the performance of the same vehicle without control.

  18. A magnetorheological haptic cue accelerator for manual transmission vehicles

    International Nuclear Information System (INIS)

    Han, Young-Min; Noh, Kyung-Wook; Choi, Seung-Bok; Lee, Yang-Sub

    2010-01-01

    This paper proposes a new haptic cue function for manual transmission vehicles to achieve optimal gear shifting. This function is implemented on the accelerator pedal by utilizing a magnetorheological (MR) brake mechanism. By combining the haptic cue function with the accelerator pedal, the proposed haptic cue device can transmit the optimal moment of gear shifting for manual transmission to a driver without requiring the driver's visual attention. As a first step to achieve this goal, a MR fluid-based haptic device is devised to enable rotary motion of the accelerator pedal. Taking into account spatial limitations, the design parameters are optimally determined using finite element analysis to maximize the relative control torque. The proposed haptic cue device is then manufactured and its field-dependent torque and time response are experimentally evaluated. Then the manufactured MR haptic cue device is integrated with the accelerator pedal. A simple virtual vehicle emulating the operation of the engine of a passenger vehicle is constructed and put into communication with the haptic cue device. A feed-forward torque control algorithm for the haptic cue is formulated and control performances are experimentally evaluated and presented in the time domain

  19. Model Predictive Control for Connected Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Kaijiang Yu

    2015-01-01

    Full Text Available This paper presents a new model predictive control system for connected hybrid electric vehicles to improve fuel economy. The new features of this study are as follows. First, the battery charge and discharge profile and the driving velocity profile are simultaneously optimized. One is energy management for HEV for Pbatt; the other is for the energy consumption minimizing problem of acc control of two vehicles. Second, a system for connected hybrid electric vehicles has been developed considering varying drag coefficients and the road gradients. Third, the fuel model of a typical hybrid electric vehicle is developed using the maps of the engine efficiency characteristics. Fourth, simulations and analysis (under different parameters, i.e., road conditions, vehicle state of charge, etc. are conducted to verify the effectiveness of the method to achieve higher fuel efficiency. The model predictive control problem is solved using numerical computation method: continuation and generalized minimum residual method. Computer simulation results reveal improvements in fuel economy using the proposed control method.

  20. Identification of control and management strategies for LV unbalanced microgrids with plugged-in electric vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Pecas Lopes, J.A.; Moreira, C.L. [INESC Porto, Faculdade de Engenharia da Universidade do Porto, Campus da FEUP, Rua Dr. Roberto Frias 378, 4200-465 Porto (Portugal); Polenz, Silvan A.; Cherkaoui, Rachid [EPFL - Ecole Polytechnique Federale de Lausanne, Laboratoire des Reseaux Electriques, Lausanne (Switzerland)

    2010-08-15

    This paper addresses issues concerning the integration of single-phase charging devices for electric vehicles (EV) in low-voltage microgrids. Fast release energy storage is a key issue for microgrid islanding operation. EV batteries provide an additional storage capacity, which can now be exploited in order to improve MG islanding. Aiming to do so, different control strategies were developed and tested: (1) a local control approach where no communication link is required and (2) a centralized charging control solution. The local control approach is based on the measuring of EV terminal voltage and frequency in order to define the charging or discharging rates of the batteries. The centralized control strategy allows balancing single-phase loads connected to the microgrid by adapting the charging rates of the EV storage devices. Simulation results show that EV batteries can actively contribute for voltage balancing and frequency control during islanding operating conditions. (author)

  1. Generic device controller for accelerator control systems

    International Nuclear Information System (INIS)

    Mariotti, R.; Buxton, W.; Frankel, R.; Hoff, L.

    1987-01-01

    A new distributed intelligence control system has become operational at the AGS for transport, injection, and acceleration of heavy ions. A brief description of the functionality of the physical devices making up the system is given. An attempt has been made to integrate the devices for accelerator specific interfacing into a standard microprocessor system, namely, the Universal Device Controller (UDC). The main goals for such a generic device controller are to provide: local computing power; flexibility to configure; and real time event handling. The UDC assemblies and software are described

  2. OPTIMUM PROGRAMMABLE CONTROL OF UNMANNED FLYING VEHICLE

    Directory of Open Access Journals (Sweden)

    A. А. Lobaty

    2012-01-01

    Full Text Available The paper considers an analytical synthesis problem pertaining to programmable control of an unmanned flying vehicle while steering it to the fixed space point. The problem has been solved while applying a maximum principle which takes into account a final control purpose and its integral expenses. The paper presents an optimum law of controlling overload variation of a flying vehicle that has been obtained analytically

  3. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

    The paper discusses the application of H∞ control techniques to the design of a control system for a remotely operated underwater vehicle. As the main problem in defining a control strategy for such vehicles is the nonlinear and uncertain nature of the modeled dynamics, the robustness properties of H∞ controllers can in principle be used to provide stability and nominal performances for the closed loop system. Therefore, a control strategy based on a scheduling of such controllers has been proposed, and the overall performance of the closed loop system have been evaluated by means of nonlinear simulation in a broad range of working conditions, with particular attention to the effects of the underwater current that acts on the vehicle

  4. To twist or poke? A method for identifying usability issues with the rotary controller and touch screen for control of in-vehicle information systems.

    Science.gov (United States)

    Harvey, Catherine; Stanton, Neville A; Pickering, Carl A; McDonald, Mike; Zheng, Pengjun

    2011-07-01

    In-vehicle information systems (IVIS) can be controlled by the user via direct or indirect input devices. In order to develop the next generation of usable IVIS, designers need to be able to evaluate and understand the usability issues associated with these two input types. The aim of this study was to investigate the effectiveness of a set of empirical usability evaluation methods for identifying important usability issues and distinguishing between the IVIS input devices. A number of usability issues were identified and their causal factors have been explored. These were related to the input type, the structure of the menu/tasks and hardware issues. In particular, the translation between inputs and on-screen actions and a lack of visual feedback for menu navigation resulted in lower levels of usability for the indirect device. This information will be useful in informing the design of new IVIS, with improved usability. STATEMENT OF RELEVANCE: This paper examines the use of empirical methods for distinguishing between direct and indirect IVIS input devices and identifying usability issues. Results have shown that the characteristics of indirect input devices produce more serious usability issues, compared with direct devices and can have a negative effect on the driver-vehicle interaction.

  5. 41 CFR 102-34.250 - Do Federal employees in Government motor vehicles have to use all safety devices and follow all...

    Science.gov (United States)

    2010-07-01

    ... safety devices and follow all safety guidelines? Yes, Federal employees in Government motor vehicles have... 41 Public Contracts and Property Management 3 2010-07-01 2010-07-01 false Do Federal employees in Government motor vehicles have to use all safety devices and follow all safety guidelines? 102-34.250 Section...

  6. Design and setting up of a system for remote monitoring and control on auxiliary machines in electric vehicles

    Directory of Open Access Journals (Sweden)

    Dimitrov Vasil

    2017-01-01

    Full Text Available Systems for remote monitoring and control of the proper operation, energy consumption, and efficiency of the controlled objects are very often used in different spheres of industry, in the electricity distribution network, etc. Various types of intelligent energy meters, PLCs and other control devices are involved in such systems. Proper operation of the auxiliary machines in electric vehicles is of great importance and implementation of a system for their remote monitoring and control is useful and ensures reliability and increased efficiency. A system has been designed and built using contemporary devices. An asynchronous motor is controlled by a soft starter and opportunities for remote monitoring (by an intelligent energy meter and control (by a PLC and Touch panel have been provided. Soft starters are widely used in industry for control on asynchronous drives when speed regulation is not a mandatory requirement. They are cheaper than inverters and frequency converters and allow for temporal reduction of the torque and current surge during start-up, as well as smooth deceleration. Therefore they can also be used in electric vehicles to control auxiliary machines (pumps, fans, air coolers, compressors, etc.. The present paper presents a methodology for their design and setting up.

  7. Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

    Science.gov (United States)

    2007-11-01

    Tolerant Overactuated Autonomous Vehicles Casavola, A.; Garone, E. (2007) Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous ...Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Tolerant Overactuated Autonomous Vehicles 3.2 - 2 RTO-MP-AVT-145 UNCLASSIFIED/UNLIMITED Control allocation problem (CAP) - Given a virtual input v(t

  8. Fuzzy logic electric vehicle regenerative antiskid braking and traction control system

    Science.gov (United States)

    Cikanek, Susan R.

    1994-01-01

    An regenerative antiskid braking and traction control system using fuzzy logic for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensor and determining if regenerative antiskid braking control, requiring hydraulic braking control, and requiring traction control are required. The processor then employs fuzzy logic based on the determined vehicle state and provides command signals to a motor controller to control operation of the electric traction motor and to the brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative braking control, hydraulic braking control, and traction control.

  9. Control rod selecting and driving device

    International Nuclear Information System (INIS)

    Isobe, Hideo.

    1981-01-01

    Purpose: To simultaneously drive a predetermined number of control rods in a predetermined mode by the control of addresses for predetermined number of control rods and read or write of driving codified data to and from the memory by way of a memory controller. Constitution: The system comprises a control rod information selection device for selecting predetermined control rods from a plurality of control rods disposed in a reactor and outputting information for driving them in a predetermined mode, a control rod information output device for codifying the information outputted from the above device and outputting the addresses to the predetermined control rods and driving mode coded data, and a driving device for driving said predetermined control rods in a predetermined mode in accordance with the codified data outputted from the above device, said control rod infromation output device comprising a memory device capable of storing a predetermined number of the codified data and a memory control device for storing the predetermined number of data into the above memory device at a predetermined timing while successively outputting the thus stored predetermined number of data at a predetermined timing. (Seki, T.)

  10. Control rod drive hydraulic device

    International Nuclear Information System (INIS)

    Takekawa, Toru.

    1994-01-01

    The device of the present invention can reliably prevent a possible erroneous withdrawal of control rod driving mechanism when the pressure of a coolant line is increased by isolation operation of hydraulic control units upon periodical inspection for a BWR type reactor. That is, a coolant line is connected to the downstream of a hydraulic supply device. The coolant line is connected to a hydraulic control unit. A coolant hydraulic detection device and a pressure setting device are disposed to the coolant line. A closing signal line and a returning signal line are disposed, which connect the hydraulic supply device and a flow rate control valve for the hydraulic setting device. In the device of the present invention, even if pressure of supplied coolants is elevated due to isolation of hydraulic control units, the elevation of the hydraulic pressure can be prevented. Accordingly, reliability upon periodical reactor inspection can be improved. Further, the facility is simplified and the installation to an existent facility is easy. (I.S.)

  11. The Practical Design of In-vehicle Telematics Device with GPS and MEMS Accelerometers

    Directory of Open Access Journals (Sweden)

    D. M. Dramićanin

    2012-11-01

    Full Text Available The latest generation of vehicle tracking devices relies not only on Global Positioning System (GPS but also uses low-cost Micro-Electro-Mechanical Systems (MEMS accelerometers. This combination supports new services such as driving style characterization and Automatic Crash Notification (ACN. Our focus will be on practical considerations of such a telematics unit. The paper will consider the boundaries of allowed errors and minimal requirements for sensors and mounting requirements. Sensor range for crash detection and impact angle estimation was tested on field trials with two units containing accelerometers range of 18g and 2g. The kinematic orientation of vehicle is evaluated in a series of field trials with a resulting standard deviation of estimation of 1.67°. The second run of experiments considers the dynamic range and sampling rate of sensors during collision. A sensor range of 8g (typical for present-day telematics devices can be used to detect crash without accurate knowledge of impact angle.

  12. Fuzzy logic electric vehicle regenerative antiskid braking and traction control system

    Science.gov (United States)

    Cikanek, S.R.

    1994-10-25

    An regenerative antiskid braking and traction control system using fuzzy logic for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensor and determining if regenerative antiskid braking control, requiring hydraulic braking control, and requiring traction control are required. The processor then employs fuzzy logic based on the determined vehicle state and provides command signals to a motor controller to control operation of the electric traction motor and to the brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative braking control, hydraulic braking control, and traction control. 123 figs.

  13. Tasking and control of a squad of robotic vehicles

    Science.gov (United States)

    Lewis, Christopher L.; Feddema, John T.; Klarer, Paul

    2001-09-01

    Sandia National Laboratories have developed a squad of robotic vehicles as a test-bed for investigating cooperative control strategies. The squad consists of eight RATLER vehicles and a command station. The RATLERs are medium-sized all-electric vehicles containing a PC104 stack for computation, control, and sensing. Three separate RF channels are used for communications; one for video, one for command and control, and one for differential GPS corrections. Using DGPS and IR proximity sensors, the vehicles are capable of autonomously traversing fairly rough terrain. The control station is a PC running Windows NT. A GUI has been developed that allows a single operator to task and monitor all eight vehicles. To date, the following mission capabilities have been demonstrated: 1. Way-Point Navigation, 2. Formation Following, 3. Perimeter Surveillance, 4. Surround and Diversion, and 5. DGPS Leap Frog. This paper describes the system and briefly outlines each mission capability. The DGPS Leap Frog capability is discussed in more detail. This capability is unique in that it demonstrates how cooperation allows the vehicles to accurately navigate beyond the RF communication range. One vehicle stops and uses its corrected GPS position to re-initialize its receiver to become the DGPS correction station for the other vehicles. Error in position accumulates each time a new vehicle takes over the DGPS duties. The accumulation in error is accurately modeled as a random walk phenomenon. This paper demonstrates how useful accuracy can be maintained beyond the vehicle's range.

  14. Dual motor drive vehicle speed synchronization and coordination control strategy

    Science.gov (United States)

    Huang, Hao; Tu, Qunzhang; Jiang, Chenming; Ma, Limin; Li, Pei; Zhang, Hongxing

    2018-04-01

    Multi-motor driven systems are more and more widely used in the field of electric engineering vehicles, as a result of the road conditions and the variable load of engineering vehicles, makes multi-motors synchronization coordinated control system as a key point of the development of the electric vehicle drive system. This paper based on electrical machinery transmission speed in the process of engineering vehicles headed for coordinated control problem, summarized control strategies at home and abroad in recent years, made analysis and comparison of the characteristics, finally discussed the trend of development of the multi-motor coordination control, provided a reference for synchronized control system research of electric drive engineering vehicles.

  15. Design of a Tele-Control Electrical Vehicle System Using a Fuzzy Logic Control

    Directory of Open Access Journals (Sweden)

    M. Boukhnifer

    2012-11-01

    Full Text Available This paper presents a fuzzy logic design of a tele-control electrical vehicle system. We showed that the application of fuzzy logic control allows the stability of tele-vehicle system in spite of communication delays between the operator and the vehicle. A robust bilateral controller design using fuzzy logic frameworks was proposed. This approach allows a convenient means to trade off robustness and stability for a pre-specified time-delay margin. Both the performance and robustness of the proposed method were demonstrated by simulation results for a constant time delay between the operator and the electrical vehicle system.

  16. The efficiency of direct torque control for electric vehicle behavior improvement

    Directory of Open Access Journals (Sweden)

    Gasbaoui Brahim

    2011-01-01

    Full Text Available Nowadays the electric vehicle motorization control takes a great interest of industrials for commercialized electric vehicles. This paper is one example of the proposed control methods that ensure both safety and stability the electric vehicle by the means of Direct Torque Control (DTC. For motion of the vehicle the electric drive consists of four wheels: two front ones for steering and two rear ones for propulsion equipped with two induction motors, due to their lightweight simplicity and high performance. Acceleration and steering are ensured by the electronic differential, permitting safe and reliable steering at any curve. The direct torque control ensures efficiently controlled vehicle. Electric vehicle direct torque control is simulated in MATLAB SIMULINK environment. Electric vehicle (EV demonstrated satisfactory results in all type of roads constraints: straight, ramp, downhill and bends.

  17. Piecewise affine control for fast unmanned ground vehicles

    OpenAIRE

    Benine Neto , André; Grand , Christophe

    2012-01-01

    International audience; Unmanned ground vehicles (UGV) may experience skidding when moving at high speeds, and therefore have its safety jeopardized. For this reason the nonlinear dynamics of lateral tire forces must be taken into account into the design of steering controllers for autonomous vehicles. This paper presents the design of a state feedback piecewise affine controller applied to an UGV to coordinate the steering and torque distribution inputs in order to reduce vehicle skidding on...

  18. Design and analysis of control strategies for vehicle platooning

    NARCIS (Netherlands)

    Saxena, A.; Li, Hong; Goswami, D.; Math, C.B.

    2016-01-01

    This paper presents a novel vehicle platoon control algorithm using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) wireless communications between platoon members. A platoon forms a chain of vehicles (e.g., trucks) for improved traffic and fuel efficiency. Platooning algorithms aim to

  19. Control rod control device

    International Nuclear Information System (INIS)

    Seiji, Takehiko; Obara, Kohei; Yanagihashi, Kazumi

    1998-01-01

    The present invention provides a device suitable for switching of electric motors for driving each of control rods in a nuclear reactor. Namely, in a control rod controlling device, a plurality of previously allotted electric motors connected in parallel as groups, and electric motors of any selected group are driven. In this case, a voltage of not driving predetermined selected electric motors is at first applied. In this state an electric current supplied to the circuit of predetermined electric motors is detected. Whether integration or failure of a power source and the circuit of the predetermined electric motors are normal or not is judged by the detected electric current supplied. After they are judged normal, the electric motors are driven by a regular voltage. With such procedures, whether the selected circuit is normal or not can be accurately confirmed previously. Since the electric motors are not driven just at the selected time, the control rods are not operated erroneously. (I.S.)

  20. Control Relevant Modeling and Design of Scramjet-Powered Hypersonic Vehicles

    Science.gov (United States)

    Dickeson, Jeffrey James

    This report provides an overview of scramjet-powered hypersonic vehicle modeling and control challenges. Such vehicles are characterized by unstable non-minimum phase dynamics with significant coupling and low thrust margins. Recent trends in hypersonic vehicle research are summarized. To illustrate control relevant design issues and tradeoffs, a generic nonlinear 3DOF longitudinal dynamics model capturing aero-elastic-propulsive interactions for wedge-shaped vehicle is used. Limitations of the model are discussed and numerous modifications have been made to address control relevant needs. Two different baseline configurations are examined over a two-stage to orbit ascent trajectory. The report highlights how vehicle level-flight static (trim) and dynamic properties change over the trajectory. Thermal choking constraints are imposed on control system design as a direct consequence of having a finite FER margin. The implication of this state-dependent nonlinear FER margin constraint, the right half plane (RHP) zero, and lightly damped flexible modes, on control system bandwidth (BW) and FPA tracking has been discussed. A control methodology has been proposed that addresses the above dynamics while providing some robustness to modeling uncertainty. Vehicle closure (the ability to fly a trajectory segment subject to constraints) is provided through a proposed vehicle design methodology. The design method attempts to use open loop metrics whenever possible to design the vehicle. The design method is applied to a vehicle/control law closed loop nonlinear simulation for validation. The 3DOF longitudinal modeling results are validated against a newly released NASA 6DOF code.

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

    Directory of Open Access Journals (Sweden)

    Zeeshan Ali Memon

    2012-07-01

    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.

  2. Multiple-Vehicle Longitudinal Collision Mitigation by Coordinated Brake Control

    Directory of Open Access Journals (Sweden)

    Xiao-Yun Lu

    2014-01-01

    Full Text Available Rear-end collision often leads to serious casualties and traffic congestion. The consequences are even worse for multiple-vehicle collision. Many previous works focused on collision warning and avoidance strategies of two consecutive vehicles based on onboard sensor detection only. This paper proposes a centralized control strategy for multiple vehicles to minimize the impact of multiple-vehicle collision based on vehicle-to-vehicle communication technique. The system is defined as a coupled group of vehicles with wireless communication capability and short following distances. The safety relationship can be represented as lower bound limit on deceleration of the first vehicle and upper bound on maximum deceleration of the last vehicle. The objective is to determine the desired deceleration for each vehicle such that the total impact energy is minimized at each time step. The impact energy is defined as the relative kinetic energy between a consecutive pair of vehicles (approaching only. Model predictive control (MPC framework is used to formulate the problem to be constrained quadratic programming. Simulations show its effectiveness on collision mitigation. The developed algorithm has the potential to be used for progressive market penetration of connected vehicles in practice.

  3. Stability Control of Vehicle Emergency Braking with Tire Blowout

    OpenAIRE

    Chen, Qingzhang; Liu, Youhua; Li, Xuezhi

    2014-01-01

    For the stability control and slowing down the vehicle to a safe speed after tire failure, an emergency automatic braking system with independent intellectual property is developed. After the system has received a signal of tire blowout, the automatic braking mode of the vehicle is determined according to the position of the failure tire and the motion state of vehicle, and a control strategy for resisting tire blowout additional yaw torque and deceleration is designed to slow down vehicle to...

  4. Evolving intelligent vehicle control using multi-objective NEAT

    NARCIS (Netherlands)

    Willigen, W.H. van; Haasdijk, E.; Kester, L.J.H.M.

    2013-01-01

    The research in this paper is inspired by a vision of intelligent vehicles that autonomously move along motorways: they join and leave trains of vehicles (platoons), overtake other vehicles, etc. We propose a multi-objective algorithm based on NEAT and SPEA2 that evolves controllers for such

  5. A new controller for battery-powered electric vehicles

    Science.gov (United States)

    Belsterling, C. A.; Stone, J.

    1980-01-01

    This paper describes the development, under a NASA/DOE contract, of a new concept for efficient and reliable control of battery-powered vehicles. It avoids the detrimental effects of pulsed-power controllers like the SCR 'chopper' by using rotating machines to meter continuous currents to the traction motor. The concept is validated in a proof-of-principle demonstration system and a complete vehicle is simulated on an analog computer. Test results show exceptional promise for a full-scale system. Optimum control strategies to minimize controller weight are developed by means of the simulated vehicle. The design for an Engineering Model is then prepared in the form of a practical, compact two-bearing package with forced air cooling. Predicted performance is outstanding, with controller efficiency of over 90% at high speed.

  6. Slip control for LIM propelled transit vehicles

    Science.gov (United States)

    Wallace, A. K.; Parker, J. H.; Dawson, G. E.

    1980-09-01

    Short stator linear induction motors, with an iron-backed aluminum sheet reaction rail and powered by a controlled inverter, have been selected as the propulsion system for transit vehicles in an intermediate capacity system (12-20,000 pphpd). The linear induction motor is capable of adhesion independent braking and acceleration levels which permit safe, close headways. In addition, simple control is possible allowing moving block automatic train control. This paper presents a slip frequency control scheme for the LIM. Experimental results for motoring and braking obtained from a test vehicle are also presented. These values are compared with theoretical predictions.

  7. Adaptive powertrain control for plugin hybrid electric vehicles

    Science.gov (United States)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  8. Robust automatic control system of vessel descent-rise device for plant with distributed parameters “cable – towed underwater vehicle”

    Science.gov (United States)

    Chupina, K. V.; Kataev, E. V.; Khannanov, A. M.; Korshunov, V. N.; Sennikov, I. A.

    2018-05-01

    The paper is devoted to a problem of synthesis of the robust control system for a distributed parameters plant. The vessel descent-rise device has a heave compensation function for stabilization of the towed underwater vehicle on a set depth. A sea state code, parameters of the underwater vehicle and cable vary during underwater operations, the vessel heave is a stochastic process. It means that the plant and external disturbances have uncertainty. That is why it is necessary to use the robust theory for synthesis of an automatic control system, but without use of traditional methods of optimization, because this cable has distributed parameters. The offered technique has allowed one to design an effective control system for stabilization of immersion depth of the towed underwater vehicle for various degrees of sea roughness and to provide its robustness to deviations of parameters of the vehicle and cable’s length.

  9. 76 FR 23255 - Federal Motor Vehicle Safety Standards; Lamps, Reflective Devices, and Associated Equipment

    Science.gov (United States)

    2011-04-26

    ... petitions for reconsideration from Harley-Davidson Motor Company (January 18, 2008) and Ford Motor Company... [Docket No. NHTSA-2007-28322] Federal Motor Vehicle Safety Standards; Lamps, Reflective Devices, and... part, the petitions for reconsideration of the December 4, 2007, final rule reorganizing Federal Motor...

  10. Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics

    Directory of Open Access Journals (Sweden)

    C. Huang

    2014-01-01

    Full Text Available With increasing and more stringent requirements for advanced vehicle integration, including vehicle dynamics and control, traditional control and optimization strategies may not qualify for many applications. This is because, among other factors, they do not consider the nonlinear characteristics of practical systems. Moreover, the vehicle wheel model has some inadequacies regarding the sideslip angle, road adhesion coefficient, vertical load, and velocity. In this paper, an adaptive neural wheel network is introduced, and the interaction between the lateral and vertical dynamics of the vehicle is analyzed. By means of nonlinear analyses such as the use of a bifurcation diagram and the Lyapunov exponent, the vehicle is shown to exhibit complicated motions with increasing forward speed. Furthermore, electric power steering (EPS and active suspension system (ASS, which are based on intelligent control, are used to reduce the nonlinear effect, and a negotiation algorithm is designed to manage the interdependences and conflicts among handling stability, driving smoothness, and safety. Further, a rapid control prototype was built using the hardware-in-the-loop simulation platform dSPACE and used to conduct a real vehicle test. The results of the test were consistent with those of the simulation, thereby validating the proposed control.

  11. Broadband vehicle-to-vehicle communication using an extended autonomous cruise control sensor

    Science.gov (United States)

    Heddebaut, M.; Rioult, J.; Ghys, J. P.; Gransart, Ch; Ambellouis, S.

    2005-06-01

    For several years road vehicle autonomous cruise control (ACC) systems as well as anti-collision radar have been developed. Several manufacturers currently sell this equipment. The current generation of ACC sensors only track the first preceding vehicle to deduce its speed and position. These data are then used to compute, manage and optimize a safety distance between vehicles, thus providing some assistance to car drivers. However, in real conditions, to elaborate and update a real time driving solution, car drivers use information about speed and position of preceding and following vehicles. This information is essentially perceived using the driver's eyes, binocular stereoscopic vision performed through the windscreens and rear-view mirrors. Furthermore, within a line of vehicles, the frontal road perception of the first vehicle is very particular and highly significant. Currently, all these available data remain strictly on-board the vehicle that has captured the perception information and performed these measurements. To get the maximum effectiveness of all these approaches, we propose that this information be shared in real time with the following vehicles, within the convoy. On the basis of these considerations, this paper technically explores a cost-effective solution to extend the basic ACC sensor function in order to simultaneously provide a vehicle-to-vehicle radio link. This millimetre wave radio link transmits relevant broadband perception data (video, localization...) to following vehicles, along the line of vehicles. The propagation path between the vehicles uses essentially grazing angles of incidence of signals over the road surface including millimetre wave paths beneath the cars.

  12. Semi-active control of tracked vehicle suspension incorporating magnetorheological dampers

    Science.gov (United States)

    Ata, W. G.; Salem, A. M.

    2017-05-01

    In past years, the application of magnetorheological (MR) and electrorheological dampers in vehicle suspension has been widely studied, mainly for the purpose of vibration control. This paper presents theoretical study to identify an appropriate semi-active control method for MR-tracked vehicle suspension. Three representative control algorithms are simulated including the skyhook, hybrid and fuzzy-hybrid controllers. A seven degrees-of-freedom tracked vehicle suspension model incorporating MR dampers has been adopted for comparison between the performance of the three controllers. The model differential equations are derived based on Newton's second law of motion and the proposed control methods are developed. The performance of each control method under bump and sinusoidal road profiles for different vehicle speeds is simulated and compared with the performance of the conventional suspension system in time and frequency domains. The results show that the performance of tracked vehicle suspension with MR dampers is substantially improved. Moreover, the fuzzy-hybrid controller offers an excellent integrated performance in reducing the body accelerations as well as wheel bounce responses compared with the classical skyhook and hybrid controllers.

  13. The Integration of GPS Navigator Device with Vehicles Tracking System for Rental Cars Firms

    OpenAIRE

    Omarah O. Alharaki; Fahad S. Alaieri; Akram M. Zeki

    2010-01-01

    The aim of this research is to integrate the GPS tracking system (tracking device and web-based application) with GPS navigator for rental cars, allowing the company to use various applications to monitor and manage the cars. This is enable the firms and customers to communicate with each other via the GPS navigator. The system should be developed by applying new features in GPS tracking application devices in vehicles. This paper also proposes new features that can be applied to the GPS Navi...

  14. Interinstrument comparison of remote-sensing devices and a new method for calculating on-road nitrogen oxides emissions and validation of vehicle-specific power.

    Science.gov (United States)

    Rushton, Christopher E; Tate, James E; Shepherd, Simon P; Carslaw, David C

    2018-02-01

    Emissions of nitrogen oxides (NOx) by vehicles in real driving environments are only partially understood. This has been brought to the attention of the world with recent revelations of the cheating of the type of approval tests exposed in the dieselgate scandal. Remote-sensing devices offer investigators an opportunity to directly measure in situ real driving emissions of tens of thousands of vehicles. Remote-sensing NO 2 measurements are not as widely available as would be desirable. The aim of this study is to improve the ability of investigators to estimate the NO 2 emissions and to improve the confidence of the total NOx results calculated from standard remote-sensing device (RSD) measurements. The accuracy of the RSD speed and acceleration module was also validated using state-of-the-art onboard global positioning system (GPS) tracking. Two RSDs used in roadside vehicle emissions surveys were tested side by side under off-carriageway conditions away from transient pollution sources to ascertain the consistency of their measurements. The speed correlation was consistent across the range of measurements at 95% confidence and the acceleration correlation was consistent at 95% confidence intervals for all but the most extreme acceleration cases. VSP was consistent at 95% confidence across all measurements except for those at VSP ≥ 15 kW t -1 , which show a small underestimate. The controlled distribution gas nitric oxide measurements follow a normal distribution with 2σ equal to 18.9% of the mean, compared to 15% observed during factory calibration indicative of additional error introduced into the system. Systematic errors of +84 ppm were observed but within the tolerance of the control gas. Interinstrument correlation was performed, with the relationship between the FEAT and the RSD4600 being linear with a gradient of 0.93 and an R 2 of 0.85, indicating good correlation. A new method to calculate NOx emissions using fractional NO 2 combined with NO

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

    Energy Technology Data Exchange (ETDEWEB)

    Seong, M S; Choi, S B [Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751 (Korea, Republic of); Cho, M W [Precision Manufacturing and Inspection Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751 (Korea, Republic of); Lee, H G [Department of Automotive Engineering, Daeduk College, Daejeon, 305-715 (Korea, Republic of)], E-mail: seungbok@inha.ac.kr

    2009-02-01

    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.

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

    International Nuclear Information System (INIS)

    Seong, M S; Choi, S B; Cho, M W; Lee, H G

    2009-01-01

    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.

  17. Vehicle speed control using road bumps

    Directory of Open Access Journals (Sweden)

    T. A. O. Salau

    2004-06-01

    Full Text Available Road bumps play a crucial role in enforcing speed limits, thereby preventing overspeeding of vehicles. It significantly contributes to the overall road safety objective through the prevention of accidents that lead to deaths of pedestrians and damage of vehicles. Despite the importance of road bumps, very little research has been done to investigate into their design. While documentation exists on quantitative descriptions of road bumps, they offer little guidance to decision making. This work presents a unique approach to solving road bumps design problems. The results of our study reveal three important road bumps variables that influence the control of vehicle speeds. The key variables are bump height, bump width, and effective distance between two consecutive road bumps. Since vehicle speed control is the ultimate aim of this study the relationship between vehicle speed and other variables earlier mentioned is established. Vehicle speed is defined as the product of frequency at which a vehicle is moving over road bumps and the sum of effective distance between two consecutive road bumps. In the determination of bump height we assume a conical shaped curve for analysis as a matter of research strategy. Based on this, two stages of motion were analysed. The first concerns the motion over the bump itself while the second relates to the motion between two consecutive road bumps. Fourier series was then used to formulate a holistic equation that combines these two stages. We used trigonometric functions to model the behaviour of the first stage while with the second stage giving a functional value of zero since no changes in height are observed. We carried out vibration analysis to determine the effect of road bumps on a vehicular system. Arising from this a model component is referred to as an isolation factor. This offers guidance to the safe frequency at which vehicles could travel over road bumps. The work appears to contribute to knowledge

  18. A validation study comparing self-reported travel diaries and objective data obtained from in-vehicle monitoring devices in older drivers with bilateral cataract.

    Science.gov (United States)

    Agramunt, Seraina; Meuleners, Lynn; Chow, Kyle Chi; Ng, Jonathon Q; Morlet, Nigel

    2017-09-01

    Advances in technology have made it possible to examine real-world driving using naturalistic data obtained from in-vehicle monitoring devices. These devices overcome the weaknesses of self-report methods and can provide comprehensive insights into driving exposure, habits and practices of older drivers. The aim of this study is to compare self-reported and objectively measured driving exposure, habits and practices using a travel diary and an in-vehicle driver monitoring device in older drivers with bilateral cataract. A cross-sectional study was undertaken. Forty seven participants aged 58-89 years old (mean=74.1; S.D.=7.73) were recruited from three eye clinics over a one year period. Data collection consisted of a cognitive test, a researcher-administered questionnaire, a travel diary and an in-vehicle monitoring device. Participants' driving exposure and patterns were recorded for one week using in-vehicle monitoring devices. They also completed a travel diary each time they drove a motor vehicle as the driver. Paired t-tests were used to examine differences/agreement between the two instruments under different driving circumstances. The data from the older drivers' travel diaries significantly underestimated the number of overall trips (ptravel diaries also significantly overestimated overall driving duration (ptravelled under any of the driving circumstances. The results of this study found that relying solely on self-reported travel diaries to assess driving outcomes may not be accurate, particularly for estimates of the number of trips made and duration of trips. The clear advantages of using in-vehicle monitoring devices over travel diaries to monitor driving habits and exposure among an older population are evident. Copyright © 2016 Elsevier Ltd. All rights reserved.

  19. Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

    Science.gov (United States)

    2006-08-14

    COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

  20. A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles

    Science.gov (United States)

    2013-09-01

    Autonomous Vehicles Joseph DiVita, PhD Robert L. Morris Maria Olinda Rodas SSC Pacific Approved...298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 09–2013 Final A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles Joseph...Mission Area: Command and Control, Queueing Model; Supervisory Control; Unmanned Autonomous Vehicles M. O. Rodas U U U U 38 (619)

  1. A PEMFC hybrid electric vehicle real time control system

    Science.gov (United States)

    Sun, Hongqiao

    In recent years, environmental friendly technologies and alternative energy solutions have drawn a lot of public attentions due to global energy crisis and pollution issues. Fuel cell (FC), a technology invented almost at the same time as the internal combustion (IC) engine, is now the focus of the automotive industry again. The fuel cell vehicle (FCV) has zero emission and its efficiency is significantly higher than the conventional IC engine power vehicles. Among a variety of FCV technologies, proton exchange membrane (PEM) FC vehicle appears to be far more attractive and mature. The prototype PEMFC vehicle has been developed and demonstrated to the public by nearly all the major automotive manufacturers in recent years. However, to the interest of the public research, publications and documentations on the PEMFC vehicle technology are rarely available due to its proprietary nature, which essentially makes it a secured technology. This dissertation demonstrates a real world application of a PEMFC hybrid electric vehicle. Through presenting the vehicle design concept, developing the real time control system and generating generic operation principles, this dissertation targets at establishing the public knowledge base on this new technology. A complete PEMFC hybrid electric vehicle design, including vehicle components layout, process flow diagram, real time control system architecture, subsystem structures and control algorithms, is presented in order to help understand the whole vehicle system. The design concept is validated through the vehicle demonstration. Generic operating principles are established along with the validation process, which helps populate this emerging technology. Thereafter, further improvements and future research directions are discussed.

  2. Design of a stable fuzzy controller for an articulated vehicle.

    Science.gov (United States)

    Tanaka, K; Kosaki, T

    1997-01-01

    This paper presents a backward movement control of an articulated vehicle via a model-based fuzzy control technique. A nonlinear dynamic model of the articulated vehicle is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the articulated vehicle. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The stability conditions are characterized in terms of linear matrix inequalities since the stability analysis is reduced to a problem of finding a common Lyapunov function for a set of Lyapunov inequalities. Simulation results and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle.

  3. Intelligent Traffic Control System Implementation for Traffic Violation Control, Congestion Control and Stolen Vehicle Detection

    Directory of Open Access Journals (Sweden)

    Swarup Suresh Kulkarni

    2017-07-01

    Full Text Available Traffic is significant issue in our nation, particularly in urban ranges. Aftereffect of this, activity clog issue happens. Crisis vehicle like rescue vehicle, fire unit, squad cars confront bunches of issue to achieve their goal on account of congested driving conditions, coming about loss of human lives. To minimize this issue we approach new idea name as ”Traffic control framework for blockage control and stolen Vehicle location”. In this framework activity freedom done by transforming Red flag into Green flag. We demonstrate idea of what is called ”Green wave”. Alongside this, we distinguish stolen vehicle by utilizing extremely advantageous RFID innovation. In the event that stolen vehicle is been distinguished, the framework gives ready sign through ringer. Framework sends Message with the assistance of GSM to Police station. In this framework we Use diverse RFID labels for recognizing rescue vehicle, stolen Vehicles. On the off chance that Red flag is on and IR sensor is initiated, then framework gives ringer alarm to movement police. This is novel framework which encourage great answer for comprehend traffic clog.

  4. 7th Conference Simulation and Testing for Vehicle Technology

    CERN Document Server

    Riese, Jens; Rüden, Klaus

    2016-01-01

    The book includes contributions on the latest model-based methods for the development of personal and commercial vehicle control devices. The main topics treated are: application of simulation and model design to development of driver assistance systems; physical and database model design for engines, motors, powertrain, undercarriage and the whole vehicle; new simulation tools, methods and optimization processes; applications of simulation in function and software development; function and software testing using HiL, MiL and SiL simulation; application of simulation and optimization in application of control devices; automation approaches at all stages of the development process.

  5. Automated mixed traffic transit vehicle microprocessor controller

    Science.gov (United States)

    Marks, R. A.; Cassell, P.; Johnston, A. R.

    1981-01-01

    An improved Automated Mixed Traffic Vehicle (AMTV) speed control system employing a microprocessor and transistor chopper motor current controller is described and its performance is presented in terms of velocity versus time curves. The on board computer hardware and software systems are described as is the software development system. All of the programming used in this controller was implemented using FORTRAN. This microprocessor controller made possible a number of safety features and improved the comfort associated with starting and shopping. In addition, most of the vehicle's performance characteristics can be altered by simple program parameter changes. A failure analysis of the microprocessor controller was generated and the results are included. Flow diagrams for the speed control algorithms and complete FORTRAN code listings are also included.

  6. Electronic differential control of 2WD electric vehicle considering steering stability

    Science.gov (United States)

    Hua, Yiding; Jiang, Haobin; Geng, Guoqing

    2017-03-01

    Aiming at the steering wheel differential steering control technology of rear wheel independent driving electric wheel, considering the assisting effect of electronic differential control on vehicle steering, based on the high speed steering characteristic of electric wheel car, the electronic differential speed of auxiliary wheel steering is also studied. A yaw moment control strategy is applied to the vehicle at high speed. Based on the vehicle stability reference value, yaw rate is used to design the fuzzy controller to distribute the driving wheel torque. The simulation results show that the basic electronic differential speed function is realized based on the yaw moment control strategy, while the vehicle stability control is improved and the driving safety is enhanced. On the other hand, the torque control strategy can also assist steering of vehicle.

  7. Optimal control strategy design for extending all-electric driving capability of plug-in hybrid electric vehicles (PHEVs)

    Energy Technology Data Exchange (ETDEWEB)

    Williamson, S.S [Concordia Univ., Montreal, PQ (Canada). Dept. of Electrical and Computer Engineering, P.D Ziogas Power Electronics Laboratory

    2007-07-01

    The high voltage energy storage system in plug-in hybrid electric vehicles (PHEVs) is usually a rechargeable type that service a dual purpose, notably to supplement the power delivered by the internal combustion engine, and to provide partial propulsion energy from an off-board source of electricity. The energy storage devices in electric vehicles typically improve vehicle efficiency through engine downsizing and by recapturing braking energy. However, since PHEVs have the ability to recharge their energy storage systems directly from the power grid, the periods of all-electric operation can be extended, thereby reducing the dependence on the internal combustion engine. This is particularly useful in city driving conditions. Developers of PHEV technology are faced with the challenge of choosing the appropriate energy storage battery in order to improve the all-electric drive range. In this study, control strategies were modeled for specific driving load conditions using the Advanced Vehicle Simulator (ADVISOR) software. This paper presented specific control algorithms for PHEV operation for various city driving loads. The optimal design strategy considered the improvement of critical energy storage parameters, overall drive train efficiency, and vehicle performance characteristics. Future trends in the design and development of PHEV drive trains were also presented. 13 figs.

  8. Hypersonic vehicle control law development using H(infinity) and micron-synthesis

    Science.gov (United States)

    Gregory, Irene M.; Mcminn, John D.; Shaughnessy, John D.; Chowdhry, Rajiv S.

    1993-01-01

    Hypersonic vehicle control law development using H(infinity) and mu-synthesis is discussed. Airbreathing SSTO vehicles has a mutli-faceted mission that includes orbital operations, as well as re-entry and descent culminating in horizontal landing. However, the most challenging part of the operations is the ascent to orbit. The airbreathing propulsion requires lengthy atmospheric flight that may last as long as 30 minutes and take the vehicle half way around the globe. The vehicles's ascent is characterized by tight payload to orbit margins which translate into minimum fuel orbit as the performance criteria. Issues discussed include: SSTO airbreathing vehicle issues; control system performance requirements; robust control law framework; H(infinity) controller frequency analysis; and mu controller frequency analysis.

  9. A path-following driver/vehicle model with optimized lateral dynamic controller

    Directory of Open Access Journals (Sweden)

    Behrooz Mashadi

    Full Text Available Reduction in traffic congestion and overall number of accidents, especially within the last decade, can be attributed to the enormous progress in active safety. Vehicle path following control with the presence of driver commands can be regarded as one of the important issues in vehicle active safety systems development and more realistic explanation of vehicle path tracking problem. In this paper, an integrated driver/DYC control system is presented that regulates the steering angle and yaw moment, considering driver previewed path. Thus, the driver previewed distance, the heading error and the lateral deviation between the vehicle and desired path are used as inputs. Then, the controller determines and applies a corrective steering angle and a direct yaw moment to make the vehicle follow the desired path. A PID controller with optimized gains is used for the control of integrated driver/DYC system. Genetic Algorithm as an intelligent optimization method is utilized to adapt PID controller gains for various working situations. Proposed integrated driver/DYC controller is examined on lane change manuvers andthe sensitivity of the control system is investigated through the changes in the driver model and vehicle parameters. Simulation results show the pronounced effectiveness of the controller in vehicle path following and stability.

  10. Cooperative Control of Multiple Unmanned Autonomous Vehicles

    Science.gov (United States)

    2005-06-03

    I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

  11. Slip Ratio Estimation and Regenerative Brake Control for Decelerating Electric Vehicles without Detection of Vehicle Velocity and Acceleration

    Science.gov (United States)

    Suzuki, Toru; Fujimoto, Hiroshi

    In slip ratio control systems, it is necessary to detect the vehicle velocity in order to obtain the slip ratio. However, it is very difficult to measure this velocity directly. We have proposed slip ratio estimation and control methods that do not require the vehicle velocity with acceleration. In this paper, the slip ratio estimation and control methods are proposed without detecting the vehicle velocity and acceleration when it is decelerating. We carried out simulations and experiments by using an electric vehicle to verify the effectiveness of the proposed method.

  12. Intelligent battery energy management and control for vehicle-to-grid via cloud computing network

    International Nuclear Information System (INIS)

    Khayyam, Hamid; Abawajy, Jemal; Javadi, Bahman; Goscinski, Andrzej; Stojcevski, Alex; Bab-Hadiashar, Alireza

    2013-01-01

    Highlights: • The intelligent battery energy management substantially reduces the interactions of PEV with parking lots. • The intelligent battery energy management improves the energy efficiency. • The intelligent battery energy management predicts the road load demand for vehicles. - Abstract: Plug-in Electric Vehicles (PEVs) provide new opportunities to reduce fuel consumption and exhaust emission. PEVs need to draw and store energy from an electrical grid to supply propulsive energy for the vehicle. As a result, it is important to know when PEVs batteries are available for charging and discharging. Furthermore, battery energy management and control is imperative for PEVs as the vehicle operation and even the safety of passengers depend on the battery system. Thus, scheduling the grid power electricity with parking lots would be needed for efficient charging and discharging of PEV batteries. This paper aims to propose a new intelligent battery energy management and control scheduling service charging that utilize Cloud computing networks. The proposed intelligent vehicle-to-grid scheduling service offers the computational scalability required to make decisions necessary to allow PEVs battery energy management systems to operate efficiently when the number of PEVs and charging devices are large. Experimental analyses of the proposed scheduling service as compared to a traditional scheduling service are conducted through simulations. The results show that the proposed intelligent battery energy management scheduling service substantially reduces the required number of interactions of PEV with parking lots and grid as well as predicting the load demand calculated in advance with regards to their limitations. Also it shows that the intelligent scheduling service charging using Cloud computing network is more efficient than the traditional scheduling service network for battery energy management and control

  13. Geometry Modeling and Adaptive Control of Air-Breathing Hypersonic Vehicles

    Science.gov (United States)

    Vick, Tyler Joseph

    Air-breathing hypersonic vehicles have the potential to provide global reach and affordable access to space. Recent technological advancements have made scramjet-powered flight achievable, as evidenced by the successes of the X-43A and X-51A flight test programs over the last decade. Air-breathing hypersonic vehicles present unique modeling and control challenges in large part due to the fact that scramjet propulsion systems are highly integrated into the airframe, resulting in strongly coupled and often unstable dynamics. Additionally, the extreme flight conditions and inability to test fully integrated vehicle systems larger than X-51 before flight leads to inherent uncertainty in hypersonic flight. This thesis presents a means to design vehicle geometries, simulate vehicle dynamics, and develop and analyze control systems for hypersonic vehicles. First, a software tool for generating three-dimensional watertight vehicle surface meshes from simple design parameters is developed. These surface meshes are compatible with existing vehicle analysis tools, with which databases of aerodynamic and propulsive forces and moments can be constructed. A six-degree-of-freedom nonlinear dynamics simulation model which incorporates this data is presented. Inner-loop longitudinal and lateral control systems are designed and analyzed utilizing the simulation model. The first is an output feedback proportional-integral linear controller designed using linear quadratic regulator techniques. The second is a model reference adaptive controller (MRAC) which augments this baseline linear controller with an adaptive element. The performance and robustness of each controller are analyzed through simulated time responses to angle-of-attack and bank angle commands, while various uncertainties are introduced. The MRAC architecture enables the controller to adapt in a nonlinear fashion to deviations from the desired response, allowing for improved tracking performance, stability, and

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

    International Nuclear Information System (INIS)

    Khayyam, Hamid; Abawajy, Jemal; Jazar, Reza N.

    2012-01-01

    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. Vehicle rollover risk and electronic stability control systems.

    Science.gov (United States)

    MacLennan, P A; Marshall, T; Griffin, R; Purcell, M; McGwin, G; Rue, L W

    2008-06-01

    Electronic stability control (ESC) systems were developed to reduce motor vehicle collisions (MVCs) caused by loss of control. Introduced in Europe in 1995 and in the USA in 1996, ESC is designed to improve vehicle lateral stability by electronically detecting and automatically assisting drivers in unfavorable situations. To examine the relationship between vehicle rollover risk and presence of ESC using a large national database of MVCs. A retrospective cohort study for the period 1995 through 2006 was carried out using data obtained from the National Automotive Sampling System General Estimates System. All passenger cars and sport utility vehicles (SUVs)/vans of model year 1996 and later were eligible. Vehicle ESC (unavailable, optional, standard) was determined on the basis of make, model, and model year. Risk ratios (RRs) and 95% CIs were calculated to compare rollover risk by vehicle ESC group. For all crashes, vehicles equipped with standard ESC had decreased risk of rollover (RR = 0.62, 95% CI 0.50 to 0.77) compared with vehicles with ESC unavailable. The association was consistent for single-vehicle MVCs (RR = 0.61, 95% CI 0.46 to 0.82); passenger cars had decreased rollover risk (RR = 0.77, 95% CI 0.52 to 1.12), but SUVs/vans had a more dramatically decreased risk (RR = 0.40, 95% CI 0.26 to 0.61). This study supports previous results showing ESC to be effective in reducing the risk of rollover. ESC is more effective in SUVs/vans for rollovers related to single-vehicle MVCs.

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

    Science.gov (United States)

    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.

  17. Review on dynamics control of 4WID-4WIS electric vehicle

    Directory of Open Access Journals (Sweden)

    Xin LAI

    2016-08-01

    Full Text Available The four-wheel independent drive and four-wheel independent steering (4WID-4WIS vehicle has the advantages of short transmission chain, high efficiency, compact structure, and high maneuverability. The kinematics and dynamic control of the 4WID-4WIS vehicle are discussed, then key and difficult problems are refined. The distributed network control system is widely used in the vehicle control system, so that real-time and reliable control under non-ideal network is the research challenges, and hierarchical control method is a hot research topic. For the vehicle dynamics control method, the main research focuses on torque distribution method under one or more optimization objectives, and integrated control which harmonizes multi control subjects has become an important research direction. In order to solve the problem of steering mode static switching of the 4WID-4WIS vehicle, the study on the dynamic switching method based on redundant control degree of freedom is a new research direction.

  18. Sliding mode-based lateral vehicle dynamics control using tyre force measurements

    Science.gov (United States)

    Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

    2015-11-01

    In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

  19. Regardless-of-Speed Superconducting LSM Controlled-Repulsive MAGLEV Vehicle

    Science.gov (United States)

    Yoshida, Kinjiro; Egashira, Tatsuya; Hirai, Ryuichi

    1996-01-01

    This paper proposes a new repulsive Maglev vehicle which a superconducting linear synchronous motor (LSM) can levitate and propel simultaneously, independently of the vehicle speeds. The combined levitation and propulsion control is carried out by controlling mechanical-load angle and armature-current. Dynamic simulations show successful operations with good ride-quality by using a compact control method proposed here.

  20. Wheeled mobility device transportation safety in fixed route and demand-responsive public transit vehicles within the United States.

    Science.gov (United States)

    Frost, Karen L; van Roosmalen, Linda; Bertocci, Gina; Cross, Douglas J

    2012-01-01

    An overview of the current status of wheelchair transportation safety in fixed route and demand-responsive, non-rail, public transportation vehicles within the US is presented. A description of each mode of transportation is provided, followed by a discussion of the primary issues affecting safety, accessibility, and usability. Technologies such as lifts, ramps, securement systems, and occupant restraint systems, along with regulations and voluntary industry standards have been implemented with the intent of improving safety and accessibility for individuals who travel while seated in their wheeled mobility device (e.g., wheelchair or scooter). However, across both fixed route and demand-responsive transit systems a myriad of factors such as nonuse and misuse of safety systems, oversized wheeled mobility devices, vehicle space constraints, and inadequate vehicle operator training may place wheeled mobility device (WhMD) users at risk of injury even under non-impact driving conditions. Since WhMD-related incidents also often occur during the boarding and alighting process, the frequency of these events, along with factors associated with these events are described for each transit mode. Recommendations for improving WhMD transportation are discussed given the current state of

  1. Simulation of electric vehicles with hybrid power systems

    Science.gov (United States)

    Burke, A. F.; Cole, G. H.

    Computer programs for the simulation of the operation of electric vehicles with hybrid power systems are described. These programs treat cases in which high energy density ultracapacitors or high power density pulse batteries are used to load level the main energy storage battery in the vehicle. A generalized control strategy for splitting the power between the main battery and the pulse power devices is implemented such that the user can specify the nominal battery power as a function of the state-of-charge of the ultracapacitor or pulse power battery. The programs display graphically on the screen, as they run, the power from both the main battery and the pulse power device and the state-of-charge of the pulse power device. After each run is completed, a summary is printed out from which the effect of load leveling the battery on vehicle range and energy consumption can be determined. Default input files are provided with the programs so various combinations of vehicles, driveline components, and batteries of special current interest to the EV community can be run with either type of pulse power device. Typical simulation results are shown including cases in which the pulse power devices are connected in parallel with the main battery without interface electronics.

  2. Hybrid electric vehicle power management system

    Science.gov (United States)

    Bissontz, Jay E.

    2015-08-25

    Level voltage levels/states of charge are maintained among a plurality of high voltage DC electrical storage devices/traction battery packs that are arrayed in series to support operation of a hybrid electric vehicle drive train. Each high voltage DC electrical storage device supports a high voltage power bus, to which at least one controllable load is connected, and at least a first lower voltage level electrical distribution system. The rate of power transfer from the high voltage DC electrical storage devices to the at least first lower voltage electrical distribution system is controlled by DC-DC converters.

  3. Vehicle handling and stability control by the cooperative control of 4WS and DYC

    Science.gov (United States)

    Shen, Huan; Tan, Yun-Sheng

    2017-07-01

    This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

  4. 78 FR 32223 - Control of Air Pollution From Motor Vehicles: Tier 3 Motor Vehicle Emission and Fuel Standards

    Science.gov (United States)

    2013-05-29

    ...-OAR-2011-0135; FRL-9818-5] RIN 2060-A0 Control of Air Pollution From Motor Vehicles: Tier 3 Motor... extension of the public comment period for the proposed rule ``Control of Air Pollution from Motor Vehicles: Tier 3 Motor Vehicle Emission and Fuel Standards'' (the proposed rule is hereinafter referred to as...

  5. A trajectory tracking controller for an underwater hexapod vehicle.

    Science.gov (United States)

    Plamondon, N; Nahon, M

    2009-09-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 degrees in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 degrees.

  6. A trajectory tracking controller for an underwater hexapod vehicle

    International Nuclear Information System (INIS)

    Plamondon, N; Nahon, M

    2009-01-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 deg. in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 deg.

  7. Obstacle Avoidance Control Design: An Experimental Evaluation in Vehicle Platooning

    NARCIS (Netherlands)

    Goos, J.; Alirezaei, M.; Semsar-Kazerooni, E.; Ploeg, J.

    2016-01-01

    In this paper, an obstacle avoidance controller (OA) based on the impedance control method is developed. The main goal of the OA controller is to guarantee robust gap making for a merging vehicle within a platoon of vehicles which are longitudinally automated. The proposed OA controller is developed

  8. Emission Control Research to Enable Fuel Efficiency: Department of Energy Heavy Vehicle Technologies

    International Nuclear Information System (INIS)

    Gurpreet Singh; Ronald L. Graves; John M. Storey; William P. Partridge; John F. Thomas; Bernie M. Penetrante; Raymond M. Brusasco; Bernard T. Merritt; George E. Vogtlin; Christopher L. Aardahl; Craig F. Habeger; M.L. Balmer

    2000-01-01

    The Office of Heavy Vehicle Technologies supports research to enable high-efficiency diesel engines to meet future emissions regulations, thus clearing the way for their use in light trucks as well as continuing as the most efficient powerplant for freight-haulers. Compliance with Tier 2 rules and expected heavy duty engine standards will require effective exhaust emission controls (after-treatment) for diesels in these applications. DOE laboratories are working with industry to improve emission control technologies in projects ranging from application of new diagnostics for elucidating key mechanisms, to development and tests of prototype devices. This paper provides an overview of these R and D efforts, with examples of key findings and developments

  9. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

    Directory of Open Access Journals (Sweden)

    Fitri Yakub

    2016-01-01

    Full Text Available We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.

  10. Dynamic tensegrity based cooperative control of uninhabited vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Lau, Sook Yen; Naeem, Wasif [Queen' s Univ., Belfast (United Kingdom). School of Electronics, Electrical Engineering and Computer Science

    2013-07-01

    A new formation control methodology is presented in this paper. The proposed technique is modelled by using the concept of cross-tensegrity structures. The main task is to regulate the desired formation of a group of vehicles and to perform point-to-point manoeuvring in the plane. The position of the controlled vehicles in the formation changes with respect to the admissible tendon forces by varying the lengths of bars in the dynamic tensegrity structure modelling. This change of bars' dimensions for geometric transformation is not possible in the application of tensegrity concept in the physical structural engineering. It has been demonstrated that this control method allows more flexibility over a wide range of different shape switching tasks using the predictable tendon control forces under the limited communication's range. The proposed approach is also scalable to any number of pairs of autonomous vehicles in the formation.

  11. LMI-Based H¥ Anti-Rollover Control Algorithm of Vehicle Active Suspension

    Directory of Open Access Journals (Sweden)

    LIAO Cong

    2014-10-01

    Full Text Available In order to improve the anti-rollover ability for vehicles, a 4 DOF vehicle rollover dynamics model is established, base on which we have designed an active suspension anti-rollover controller and proposed the H¥ control strategy. Simulations were carried out using Matlab/Simulink, and results show that the proposed control scheme can not only reduce the roll angle and roll angular velocity, but also improve the rollover stability of the vehicle and reduce the probability of vehicle rollover accidents.

  12. Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

    Science.gov (United States)

    Chen, Hongbin

    2018-03-01

    Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

  13. Self-tuning control algorithm design for vehicle adaptive cruise control system through real-time estimation of vehicle parameters and road grade

    Science.gov (United States)

    Marzbanrad, Javad; Tahbaz-zadeh Moghaddam, Iman

    2016-09-01

    The main purpose of this paper is to design a self-tuning control algorithm for an adaptive cruise control (ACC) system that can adapt its behaviour to variations of vehicle dynamics and uncertain road grade. To this aim, short-time linear quadratic form (STLQF) estimation technique is developed so as to track simultaneously the trend of the time-varying parameters of vehicle longitudinal dynamics with a small delay. These parameters are vehicle mass, road grade and aerodynamic drag-area coefficient. Next, the values of estimated parameters are used to tune the throttle and brake control inputs and to regulate the throttle/brake switching logic that governs the throttle and brake switching. The performance of the designed STLQF-based self-tuning control (STLQF-STC) algorithm for ACC system is compared with the conventional method based on fixed control structure regarding the speed/distance tracking control modes. Simulation results show that the proposed control algorithm improves the performance of throttle and brake controllers, providing more comfort while travelling, enhancing driving safety and giving a satisfactory performance in the presence of different payloads and road grade variations.

  14. Comprehensive analysis of the carbon impacts of vehicle intelligent speed control

    Science.gov (United States)

    Carslaw, David C.; Goodman, Paul S.; Lai, Frank C. H.; Carsten, Oliver M. J.

    2010-07-01

    In recent years sophisticated technologies have been developed to control vehicle speed based on the type of road the vehicle is driven on using Global Positioning Systems and in-car technology that can alter the speed of the vehicle. While reducing the speed of road vehicles is primarily of interest from a safety perspective, vehicle speed is also an important determinant of vehicle emissions and thus these technologies can be expected to have impacts on a range of exhaust emissions. This work analyses the results from a very large, comprehensive field trial that used 20 instrumented vehicles with and without speed control driven almost 500,000 km measuring vehicle speed at 10 Hz. We develop individual vehicle modal emissions models for CO 2 for 30 Euro III and Euro IV cars at a 1-Hz time resolution. Generalized Additive Models were used to describe how emissions from individual vehicles vary depending on their driving conditions, taking account of variable interactions and time-lag effects. We quantify the impact that vehicle speed control has on-vehicle emissions of CO 2 by road type, fuel type and driver behaviour. Savings in CO 2 of ≈6% were found on average for motorway-type roads when mandatory speed control was used compared with base case conditions. For most other types of road, speed control has very little effect on emissions of CO 2 and in some cases can result in increased emissions for low-speed limit urban roads. We also find that there is on average a 20% difference in CO 2 emission between the lowest and highest emitting driver, which highlights the importance of driver behaviour in general as a means of reducing emissions of CO 2.

  15. On-road vehicle emission control in Beijing: past, present, and future.

    Science.gov (United States)

    Wu, Ye; Wang, Renjie; Zhou, Yu; Lin, Bohong; Fu, Lixin; He, Kebin; Hao, Jiming

    2011-01-01

    Beijing, the capital of China, has experienced rapid motorization since 1990; a trend that is likely to continue. The growth in vehicles and the corresponding emissions create challenges to improving the urban air quality. In an effort to reduce the impact of vehicle emissions on urban air quality, Beijing has adopted a number of vehicle emission control strategies and policies since the mid 1990 s. These are classified into seven categories: (1) emission control on new vehicles; (2) emission control on in-use vehicles; (3) fuel quality improvements; (4) alternative-fuel and advanced vehicles; (5) economic policies; (6) public transport; and (7) temporal traffic control measures. Many have proven to be successful, such as the Euro emission standards, unleaded gasoline and low sulfur fuel, temporal traffic control measures during the Beijing Olympic Games, etc. Some, however, have been failures, such as the gasoline-to-LPG taxi retrofit program. Thanks to the emission standards for new vehicles as well as other controls, the fleet-average emission rates of CO, HC, NO(X), and PM(10) by each major vehicle category are decreasing over time. For example, gasoline cars decreased fleet-average emission factors by 12.5% for CO, 10.0% for HC, 5.8% for NO(X), and 13.0% for PM(10) annually since 1995, and such a trend is likely to continue. Total emissions for Beijing's vehicle fleet increased from 1995 to 1998. However, they show a clear and steady decrease between 1999 and 2009. In 2009, total emissions of CO, HC, NO(X), and PM(10) were 845,000 t, 121,000 t, 84,000 t, and 3700 t, respectively; with reductions of 47%, 49%, 47%, and 42%, relative to 1998. Beijing has been considered a pioneer in controlling vehicle emissions within China, similar to the role of California to the U.S. The continued rapid growth of vehicles, however, is challenging Beijing's policy-makers.

  16. Impacts of Vehicle (In)Security

    Energy Technology Data Exchange (ETDEWEB)

    Chugg, J.; Rohde, K.

    2015-05-01

    Nuclear and radioactive material is routinely transported worldwide every day. Since 2010, the complexity of the transport vehicle to support such activities has grown exponentially. Many core functions of a vehicle are now handled by small embedded computer modules with more being added each year to enhance the owner’s experience and convenience. With a system as complex as today’s automobile, the potential for cyber security issues is certain. Hackers have begun exploring this new domain with public information increasingly disseminated. Because vehicles are allowed into and around secure nuclear facilities, the potential for using a vehicle as a new cyber entry point or vector into the facility is now plausible and must be mitigated. In addition, compromising such a vehicle could aide in illicit removal of nuclear material, putting sensitive cargo at risk. Because cyber attacks can now be introduced using vehicles, cyber security, needs to be integrated into an organization’s design basis threat document. Essentially, a vehicle now extends the perimeter for which security professionals are responsible.Electronic Control Units (ECU) responsible for handling all core and ancillary vehicle functions are interconnected using the controller area network (CAN) bus. A typical CAN network in a modern automobile contains 50 or more ECUs. The CAN protocol now supports a wide variety of areas, including automotive, road transportation, rail transportation, industrial automation, power generation, maritime, military vehicles, aviation, and medical devices. In many ways, the nuclear industry is employing the CAN bus protocol or other similar broadcast serial networks. This paper will provide an overview of the current state of automobile and CAN Bus security, as well as an overview of what has been publicly disclosed by many research organizations. It will then present several hypotheses of how vehicle security issues may impact nuclear activities. An initial

  17. Emission Control Cost-Effectiveness of Alternative-Fuel Vehicles

    OpenAIRE

    Wang, Quanlu; Sperling, Daniel; Olmstead, Janis

    1993-01-01

    Although various legislation and regulations have been adopted to promote the use of alternative-fuel vehicles for curbing urban air pollution problems, there is a lack of systematic comparisons of emission control cost-effectiveness among various alternative-fuel vehicle types. In this paper, life-cycle emission reductions and life-cycle costs were estimated for passenger cars fueled with methanol, ethanol, liquified petroleum gas, compressed natural gas, and electricity. Vehicle emission es...

  18. Optimal Control of Engine Warmup in Hybrid Vehicles

    Directory of Open Access Journals (Sweden)

    van Reeven Vital

    2016-01-01

    Full Text Available An Internal Combustion Engine (ICE under cold conditions experiences increased friction losses due to a high viscosity of the lubricant. With the additional control freedom present in hybrid electric vehicles, the losses during warmup can be minimized and fuel can be saved. In this paper, firstly, a control-oriented model of the ICE, describing the warmup behavior, is developed and validated on measured vehicle data. Secondly, the two-state, non-autonomous fuel optimization, for a parallel hybrid electric vehicle with stop-start functionality, is solved using optimal control theory. The principal behavior of the Lagrange multipliers is explicitly derived, including the discontinuities (jumps that are caused by the constraints on the lubricant temperature and the energy in the battery system. The minimization of the Hamiltonian for this two-state problem is also explicitly solved, resulting in a computationally efficient algorithm. The optimal controller shows the fuel benefit, as a function of the initial temperature, for a long-haul truck simulated on the FTP-75.

  19. Robust on-off pulse control of flexible space vehicles

    Science.gov (United States)

    Wie, Bong; Sinha, Ravi

    1993-01-01

    The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.

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

    NARCIS (Netherlands)

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

    2004-01-01

    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

  1. Realistic control considerations for electromagnetically levitated urban transit vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Billing, J R

    1976-04-01

    A discussion is given of realistic control considerations of suspension dynamics and vehicle/guideway interaction for electromagnetically-levitated urban transit vehicles in the context of revenue applications. The emphasis is on safety, reliability, and maintainability rather than performance. An example urban transit system is described, and the following considerations of dynamics and control are examined: stability, magnet force requirements, magnet airgap requirements, vehicle ride, and component failures. It is shown that it is a formidable problem to ensure suspension stability under all conditions; that operation on curves is a critical magnet and control system design case; that operation of the magnets in the non-linear regime is unavoidable and that component failures will be a major problem. However, good vehicle ride is to be expected. It is concluded that magnetic levitation suspension technology requires substantial development effort before it can be considered suitable for revenue operation.

  2. Vibrations control of light rail transportation vehicle via PID type fuzzy controller using parameters adaptive method

    OpenAIRE

    METİN, Muzaffer; GÜÇLÜ, Rahmi

    2014-01-01

    In this study, a conventional PID type fuzzy controller and parameter adaptive fuzzy controller are designed to control vibrations actively of a light rail transport vehicle which modeled as 6 degree-of-freedom system and compared performances of these two controllers. Rail vehicle model consists of a passenger seat and its suspension system, vehicle body, bogie, primary and secondary suspensions and wheels. The similarity between mathematical model and real system is shown by compar...

  3. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  4. Control system of fuel transporting device

    International Nuclear Information System (INIS)

    Yokota, Minoru.

    1981-01-01

    Purpose: To effectively avoid an obstacle in a fuel transporting device by reading the outputs of absolute position detectors mounted on movable trucks, controlling the movements of the trucks, and thereby smoothly and accurately positioning the fuel transporting device at predetermined position and providing a contact detector thereat. Method: The outputs from absolute position detectors which are mounted on a longitudinally movable truck and a laterally movable truck are input to an input/output control circuit. The input/output control circuit serves to compare, the position a fuel transporting device is to be moved to, with the present position on the basis of said input detection signal and a command signal from an operator console, to calculate the amount of movement to be driven, to produce an operation signal therefor to a control panel, and to drive and control the drive motors which are respectively mounted on the trucks for the fuel transfer device. On the other hand, in case that the transfer device comes into contact with an obstacle, the contact detector will immediately operate to produce a stop command through the control panel to the transporting device, and avoid a collision with the obstacle. (Yoshino, Y.)

  5. Computer controlled motor vehicle battery circuit

    Energy Technology Data Exchange (ETDEWEB)

    Krueger, W.R.; McAuiliffe, G.N.; Schlageter, G.A.

    1986-04-01

    This patent consists of a motor vehicle having a DC motor, a pedal biased to a released position and depressed by the driver to increase speed. An alternate switching means affects the vehicle speed control, a foot switch is operated by the pedal and operative when the pedal is depressed to close a circuit enabling energization of the alternate switching means. A microprocessor includes a program for controlling operation of the alternate switching means, the foot switch is operative when the pedal is released to open the enabling circuit. The program includes a register which is incremented with each passage of the logic and is responsive to the incremented count in the register to instruct a change in position of the alternate switching means.

  6. Modelling and Simulation of Cooperative Control for Bus Rapid Transit Vehicle Platoon in a Connected Vehicle Environment

    Directory of Open Access Journals (Sweden)

    Jiahui Liu

    2017-02-01

    Full Text Available The aim of this paper is to develop a cooperative control model for improving the operational efficiency of Bus Rapid Transit (BRT vehicles. The model takes advantage of the emerging connected vehicle technology. A connected vehicle centre is established to assign a specific reservation time interval and transmit the corresponding dynamic speed guidance to each BRT vehicle. Furthermore, a set of constraints have been set up to avoid bus queuing and waiting phenomena in downstream BRT stations. Therefore, many BRT vehicles are strategically guided to form a platoon, which can pass through an intersection with no impedance. An actual signalized intersection along the Guangzhou BRT corridor is employed to verify and assess the cooperative control model in various traffic conditions. The simulation-based evaluation results demonstrate that the proposed approach can reduce delays, decrease the number of stops, and improve the sustainability of the BRT vehicles.

  7. Network Constrained Transactive Control for Electric Vehicles Integration

    DEFF Research Database (Denmark)

    Hu, Junjie; Yang, Guangya; Bindner, Henrik W.

    2015-01-01

    . This paper applies the transactive control concept to integrate electric vehicles into the power distribution system with the purpose of minimizing the charging cost of electric vehicles as well as preventing grid congestions and voltage violations. A hierarchical EV management system is proposed where three...

  8. Conversion of Diesel Vehicles to Electric Vehicles and Controlled by PID Controller

    OpenAIRE

    Mengi, Onur Özdal

    2017-01-01

    Internal combustion engine vehicles are the most producedand sold vehicles on the market. In recent years, interest in electric vehicleshas begun to increase, especially due to the environmental problems. In thenear future, it is estimated that gasoline and diesel vehicles will becompletely electric vehicles. For this reason, many studies have been conductedon electric vehicles. Particularly the change of the engine parts, the turningof the internal combustion part to the electric motor, and ...

  9. Sharing data between mobile devices, connected vehicles, and infrastructure task 3: system requirements specifications (SyRS) final.

    Science.gov (United States)

    2016-07-14

    This report describes the system requirements specifications (SyRS) for the use of mobile devices in a connected vehicle environment. Specifically, it defines the different types of requirements (functional, interface, performance, security, data, an...

  10. Improvement in vehicle agility and stability by G-Vectoring control

    Science.gov (United States)

    Yamakado, Makoto; Takahashi, Jyunya; Saito, Shinjiro; Yokoyama, Atsushi; Abe, Masato

    2010-12-01

    We extracted a trade-off strategy between longitudinal traction/braking force and cornering force by using jerk information through observing an expert driver's voluntary braking and turning action. Using the expert driver's strategy, we developed a new control concept, called 'G-Vectoring control', which is an automatic longitudinal acceleration control (No DYC) in accordance with the vehicle's lateral jerk caused by the driver's steering manoeuvres. With the control, the direction of synthetic acceleration (G) changes seamlessly (i.e. vectoring). The improvements in vehicle agility and stability were evaluated by theoretical analysis and through computer simulation. We then introduced a 'G-Vectoring' equipped test vehicle realised by brake-by-wire technology and executed a detailed examination on a test track. We have confirmed that the vehicle motion in view of both handling and ride quality has improved dramatically.

  11. An Entry Flight Controls Analysis for a Reusable Launch Vehicle

    Science.gov (United States)

    Calhoun, Philip

    2000-01-01

    The NASA Langley Research Center has been performing studies to address the feasibility of various single-stage to orbit concepts for use by NASA and the commercial launch industry to provide a lower cost access to space. Some work on the conceptual design of a typical lifting body concept vehicle, designated VentureStar(sup TM) has been conducted in cooperation with the Lockheed Martin Skunk Works. This paper will address the results of a preliminary flight controls assessment of this vehicle concept during the atmospheric entry phase of flight. The work includes control analysis from hypersonic flight at the atmospheric entry through supersonic speeds to final approach and landing at subsonic conditions. The requirements of the flight control effectors are determined over the full range of entry vehicle Mach number conditions. The analysis was performed for a typical maximum crossrange entry trajectory utilizing angle of attack to limit entry heating and providing for energy management, and bank angle to modulation of the lift vector to provide downrange and crossrange capability to fly the vehicle to a specified landing site. Sensitivity of the vehicle open and closed loop characteristics to CG location, control surface mixing strategy and wind gusts are included in the results. An alternative control surface mixing strategy utilizing a reverse aileron technique demonstrated a significant reduction in RCS torque and fuel required to perform bank maneuvers during entry. The results of the control analysis revealed challenges for an early vehicle configuration in the areas of hypersonic pitch trim and subsonic longitudinal controllability.

  12. Climate Control Load Reduction Strategies for Electric Drive Vehicles in Warm Weather

    Energy Technology Data Exchange (ETDEWEB)

    Jeffers, M. A.; Chaney, L.; Rugh, J. P.

    2015-04-30

    Passenger compartment climate control is one of the largest auxiliary loads on a vehicle. Like conventional vehicles, electric vehicles (EVs) require climate control to maintain occupant comfort and safety, but cabin heating and air conditioning have a negative impact on driving range for all electric vehicles. Range reduction caused by climate control and other factors is a barrier to widespread adoption of EVs. Reducing the thermal loads on the climate control system will extend driving range, thereby reducing consumer range anxiety and increasing the market penetration of EVs. Researchers at the National Renewable Energy Laboratory have investigated strategies for vehicle climate control load reduction, with special attention toward EVs. Outdoor vehicle thermal testing was conducted on two 2012 Ford Focus Electric vehicles to evaluate thermal management strategies for warm weather, including solar load reduction and cabin pre-ventilation. An advanced thermal test manikin was used to assess a zonal approach to climate control. In addition, vehicle thermal analysis was used to support testing by exploring thermal load reduction strategies, evaluating occupant thermal comfort, and calculating EV range impacts. Through stationary cooling tests and vehicle simulations, a zonal cooling configuration demonstrated range improvement of 6%-15%, depending on the drive cycle. A combined cooling configuration that incorporated thermal load reduction and zonal cooling strategies showed up to 33% improvement in EV range.

  13. Neuro-fuzzy controller to navigate an unmanned vehicle.

    Science.gov (United States)

    Selma, Boumediene; Chouraqui, Samira

    2013-12-01

    A Neuro-fuzzy control method for an Unmanned Vehicle (UV) simulation is described. The objective is guiding an autonomous vehicle to a desired destination along a desired path in an environment characterized by a terrain and a set of distinct objects, such as obstacles like donkey traffic lights and cars circulating in the trajectory. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Fuzzy Logic Controller can very well describe the desired system behavior with simple "if-then" relations owing the designer to derive "if-then" rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). In this paper, an artificial neural network fuzzy inference system (ANFIS) controller is described and implemented to navigate the autonomous vehicle. Results show several improvements in the control system adjusted by neuro-fuzzy techniques in comparison to the previous methods like Artificial Neural Network (ANN).

  14. Neural Adaptive Sliding-Mode Control of a Vehicle Platoon Using Output Feedback

    Directory of Open Access Journals (Sweden)

    Maode Yan

    2017-11-01

    Full Text Available This paper investigates the output feedback control problem of a vehicle platoon with a constant time headway (CTH policy, where each vehicle can communicate with its consecutive vehicles. Firstly, based on the integrated-sliding-mode (ISM technique, a neural adaptive sliding-mode control algorithm is developed to ensure that the vehicle platoon is moving with the CTH policy and full state measurement. Then, to further decrease the measurement complexity and reduce the communication load, an output feedback control protocol is proposed with only position information, in which a higher order sliding-mode observer is designed to estimate the other required information (velocities and accelerations. In order to avoid collisions among the vehicles, the string stability of the whole vehicle platoon is proven through the stability theorem. Finally, numerical simulation results are provided to verify its effectiveness and advantages over the traditional sliding-mode control method in vehicle platoons.

  15. Device to position selectively a tool carried by a vehicle moving on the perforated plate of a tube bundle

    International Nuclear Information System (INIS)

    Bernardin, M.

    1985-01-01

    The aim of the invention is an examination device for a tube bundle of an apparatus such as, but not restrictively, a steam generator, situated in a dangerous zone, e.g. radioactive and designed to be introduced into the water box of the said and placed against the perforated plate of the tube bundle by an operator working outside of the said apparatus and able to operate whatever the vertical or horizontal position of the tube plate. The device has a selectively positionable tool - carrying vehicle comprising pistons positioning fingers extendable into the tubes and mounted on extendable supports perpendicular to the pistons and to each other, and an articulated telescopic arm fixed at one end to a rotary mounting on the vehicle and at the other end to an access opening in the vessel containing the tube plate, to hold the vehicle against the plate [fr

  16. Comprehensive modeling and control of flexible flapping wing micro air vehicles

    Science.gov (United States)

    Nogar, Stephen Michael

    Flapping wing micro air vehicles hold significant promise due to the potential for improved aerodynamic efficiency, enhanced maneuverability and hover capability compared to fixed and rotary configurations. However, significant technical challenges exist to due the lightweight, highly integrated nature of the vehicle and coupling between the actuators, flexible wings and control system. Experimental and high fidelity analysis has demonstrated that aeroelastic effects can change the effective kinematics of the wing, reducing vehicle stability. However, many control studies for flapping wing vehicles do not consider these effects, and instead validate the control strategy with simple assumptions, including rigid wings, quasi-steady aerodynamics and no consideration of actuator dynamics. A control evaluation model that includes aeroelastic effects and actuator dynamics is developed. The structural model accounts for geometrically nonlinear behavior using an implicit condensation technique and the aerodynamic loads are found using a time accurate approach that includes quasi-steady, rotational, added mass and unsteady effects. Empirically based parameters in the model are fit using data obtained from a higher fidelity solver. The aeroelastic model and its ingredients are compared to experiments and computations using models of higher fidelity, and indicate reasonable agreement. The developed control evaluation model is implemented in a previously published, baseline controller that maintains stability using an asymmetric wingbeat, known as split-cycle, along with changing the flapping frequency and wing bias. The model-based controller determines the control inputs using a cycle-averaged, linear control design model, which assumes a rigid wing and no actuator dynamics. The introduction of unaccounted for dynamics significantly degrades the ability of the controller to track a reference trajectory, and in some cases destabilizes the vehicle. This demonstrates the

  17. Impact of Solar Control PVB Glass on Vehicle Interior Temperatures, Air-Conditioning Capacity, Fuel Consumption, and Vehicle Range

    Energy Technology Data Exchange (ETDEWEB)

    Rugh, J.; Chaney, L.; Venson, T.; Ramroth, L.; Rose, M.

    2013-04-01

    The objective of the study was to assess the impact of Saflex1 S-series Solar Control PVB (polyvinyl butyral) configurations on conventional vehicle fuel economy and electric vehicle (EV) range. The approach included outdoor vehicle thermal soak testing, RadTherm cool-down analysis, and vehicle simulations. Thermal soak tests were conducted at the National Renewable Energy Laboratory's Vehicle Testing and Integration Facility in Golden, Colorado. The test results quantified interior temperature reductions and were used to generate initial conditions for the RadTherm cool-down analysis. The RadTherm model determined the potential reduction in air-conditioning (A/C) capacity, which was used to calculate the A/C load for the vehicle simulations. The vehicle simulation tool identified the potential reduction in fuel consumption or improvement in EV range between a baseline and modified configurations for the city and highway drive cycles. The thermal analysis determined a potential 4.0% reduction in A/C power for the Saflex Solar PVB solar control configuration. The reduction in A/C power improved the vehicle range of EVs and fuel economy of conventional vehicles and plug-in hybrid electric vehicles.

  18. Considering Variable Road Geometry in Adaptive Vehicle Speed Control

    Directory of Open Access Journals (Sweden)

    Xinping Yan

    2013-01-01

    Full Text Available Adaptive vehicle speed control is critical for developing Advanced Driver Assistance Systems (ADAS. Vehicle speed control considering variable road geometry has become a hotspot in ADAS research. In this paper, first, an exploration of intrinsic relationship between vehicle operation and road geometry is made. Secondly, a collaborative vehicle coupling model, a road geometry model, and an AVSC, which can respond to variable road geometry in advance, are developed. Then, based on H∞ control method and the minimum energy principle, a performance index is specified by a cost function for the proposed AVSC, which can explicitly consider variable road geometry in its optimization process. The proposed AVSC is designed by the Hamilton-Jacobi Inequality (HJI. Finally, simulations are carried out by combining the vehicle model with the road geometry model, in an aim of minimizing the performance index of the AVSC. Analyses of the simulation results indicate that the proposed AVSC can automatically and effectively regulate speed according to variable road geometry. It is believed that the proposed AVSC can be used to improve the economy, comfort, and safety effects of current ADAS.

  19. Electric vehicle motors and controllers

    Science.gov (United States)

    Secunde, R. R.

    1981-01-01

    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.

  20. Fluid circulation control device

    International Nuclear Information System (INIS)

    Benard, Henri; Henocque, Jean.

    1982-01-01

    Horizontal fluid circulation control device, of the type having a pivoting flap. This device is intended for being fitted in the pipes of hydraulic installation, particularly in a bleed and venting system of a nuclear power station shifting radioactive or contaminated liquids. The characteristic of this device is the cut-out at the top of the flap to allow the air contained in the pipes to flow freely [fr

  1. An RFID-Based Intelligent Vehicle Speed Controller Using Active Traffic Signals

    Directory of Open Access Journals (Sweden)

    Joshué Pérez

    2010-06-01

    Full Text Available These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS. One prime example of ITS is vehicle Cruise Control (CC, which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver’s attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

  2. An RFID-Based Intelligent Vehicle Speed Controller Using Active Traffic Signals

    Science.gov (United States)

    Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C.; de Pedro, Teresa

    2010-01-01

    These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver’s attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V) communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID) technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results. PMID:22219692

  3. An RFID-based intelligent vehicle speed controller using active traffic signals.

    Science.gov (United States)

    Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C; de Pedro, Teresa

    2010-01-01

    These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver's attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V) communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID) technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

  4. Reentry Vehicle Flight Controls Design Guidelines: Dynamic Inversion

    Science.gov (United States)

    Ito, Daigoro; Georgie, Jennifer; Valasek, John; Ward, Donald T.

    2002-01-01

    This report addresses issues in developing a flight control design for vehicles operating across a broad flight regime and with highly nonlinear physical descriptions of motion. Specifically it addresses the need for reentry vehicles that could operate through reentry from space to controlled touchdown on Earth. The latter part of controlled descent is achieved by parachute or paraglider - or by all automatic or a human-controlled landing similar to that of the Orbiter. Since this report addresses the specific needs of human-carrying (not necessarily piloted) reentry vehicles, it deals with highly nonlinear equations of motion, and then-generated control systems must be robust across a very wide range of physics. Thus, this report deals almost exclusively with some form of dynamic inversion (DI). Two vital aspects of control theory - noninteracting control laws and the transformation of nonlinear systems into equivalent linear systems - are embodied in DI. Though there is no doubt that the mathematical tools and underlying theory are widely available, there are open issues as to the practicality of using DI as the only or primary design approach for reentry articles. This report provides a set of guidelines that can be used to determine the practical usefulness of the technique.

  5. Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

    NARCIS (Netherlands)

    Keviczky, T.; Borelli, F.; Fregene, K.; Godbole, D.; Bals, G.J.

    2008-01-01

    This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers

  6. Autonomous control of a locomotion vehicle

    International Nuclear Information System (INIS)

    Ichikawa, Yoshiaki; Senoh, Makoto; Miyata, Kenji

    1984-01-01

    A path planner and an execution system are proposed for autonomous vehicle control. The planner creates a near shortest path avoiding obstacles that are represented by combinations of circles and line segments on a two dimensional map. For realizing real time execution, path search procedures employ a heuristic pruning strategies in selecting a node to expand and in generating successor nodes. Nodes are selected for expansion in order, according to a cost assigned to each node. The cost is mainly evaluated by approximating a path length from the initial node to the goal node. In order to expand a node and to generate successor nodes, a specific search procedure is activated that finds positions avoiding obstacles in the direction of the goal, and creates successor nodes corresponding to the positions. The execution system, utilizing an ultrasonic range finder equipped to the vehicle performs a plan repair against unknown obstacles when echoes from the obstacles are observed. The plan repair is conducted by a map edition and replanning in such a way that new circles representing the echoes are added to the map. Obstacle avoidance tests with a vehicle controlled by microprocessors demonstrate the utility of heuristics just outlined. (author)

  7. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  8. Traction control of an electric vehicle based on nonlinear observers

    Directory of Open Access Journals (Sweden)

    Diego A. Aligia

    2017-12-01

    Full Text Available A traction control strategy for a four-wheel electric vehicle is proposed in this paper. The strategy is based on nonlinear observers which allows estimating the maximum force that can be transmitted to the road. Knowledge of the maximum force allows controlling the slip of the driving wheels, preventing the wheel’s slippage in low-grip surfaces. The proposed strategy also allows to avoid the undesired yaw moment in the vehicle which occurs when road conditions on either side of it are dierent. This improves the eciency and the control of the vehicle, avoiding possible losses of stability that can result in risks for its occupants. Both the proposed observer and the control strategy are designed based on a dynamic rotational model of the wheel and a brush force model. Simulation results are obtained based on a complete vehicle model on the Simulink/CarSim platform.

  9. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

    Science.gov (United States)

    Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

    2017-05-30

    The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  10. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

    Directory of Open Access Journals (Sweden)

    Gaining Han

    2017-05-01

    Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  11. The design of infrared laser radar for vehicle initiative safety

    Science.gov (United States)

    Gong, Ping; Xu, Xi-ping; Li, Xiao-yu; Li, Tian-zhi; Liu, Yu-long; Wu, Jia-hui

    2013-09-01

    Laser radar for vehicle is mainly used in advanced vehicle on-board active safety systems, such as forward anti-collision systems, active collision warning systems and adaptive cruise control systems, etc. Laser radar for vehicle plays an important role in the improvement of vehicle active safety and the reduction of traffic accidents. The stability of vehicle active anti-collision system in dynamic environment is still one of the most difficult problems to break through nowadays. According to people's driving habit and the existed detecting technique of sensor, combining the infrared laser range and galvanometer scanning technique , design a 3-D infrared laser radar which can be used to assist navigation, obstacle avoidance and the vehicle's speed control for the vehicle initiative safety. The device is fixed to the head of vehicle. Then if an accident happened, the device could give an alarm to remind the driver timely to decelerate or brake down, by which way can people get the purpose of preventing the collision accidents effectively. To accomplish the design, first of all, select the core components. Then apply Zemax to design the transmitting and receiving optical system. Adopt 1550 nm infrared laser transmitter as emission unit in the device, a galvanometer scanning as laser scanning unit and an InGaAs-APD detector as laser echo signal receiving unit. Perform the construction of experimental system using FPGA and ARM as the core controller. The system designed in this paper can not only detect obstacle in front of the vehicle and make the control subsystem to execute command, but also transfer laser data to PC in real time. Lots of experiments using the infrared laser radar prototype are made, and main performance of it is under tested. The results of these experiments show that the imaging speed of the laser radar can reach up to 25 frames per second, the frame resolution of each image can reach 30×30 pixels, the horizontal angle resolution is about 6. 98

  12. A device for the hydraulic control of nuclear reactor control rods

    International Nuclear Information System (INIS)

    Frisch, Erling; Frisch, D.R.; Andrews, H.N.

    1974-01-01

    A device for driving and locking the control rods of a nuclear reactor. This device comprises a hydraulic driving piston mounted in a cylinder provided with a construction for absorbing shocks. The piston is provided, at is extremity, with a locking device adapted to engage a stationary lock, it being possible to control the latter for freeing said piston locking device; with such an arrangement, the control rod is normally maintained in position, and it can be freed only by a positive signal. Moreover, the control rod movements are slowed down, so as to prevent the gripping device from being damaged. This device can be used in the nuclear industry [fr

  13. Monitoring device for withdrawing control rods

    International Nuclear Information System (INIS)

    Higashigawa, Yuichi.

    1985-01-01

    Purpose: To improve the sensitivity and the responsivity to an equivalent extent to those in the case where local power range monitors are densely arranged near each of the control rods, with no actual but pseudo increase of the number of local power range monitors. Constitution: The monitor arrangement is patterned by utilizing the symmetricity of the reactor core and stored in a monitor designating device. The symmetricity of control rods to be selected and withdrawn by an operator is judged by a control rod symmetry monitoring device, while the symmetricity of the withdrawn control rods is judged by a control rod withdrawal state monitoring device. Then, only when both of the devices judge the symmetricity, the control rods are subjected to gang driving by the control rod drive mechanisms. In this way, monitoring at a high sensitivity and responsivity is enabled with no increase for the number of monitors. (Yoshino, Y.)

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

    OpenAIRE

    Le-Anh, Tuan; Koster, René

    2004-01-01

    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...

  15. Battery- and aging-aware embedded control systems for electric vehicles

    NARCIS (Netherlands)

    Chang, W.; Probstl, A.; Goswami, D.; Zamani, M.; Chakraborty, S.

    2014-01-01

    In this paper, for the first time, we propose a battery- and aging-aware optimization framework for embedded control systems design in electric vehicles (EVs). Performance and reliability of an EV are influenced by feedback control loops implemented into in-vehicle electrical/electronic (E/E)

  16. Device for generating auxiliary electrical energy on a vehicle. Anordnung zum Erzeugen elektrischer Hilfsenergie auf einem Fahrzeug

    Energy Technology Data Exchange (ETDEWEB)

    Lichtenberg, A

    1980-10-23

    The invention refers to a device for generating auxiliary electrical energy in a generator, which is situated in a vehicle, particularly a magnetic levitating vehicle (MAGLEV vehicle) connected to a magnetic pole rotor. This magnetic pole rotor is moved without touching relative to a fixed motor track made as a track, where, using the electro-dynamic interaction between the magnetic pole rotor and the track motor part, the torque generated by the magnetic pole rotor is transmitted to the generator. The purpose of the invention is to introduce the generation of auxiliary electrical energy on board vehicles without using propellers without contact and without a wandering field winding from vehicle movement. According to the invention, this is achieved by the track motor part being an inactive electrically conducting rail and the torque being transmitted using the eddy current effect. The magnetic pole rotor is made as a magnetic pole rotor without iron and is arranged above an electrically conducting support rail of an electrodynamic support system.

  17. Design of a Path-Tracking Steering Controller for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Chuanyang Sun

    2018-06-01

    Full Text Available This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA, showing the improved performance of the present controller at high speeds.

  18. Self-learning control system for plug-in hybrid vehicles

    Science.gov (United States)

    DeVault, Robert C [Knoxville, TN

    2010-12-14

    A system is provided to instruct a plug-in hybrid electric vehicle how optimally to use electric propulsion from a rechargeable energy storage device to reach an electric recharging station, while maintaining as high a state of charge (SOC) as desired along the route prior to arriving at the recharging station at a minimum SOC. The system can include the step of calculating a straight-line distance and/or actual distance between an orientation point and the determined instant present location to determine when to initiate optimally a charge depleting phase. The system can limit extended driving on a deeply discharged rechargeable energy storage device and reduce the number of deep discharge cycles for the rechargeable energy storage device, thereby improving the effective lifetime of the rechargeable energy storage device. This "Just-in-Time strategy can be initiated automatically without operator input to accommodate the unsophisticated operator and without needing a navigation system/GPS input.

  19. Dynamic Surface Control and Its Application to Lateral Vehicle Control

    Directory of Open Access Journals (Sweden)

    Bongsob Song

    2014-01-01

    Full Text Available This paper extends the design and analysis methodology of dynamic surface control (DSC in Song and Hedrick, 2011, for a more general class of nonlinear systems. When rotational mechanical systems such as lateral vehicle control and robot control are considered for applications, sinusoidal functions are easily included in the equation of motions. If such a sinusoidal function is used as a forcing term for DSC, the stability analysis faces the difficulty due to highly nonlinear functions resulting from the low-pass filter dynamics. With modification of input variables to the filter dynamics, the burden of mathematical analysis can be reduced and stability conditions in linear matrix inequality form to guarantee the quadratic stability via DSC are derived for the given class of nonlinear systems. Finally, the proposed design and analysis approach are applied to lateral vehicle control for forward automated driving and backward parallel parking at a low speed as well as an illustrative example.

  20. Aggregation of Single-phase Electric Vehicles for Frequency Control Provision Based on Unidirectional Charging

    DEFF Research Database (Denmark)

    Sæmundsson, Valgeir Thor; Rezkalla, Michel M.N.; Zecchino, Antonio

    2017-01-01

    As the use of electric vehicles grows there is a greater possibility of using aggregated sets of electric vehicles as a large flexible unit to assist with the control of the power system. In this paper, the possibility of using electric vehicles as a flexible load for frequency control...... is investigated. The investigations are performed in a Pan-European interconnected grid with varying wind power penetration and different operational scenarios. Within this grid, the paper focuses on primary frequency control provision from electric vehicles and how the system behaves as the vehicles are being...... controlled within their respective areas. The investigations show that electric vehicles can be used for primary frequency control with different wind power penetration. By controlling the vehicles, the steady state frequency is improved and, since the vehicles react fast enough to the frequency changes...

  1. Sharing data between mobile devices, connected vehicles and infrastructure - task 3: concept of operations : technical memorandum -final.

    Science.gov (United States)

    2016-07-13

    This report describes the concept of operation for the use of mobile devices in a connected vehicle environment. Specifically, it identifies the needs, conceptual system, and potential scenarios that serve as the basis for demonstrating both safety a...

  2. An Improved Car-Following Model in Vehicle Networking Based on Network Control

    Directory of Open Access Journals (Sweden)

    D. Y. Kong

    2014-01-01

    Full Text Available Vehicle networking is a system to realize information interoperability between vehicles and people, vehicles and roads, vehicles and vehicles, and cars and transport facilities, through the network information exchange, in order to achieve the effective monitoring of the vehicle and traffic flow. Realizing information interoperability between vehicles and vehicles, which can affect the traffic flow, is an important application of network control system (NCS. In this paper, a car-following model using vehicle networking theory is established, based on network control principle. The car-following model, which is an improvement of the traditional traffic model, describes the traffic in vehicle networking condition. The impact that vehicle networking has on the traffic flow is quantitatively assessed in a particular scene of one-way, no lane changing highway. The examples show that the capacity of the road is effectively enhanced by using vehicle networking.

  3. Impact of the Volkswagen emissions control defeat device on US public health

    Science.gov (United States)

    Barrett, Steven R. H.; Speth, Raymond L.; Eastham, Sebastian D.; Dedoussi, Irene C.; Ashok, Akshay; Malina, Robert; Keith, David W.

    2015-11-01

    The US Environmental Protection Agency (EPA) has alleged that Volkswagen Group of America (VW) violated the Clean Air Act (CAA) by developing and installing emissions control system ‘defeat devices’ (software) in model year 2009-2015 vehicles with 2.0 litre diesel engines. VW has admitted the inclusion of defeat devices. On-road emissions testing suggests that in-use NOx emissions for these vehicles are a factor of 10 to 40 above the EPA standard. In this paper we quantify the human health impacts and associated costs of the excess emissions. We propagate uncertainties throughout the analysis. A distribution function for excess emissions is estimated based on available in-use NOx emissions measurements. We then use vehicle sales data and the STEP vehicle fleet model to estimate vehicle distance traveled per year for the fleet. The excess NOx emissions are allocated on a 50 km grid using an EPA estimate of the light duty diesel vehicle NOx emissions distribution. We apply a GEOS-Chem adjoint-based rapid air pollution exposure model to produce estimates of particulate matter and ozone exposure due to the spatially resolved excess NOx emissions. A set of concentration-response functions is applied to estimate mortality and morbidity outcomes. Integrated over the sales period (2008-2015) we estimate that the excess emissions will cause 59 (95% CI: 10 to 150) early deaths in the US. When monetizing premature mortality using EPA-recommended data, we find a social cost of ˜450m over the sales period. For the current fleet, we estimate that a return to compliance for all affected vehicles by the end of 2016 will avert ˜130 early deaths and avoid ˜840m in social costs compared to a counterfactual case without recall.

  4. Impact of the Volkswagen emissions control defeat device on US public health

    International Nuclear Information System (INIS)

    Barrett, Steven R H; Speth, Raymond L; Dedoussi, Irene C; Ashok, Akshay; Malina, Robert; Eastham, Sebastian D; Keith, David W

    2015-01-01

    The US Environmental Protection Agency (EPA) has alleged that Volkswagen Group of America (VW) violated the Clean Air Act (CAA) by developing and installing emissions control system ‘defeat devices’ (software) in model year 2009–2015 vehicles with 2.0 litre diesel engines. VW has admitted the inclusion of defeat devices. On-road emissions testing suggests that in-use NO x emissions for these vehicles are a factor of 10 to 40 above the EPA standard. In this paper we quantify the human health impacts and associated costs of the excess emissions. We propagate uncertainties throughout the analysis. A distribution function for excess emissions is estimated based on available in-use NO x emissions measurements. We then use vehicle sales data and the STEP vehicle fleet model to estimate vehicle distance traveled per year for the fleet. The excess NO x emissions are allocated on a 50 km grid using an EPA estimate of the light duty diesel vehicle NO x emissions distribution. We apply a GEOS-Chem adjoint-based rapid air pollution exposure model to produce estimates of particulate matter and ozone exposure due to the spatially resolved excess NO x emissions. A set of concentration-response functions is applied to estimate mortality and morbidity outcomes. Integrated over the sales period (2008–2015) we estimate that the excess emissions will cause 59 (95% CI: 10 to 150) early deaths in the US. When monetizing premature mortality using EPA-recommended data, we find a social cost of ∼$450m over the sales period. For the current fleet, we estimate that a return to compliance for all affected vehicles by the end of 2016 will avert ∼130 early deaths and avoid ∼$840m in social costs compared to a counterfactual case without recall. (letter)

  5. Solving Algebraic Riccati Equation Real Time for Integrated Vehicle Dynamics Control

    NARCIS (Netherlands)

    Kunnappillil Madhusudhanan, A; Corno, M.; Bonsen, B.; Holweg, E.

    2012-01-01

    In this paper we present a comparison study of different computational methods to implement State Dependent Riccati Equation (SDRE) based control in real time for a vehicle dynamics control application. Vehicles are mechatronic systems with nonlinear dynamics. One of the promising nonlinear control

  6. Analysis of the dynamics of movement of the landing vehicle with an inflatable braking device on the final trajectory under the influence of wind load

    Science.gov (United States)

    Koryanov, V.; Kazakovtsev, V.; Harri, A.-M.; Heilimo, J.; Haukka, H.; Aleksashkin, S.

    2015-10-01

    This research work is devoted to analysis of angular motion of the landing vehicle (LV) with an inflatable braking device (IBD), taking into account the influence of the wind load on the final stage of the movement. Using methods to perform a calculation of parameters of angular motion of the landing vehicle with an inflatable braking device based on the availability of small asymmetries, which are capable of complex dynamic phenomena, analyzes motion of the landing vehicle at the final stage of motion in the atmosphere.

  7. Robust control and linear parameter varying approaches application to vehicle dynamics

    CERN Document Server

    Gaspar, Peter; Bokor, József

    2013-01-01

    Vehicles are complex systems (non-linear, multi-variable) where the abundance of embedded controllers should ensure better security. This book aims at emphasizing the interest and potential of Linear Parameter Varying methods within the framework of vehicle dynamics, e.g.   ·          proposed control-oriented model, complex enough to handle some system non linearities but still simple for control or observer design,   ·          take into account the adaptability of the vehicle's response to driving situations, to the driver request and/or to the road sollicitations,   ·          manage interactions between various actuators to optimize the dynamic behavior of vehicles.   This book results from the 32th International Summer School in Automatic that held in Grenoble, France, in September 2011, where recent methods (based on robust control and LPV technics), then applied to the control of vehicle dynamics, have been presented. After some theoretical background and a view on so...

  8. An Adaptive Traffic Signal Control in a Connected Vehicle Environment: A Systematic Review

    Directory of Open Access Journals (Sweden)

    Peng Jing

    2017-08-01

    Full Text Available In the last few years, traffic congestion has become a growing concern due to increasing vehicle ownerships in urban areas. Intersections are one of the major bottlenecks that contribute to urban traffic congestion. Traditional traffic signal control systems cannot adjust the timing pattern depending on road traffic demand. This results in excessive delays for road users. Adaptive traffic signal control in a connected vehicle environment has shown a powerful ability to effectively alleviate urban traffic congestions to achieve desirable objectives (e.g., delay minimization. Connected vehicle technology, as an emerging technology, is a mobile data platform that enables the real-time data exchange among vehicles and between vehicles and infrastructure. Although several reviews about traffic signal control or connected vehicles have been written, a systemic review of adaptive traffic signal control in a connected vehicle environment has not been made. Twenty-six eligible studies searched from six databases constitute the review. A quality evaluation was established based on previous research instruments and applied to the current review. The purpose of this paper is to critically review the existing methods of adaptive traffic signal control in a connected vehicle environment and to compare the advantages or disadvantages of those methods. Further, a systematic framework on connected vehicle based adaptive traffic signal control is summarized to support the future research. Future research is needed to develop more efficient and generic adaptive traffic signal control methods in a connected vehicle environment.

  9. A Hybrid Power Management (HPM) Based Vehicle Architecture

    Science.gov (United States)

    Eichenberg, Dennis J.

    2011-01-01

    Society desires vehicles with reduced fuel consumption and reduced emissions. This presents a challenge and an opportunity for industry and the government. The NASA John H. Glenn Research Center (GRC) has developed a Hybrid Power Management (HPM) based vehicle architecture for space and terrestrial vehicles. GRC's Electrical and Electromagnetics Branch of the Avionics and Electrical Systems Division initiated the HPM Program for the GRC Technology Transfer and Partnership Office. HPM is the innovative integration of diverse, state-of-the-art power devices in an optimal configuration for space and terrestrial applications. The appropriate application and control of the various power devices significantly improves overall system performance and efficiency. The basic vehicle architecture consists of a primary power source, and possibly other power sources, providing all power to a common energy storage system, which is used to power the drive motors and vehicle accessory systems, as well as provide power as an emergency power system. Each component is independent, permitting it to be optimized for its intended purpose. This flexible vehicle architecture can be applied to all vehicles to considerably improve system efficiency, reliability, safety, security, and performance. This unique vehicle architecture has the potential to alleviate global energy concerns, improve the environment, stimulate the economy, and enable new missions.

  10. Impact of aftertreatment devices and driving conditions on unregulated emissions for Euro 5 vehicles

    OpenAIRE

    LIU, Yao; LOUIS, Cédric; GORIAUX, Mathieu; CHAUMOND, Agnès; TASSEL, Patrick; PERRET, Pascal; ANDRE, Michel

    2016-01-01

    Road traffic is a major contributor of air pollution in urban areas and particularly passenger cars. To reduce regulated emissions, new aftertreatment devices and new technologies were developed (catalysed or additived Diesel particle filter, direct injected gasoline vehicle...). These new technologies induce modifications of unregulated emissions (VOC, BTEX, PAH, NO2, black carbon, metals, ultrafine particles). Unregulated pollutants might induce many health effects regarding their toxicity ...

  11. A Fusion of Sensors Information for Autonomous Driving Control of an Electric Vehicle (EV)

    International Nuclear Information System (INIS)

    Haris, Hasri; Wan, Khairunizam; Hazry, D; Razlan, Zuradzman M

    2013-01-01

    The study uses the environment of the road as input variables for the main system to control steering wheel, brake and acceleration pedals. A camera is installed on the roof of the Electric Vehicles (EV) and is used to obtain image information of the road. On the other hand, users or drivers do not have to directly contact with the main system because it will autonomously control the devices by using fuzzy information of the road conditions. A fuzzy information means in the preliminary experiments, reasoning of the various environments will be done by using fuzzy approach. At the end of the study, several existing algorithms for controlling motors and image processing technique could be combined into an algorithm that could be used to move EV without assist from human

  12. A guidance and control algorithm for scent tracking micro-robotic vehicle swarms

    International Nuclear Information System (INIS)

    Dohner, J.L.

    1998-03-01

    Cooperative micro-robotic scent tracking vehicles are designed to collectively sniff out locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programmed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed

  13. A guidance and control algorithm for scent tracking micro-robotic vehicle swarms

    Energy Technology Data Exchange (ETDEWEB)

    Dohner, J.L. [Sandia National Labs., Albuquerque, NM (United States). Structural Dynamics Dept.

    1998-03-01

    Cooperative micro-robotic scent tracking vehicles are designed to collectively sniff out locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programmed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.

  14. Investigation of Vehicle Rear Under Run Protection Device (RUPD) Using Aluminium Foam

    Science.gov (United States)

    Nagaraj Goud, B.; pachori, Avinash

    2017-08-01

    Whenever the passenger cars meet with accidents with the heavy duty truck from rear, it will tend to penetrate under the truck bed called truck trailer under-ride crash. This is responsible for the thousands of accidents, causing severe injuries and spot death. This is mostly due to the lack of effective guarding system. The Present paper gives an importance on energy absorption mechanism of a Rear under Run Protection Device (RUPD) under crash effect of the truck. The aim of the study is to replace Steel RUPD with aluminum foam, which promises an improvement of vehicle crashworthiness as well as to reduce weight of the vehicle. The aluminum foam is selected due to the high specific strength and specific stiffness. This inborn character makes it a promising candidate in the modern lightweight structures in the automotive engineering which can contribute to the improvement of mileage in addition to safety of the occupants.

  15. Component Control System for a Vehicle

    Science.gov (United States)

    Fraser-Chanpong, Nathan (Inventor); Spain, Ivan (Inventor); Dawson, Andrew D. (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Guo, Raymond (Inventor); Waligora, Thomas M. (Inventor); Akinyode, Akinjide Akinniyi (Inventor); Reed, Ryan M. (Inventor)

    2016-01-01

    A vehicle includes a chassis, a modular component, and a central operating system. The modular component is supported by the chassis. The central operating system includes a component control system, a primary master controller, and a secondary master controller. The component control system is configured for controlling the modular component. The primary and secondary master controllers are in operative communication with the component control system. The primary and secondary master controllers are configured to simultaneously transmit commands to the component control system. The component control system is configured to accept commands from the secondary master controller only when a fault occurs in the primary master controller.

  16. Hybrid vehicle control

    Science.gov (United States)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  17. Hybrid Power Management-Based Vehicle Architecture

    Science.gov (United States)

    Eichenberg, Dennis J.

    2011-01-01

    Hybrid Power Management (HPM) is the integration of diverse, state-of-the-art power devices in an optimal configuration for space and terrestrial applications (s ee figure). The appropriate application and control of the various power devices significantly improves overall system performance and efficiency. The basic vehicle architecture consists of a primary power source, and possibly other power sources, that provides all power to a common energy storage system that is used to power the drive motors and vehicle accessory systems. This architecture also provides power as an emergency power system. Each component is independent, permitting it to be optimized for its intended purpose. The key element of HPM is the energy storage system. All generated power is sent to the energy storage system, and all loads derive their power from that system. This can significantly reduce the power requirement of the primary power source, while increasing the vehicle reliability. Ultracapacitors are ideal for an HPM-based energy storage system due to their exceptionally long cycle life, high reliability, high efficiency, high power density, and excellent low-temperature performance. Multiple power sources and multiple loads are easily incorporated into an HPM-based vehicle. A gas turbine is a good primary power source because of its high efficiency, high power density, long life, high reliability, and ability to operate on a wide range of fuels. An HPM controller maintains optimal control over each vehicle component. This flexible operating system can be applied to all vehicles to considerably improve vehicle efficiency, reliability, safety, security, and performance. The HPM-based vehicle architecture has many advantages over conventional vehicle architectures. Ultracapacitors have a much longer cycle life than batteries, which greatly improves system reliability, reduces life-of-system costs, and reduces environmental impact as ultracapacitors will probably never need to be

  18. An SCR inverter for electric vehicles

    Science.gov (United States)

    Latos, T.; Bosack, D.; Ehrlich, R.; Jahns, T.; Mezera, J.; Thimmesch, D.

    1980-01-01

    An inverter for an electric vehicle propulsion application has been designed and constructed to excite a polyphase induction motor from a fixed propulsion battery source. The inverter, rated at 35kW peak power, is fully regenerative and permits vehicle operation in both the forward and reverse directions. Thyristors are employed as the power switching devices arranged in a dc bus commutated topology. This paper describes the major role the controller plays in generating the motor excitation voltage and frequency to deliver performance similar to dc systems. Motoring efficiency test data for the controller are presented. It is concluded that an SCR inverter in conjunction with an ac induction motor is a viable alternative to present dc vehicle propulsion systems on the basis of performance and size criteria.

  19. Effectiveness of electronic stability control on single-vehicle accidents

    DEFF Research Database (Denmark)

    Lyckegaard, Allan; Hels, Tove; Bernhoft, Inger Marie

    2015-01-01

    the injury severity categories (slight, severe, and fatal). Conclusions: In line with previous results, this study concludes that ESC reduces the risk for single-vehicle injury accidents by 31% when controlling for various confounding factors related to the driver, the car, and the accident surroundings......Objective: This study aims at evaluating the effectiveness of electronic stability control (ESC) on single-vehicle injury accidents while controlling for a number of confounders influencing the accident risk. Methods: Using police-registered injury accidents from 2004 to 2011 in Denmark with cars...... the following were significant. For the driver: Age, gender, driving experience, valid driving license, and seat belt use. For the vehicle: Year of registration, weight, and ESC. For the accident surroundings: Visibility, light, and location. Finally, for the road: Speed limit, surface, and section...

  20. Reduced Attitude Control of a Robotic Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Bláha Lukáš

    2017-01-01

    Full Text Available This paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform a full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vectored-thrust arrangement and is built as an overactuated system, which enables to gain a better robustness and guarantees a stable controlled motion even if some thruster suddenly stop working. Because the heading angle cannot be measured, the reduced attitude control strategy is designed and the stability of reduced state of the system is proved using perturbation method.

  1. The adaptive cruise control vehicles in the cellular automata model

    International Nuclear Information System (INIS)

    Jiang Rui; Wu Qingsong

    2006-01-01

    This Letter presented a cellular automata model where the adaptive cruise control vehicles are modelled. In this model, the constant time headway policy is adopted. The fundamental diagram is presented. The simulation results are in good agreement with the analytical ones. The mixture of ACC vehicles with manually driven vehicles is investigated. It is shown that with the introduction of ACC vehicles, the jam can be suppressed

  2. PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking

    Directory of Open Access Journals (Sweden)

    Zhigang Xu

    2017-01-01

    Full Text Available With the advent of autonomous vehicles, in particular its adaptability to harsh conditions, the research and development of autonomous vehicles attract significant attention by not only academia but also practitioners. Due to the high risk, high cost, and difficulty to test autonomous vehicles under harsh conditions, the hardware-in-the-loop (HIL scaled platform has been proposed as it is a safe, inexpensive, and effective test method. This platform system consists of scaled autonomous vehicle, scaled roadway, monitoring center, transmission device, positioning device, and computers. This paper uses a case of the development process of tracking control for high-speed U-turn to build the tracking control function. Further, a simplified vehicle dynamics model and a trajectory tracking algorithm have been considered to build the simulation test. The experiment results demonstrate the effectiveness of the HIL scaled platform.

  3. Robust Design of H-infinity Controller for a Launch Vehicle Autopilot against Disturbances

    OpenAIRE

    Graells, Antonio; Carrabina, Francisco

    2016-01-01

    Atmospheric flight phase of a launch vehicle is utilized to evaluate the performance of an H-infinity controller in the presence of disturbances. Dynamics of the vehicle is linearly modeled using time-varying parameters. An operating point was found to design a robust command tracker using H-infinity control theory that guarantees a stable maneuver. At the end, the controller was employed on the launch vehicle to assess the capability of control design on the linearized aerospace vehicle. Exp...

  4. Gain Scheduling for the Orion Launch Abort Vehicle Controller

    Science.gov (United States)

    McNamara, Sara J.; Restrepo, Carolina I.; Madsen, Jennifer M.; Medina, Edgar A.; Proud, Ryan W.; Whitley, Ryan J.

    2011-01-01

    One of NASAs challenges for the Orion vehicle is the control system design for the Launch Abort Vehicle (LAV), which is required to abort safely at any time during the atmospheric ascent portion of ight. The focus of this paper is the gain design and scheduling process for a controller that covers the wide range of vehicle configurations and flight conditions experienced during the full envelope of potential abort trajectories from the pad to exo-atmospheric flight. Several factors are taken into account in the automation process for tuning the gains including the abort effectors, the environmental changes and the autopilot modes. Gain scheduling is accomplished using a linear quadratic regulator (LQR) approach for the decoupled, simplified linear model throughout the operational envelope in time, altitude and Mach number. The derived gains are then implemented into the full linear model for controller requirement validation. Finally, the gains are tested and evaluated in a non-linear simulation using the vehicles ight software to ensure performance requirements are met. An overview of the LAV controller design and a description of the linear plant models are presented. Examples of the most significant challenges with the automation of the gain tuning process are then discussed. In conclusion, the paper will consider the lessons learned through out the process, especially in regards to automation, and examine the usefulness of the gain scheduling tool and process developed as applicable to non-Orion vehicles.

  5. Kinetic energy recovery systems in motor vehicles

    Science.gov (United States)

    Śliwiński, C.

    2016-09-01

    The article draws attention to the increasing environmental pollution caused by the development of vehicle transport and motorization. Different types of design solutions used in vehicles for the reduction of fuel consumption, and thereby emission of toxic gasses into the atmosphere, were specified. Historical design solutions concerning energy recovery devices in mechanical vehicles which used flywheels to accumulate kinetic energy were shown. Developmental tendencies in the area of vehicle manufacturing in the form of hybrid electric and electric devices were discussed. Furthermore, designs of energy recovery devices with electrical energy storage from the vehicle braking and shock absorbing systems were presented. A mechanical energy storing device using a flywheel operating under vacuum was presented, as were advantages and disadvantages of both systems, the limitations they impose on individual constructions and safety issues. The paper also discusses a design concept of an energy recovery device in mechanical vehicles which uses torsion springs as the main components of energy accumulation during braking. The desirability of a cooperation of both the mechanical- and electrical energy recovery devices was indicated.

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

    DEFF Research Database (Denmark)

    Fossen, T.I.; Blanke, M.

    1999-01-01

    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...... 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...... 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...

  7. Control method for prosthetic devices

    Science.gov (United States)

    Bozeman, Richard J., Jr. (Inventor)

    1995-01-01

    A control system and method for prosthetic devices is provided. The control system comprises a transducer for receiving movement from a body part for generating a sensing signal associated with that movement. The sensing signal is processed by a linearizer for linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part. The linearized sensing signal is normalized to be a function of the entire range of body part movement from the no-shrug position of the moveable body part. The normalized signal is divided into a plurality of discrete command signals. The discrete command signals are used by typical converter devices which are in operational association with the prosthetic device. The converter device uses the discrete command signals for driving the moveable portions of the prosthetic device and its sub-prosthesis. The method for controlling a prosthetic device associated with the present invention comprises the steps of receiving the movement from the body part, generating a sensing signal in association with the movement of the body part, linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part, normalizing the linear signal to be a function of the entire range of the body part movement, dividing the normalized signal into a plurality of discrete command signals, and implementing the plurality of discrete command signals for driving the respective moveable prosthesis device and its sub-prosthesis.

  8. Modelling and control of an electric vehicle; Modelisation et controle d`un vehicule electrique

    Energy Technology Data Exchange (ETDEWEB)

    Kwartnik, J

    1995-11-28

    The work described in this report provides to engineers or researchers a tool for electric vehicle simulation. The different components included in the system are described with in particular the choppers, the pedal accelerator and the vehicle dynamic represented by the different constraints applied to the vehicle (efforts of drag, of lift, of rolling and slope resistance). This study has been realized by considering nonlinear phenomenons such as the armature magnetic reaction or the resistance change due to temperature increasing. The complexity of the system leads to use several of control. The theory of linear systems made possible the synthesis of PID controllers after few hypothesis. An on line adaptation technique completed this synthesis by considering nonlinear effects. For the cruise control we have used a control based on fuzzy set theory. We showed through two examples, the cruise control and the motor control using a strategy which minimize the Joule effect looses, the interest and the possibilities of the model evolution. (author) 21 refs.

  9. Guidelines for Vehicle Robbery Prevention using Remote Blocking Signals

    Directory of Open Access Journals (Sweden)

    Narong Sangwaranatee

    2016-01-01

    Full Text Available In this paper, the radio signal remote sensing device was used to control the vehicle door switching control, which was the field trials experiment. The switching "On" and "Off" of the switching signals were used to control the vehicle door and investigated. In application, the blocking signal from the commit the remote vehicle crime in the venerable place can be protected. The results obtained have shown that the signal blocking by using another remote control over 5 meters, 10 meters and 15 meters could be achieved. The proposed models and tested results have shown that the Vehicle Brand A Model No. 1 could be blocked by 83.33 percent, while Brand A Model No.2 by 83.33 percent, Brand B Model No.1 by 40 percent, Brand B Model No.2 by 60 percent, Brand C Model No. 1 by 83.33 percent, Brand C Model No. 2 by 83.33 percent, meanwhile, the remote control for general vehicle are used radio waves with frequency 315 and 433 MHz, where the criminal will use the interference signals to form the blocking (jamming signals, the vehicle can be robbed.

  10. Optimal Charge control of Electric Vehicles in Electricity Markets

    DEFF Research Database (Denmark)

    Lan, Tian; Hu, Junjie; Wu, Guang

    2011-01-01

    Environment constraints, petroleum scarcity, high price on fuel resources and recent advancements in battery technology have led to emergence of Electric Vehicles (EVs). As increasing numbers of EVs enter the electricity market, these extra loads may cause peak load and need to be properly...... controlled. In this paper, an algorithm is presented for every individual vehicles to minimize the charging cost while satisfying the vehicle owner’s requirements. The algorithm is based on a given future electricity prices and uses dynamic programming. Optimization aims to find the economically optimal...... solution for each vehicle....

  11. Elevation scanning laser/multi-sensor hazard detection system controller and mirror/mast speed control components. [roving vehicle electromechanical devices

    Science.gov (United States)

    Craig, J.; Yerazunis, S. W.

    1978-01-01

    The electro-mechanical and electronic systems involved with pointing a laser beam from a roving vehicle along a desired vector are described. A rotating 8 sided mirror, driven by a phase-locked dc motor servo system, and monitored by a precision optical shaft encoder is used. This upper assembly is then rotated about an orthogonal axis to allow scanning into all 360 deg around the vehicle. This axis is also driven by a phase locked dc motor servo-system, and monitored with an optical shaft encoder. The electronics are realized in standard TTL integrated circuits with UV-erasable proms used to store desired coordinates of laser fire. Related topics such as the interface to the existing test vehicle are discussed.

  12. Criteria development of remotely controlled mobile devices for TMI-2 [Three Mile Island Unit 2

    International Nuclear Information System (INIS)

    Fillnow, R.; Bengel, P.; Giefer, D.

    1988-01-01

    Since 1982, GPU Nuclear Corporation has used a series of remote mobile devices for data collection and cleanup of highly contaminated areas in the Three Mile Island Unit 2 (TMI-2) nuclear facilities. This paper describes these devices and the general criteria established for their design. Until 1984, the remote equipment used at TMI was obtained from industry sources. This included devices called SISI, FRED, and later LOUIE-1. Following 1984, the direction was to obtain custom-made devices to assure a design that would be more appropriate for the TMI-2 environment. Along with this approach came more detailed criteria and a need for a thorough understanding of the task to be accomplished by the devices. The following families of equipment resulted: (1) remote reconnaissance vehicles (RRVs), (2) the LOUIE family, and (3) remote working vehicle (RWV) family

  13. Remote controlled transport device

    International Nuclear Information System (INIS)

    Nakahira, Masataka; Oka, Kiyoshi; Ito, Akira; Tada, Eisuke; Sato, Masaki

    1998-01-01

    The present invention provides a device for transporting equipments for maintenance and parts between a maintenance port and a facility for maintenance by remote control in a radioactive material handling facility such as a nuclear power plant. Namely, a power supply bus bar is disposed along a transferring path in order to supply power to a transporting means, and is divided into every region having a predetermined length. Each of the power supply bus bar regions is controlled for the power supply by a control device. Accordingly, the transporting means can be moved and driven successively being independent on every power supply bus bar region. Accordingly, a plurality of transporting means can be operated independently in a transferring path without laying around power cables and control signal cables. (I.S.)

  14. Electric and hybrid vehicle environmental control subsystem study

    Science.gov (United States)

    Heitner, K. L.

    1980-01-01

    An environmental control subsystem (ECS) in electric and hybrid vehicles is studied. A combination of a combustion heater and gasoline engine (Otto cycle) driven vapor compression air conditioner is selected. The combustion heater, the small gasoline engine, and the vapor compression air conditioner are commercially available. These technologies have good cost and performance characteristics. The cost for this ECS is relatively close to the cost of current ECS's. Its effect on the vehicle's propulsion battery is minimal and the ECS size and weight do not have significant impact on the vehicle's range.

  15. Hybrid vehicle optimal control : Linear interpolation and singular control

    NARCIS (Netherlands)

    Delprat, S.; Hofman, T.

    2015-01-01

    Hybrid vehicle energy management can be formulated as an optimal control problem. Considering that the fuel consumption is often computed using linear interpolation over lookup table data, a rigorous analysis of the necessary conditions provided by the Pontryagin Minimum Principle is conducted. For

  16. A Vehicle Active Safety Model: Vehicle Speed Control Based on Driver Vigilance Detection Using Wearable EEG and Sparse Representation.

    Science.gov (United States)

    Zhang, Zutao; Luo, Dianyuan; Rasim, Yagubov; Li, Yanjun; Meng, Guanjun; Xu, Jian; Wang, Chunbai

    2016-02-19

    In this paper, we present a vehicle active safety model for vehicle speed control based on driver vigilance detection using low-cost, comfortable, wearable electroencephalographic (EEG) sensors and sparse representation. The proposed system consists of three main steps, namely wireless wearable EEG collection, driver vigilance detection, and vehicle speed control strategy. First of all, a homemade low-cost comfortable wearable brain-computer interface (BCI) system with eight channels is designed for collecting the driver's EEG signal. Second, wavelet de-noising and down-sample algorithms are utilized to enhance the quality of EEG data, and Fast Fourier Transformation (FFT) is adopted to extract the EEG power spectrum density (PSD). In this step, sparse representation classification combined with k-singular value decomposition (KSVD) is firstly introduced in PSD to estimate the driver's vigilance level. Finally, a novel safety strategy of vehicle speed control, which controls the electronic throttle opening and automatic braking after driver fatigue detection using the above method, is presented to avoid serious collisions and traffic accidents. The simulation and practical testing results demonstrate the feasibility of the vehicle active safety model.

  17. Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

    Directory of Open Access Journals (Sweden)

    Rongrong Wang

    2013-01-01

    Full Text Available A vehicle stability control approach for four-wheel independently actuated (FWIA electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.

  18. Determination of an Optimal Control Strategy for a Generic Surface Vehicle

    Science.gov (United States)

    2014-06-18

    TERMS Autonomous Vehicles Boundary Value Problem Dynamic Programming Surface Vehicles Optimal Control Path Planning 16...to follow prescribed motion trajectories. In particular, for autonomous vehicles , this motion trajectory is given by the determination of the

  19. Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision

    Directory of Open Access Journals (Sweden)

    Linhui Li

    2013-01-01

    Full Text Available The lateral control of intelligent vehicle is studied in this paper, with the intelligent vehicle DLUIV-1 based on visual navigation as the object of research. Firstly, the lateral control model based on visual preview is established. The kinematics model based on visual preview, including speed and other factors, is used to calculate the lateral error and direction error. Secondly, according to the characteristics of lateral control, an efficient strategy of intelligent vehicle lateral mode is proposed. The integration of the vehicle current lateral error and direction error is chosen as the parameter of the sliding mode switching function to design the sliding surface. The control variables are adjusted according to the fuzzy control rules to ensure that they meet the existence and reaching condition. The sliding mode switching function is regarded as the control objective, to ensure the stability of the steering wheel rotation. Simulation results show that the lateral controller can guarantee high path-tracking accuracy and strong robustness for the change of model parameters.

  20. Low-cost teleoperator-controlled vehicle for damage assessment and radiation dose measurement

    International Nuclear Information System (INIS)

    Tyree, W.H.

    1991-01-01

    A low-cost, disposable, radio-controlled, remote-reading, ionizing radiation and surveillance teleoperator re-entry vehicle has been built. The vehicle carries equipment, measures radiation levels, and evaluates building conditions. The basic vehicle, radio control with amplifiers, telemetry, elevator, and video camera with monitor cost less than $2500. Velcro-mounted alpha, beta-gamma, and neutron sensing equipment is used in the present system. Many types of health physics radiation measuring equipment may be substituted on the vehicle. The system includes a black-and-white video camera to observe the environment surrounding the vehicle. The camera is mounted on a vertical elevator extendible to 11 feet above the floor. The present vehicle uses a video camera with an umbilical cord between the vehicle and the operators. Preferred operation would eliminate the umbilical. Video monitoring equipment is part of the operator control system. Power for the vehicle equipment is carried on board and supplied by sealed lead-acid batteries. Radios are powered by 9-V alkaline batteries. The radio control receiver, servo drivers, high-power amplifier and 49-MHz FM transceivers were irradiated at moderate rates with neutron and gamma doses to 3000 Rem and 300 Rem, respectively, to ensure system operation

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

    Energy Technology Data Exchange (ETDEWEB)

    Sun Hui; Yang Lifu; Junqing Jing; Yanling Luo [Jiangsu Xuzhou Construction Machinery Research Institute, Jiangsu (China)

    2011-01-15

    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. (author)

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

    International Nuclear Information System (INIS)

    Sun Hui; Yang Lifu; Jing Junqing; Luo Yanling

    2011-01-01

    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.

  3. Improving the Lane Reference Detection for Autonomous Road Vehicle Control

    Directory of Open Access Journals (Sweden)

    Felipe Jiménez

    2016-01-01

    Full Text Available Autonomous road vehicles are increasingly becoming more important and there are several techniques and sensors that are being applied for vehicle control. This paper presents an alternative system for maintaining the position of autonomous vehicles without adding additional elements to the standard sensor architecture, by using a 3D laser scanner for continuously detecting a reference element in situations in which the GNSS receiver fails or provides accuracy below the required level. Considering that the guidance variables are more accurately estimated when dealing with reference points in front of and behind the vehicle, an algorithm based on vehicle dynamics mathematical model is proposed to extend the detected points in cases where the sensor is placed at the front of the vehicle. The algorithm has been tested when driving along a lane delimited by New Jersey barriers at both sides and the results show a correct behaviour. The system is capable of estimating the reference element behind the vehicle with sufficient accuracy when the laser scanner is placed at the front of it, so the robustness of the control input variables (lateral and angular errors estimation is improved making it unnecessary to place the sensor on the vehicle roof or to introduce additional sensors.

  4. Operation control device under radiation exposure

    International Nuclear Information System (INIS)

    Kimura, Kiichi; Murakami, Toichi.

    1994-01-01

    The device of the present invention performs smooth progress of operation by remote control for a plurality of operations in periodical inspections in controlled areas of a nuclear power plant, thereby reducing the operator's exposure dose. Namely, the device monitors the progressing state of the operation by displaying the progress of operation on a CRT of a centralized control device present in a low dose area remote from an operation field through an ITV camera disposed in the vicinity of the operation field. Further, operation sequence and operation instruction procedures previously inputted in the device are indicated to the operation field through an operation instruction outputting device (field CRT) in accordance with the progress of the operation steps. On the other hand, the operation progress can be aided by inputting information from the operation field such as start or completion of the operation steps. Further, the device of the present invention can monitor the change of operation circumstances and exposure dose of operators based on the information from a radiation dose measuring device disposed in the operation circumstance and to individual operators. (I.S.)

  5. Route-Based Signal Preemption Control of Emergency Vehicle

    Directory of Open Access Journals (Sweden)

    Haibo Mu

    2018-01-01

    Full Text Available This paper focuses on the signal preemption control of emergency vehicles (EV. A signal preemption control method based on route is proposed to reduce time delay of EV at intersections. According to the time at which EV is detected and the current phase of each intersection on the travelling route of EV, the calculation methods of the earliest start time and the latest start time of green light at each intersection are given. Consequently, the effective time range of green light at each intersection is determined in theory. A multiobjective programming model, whose objectives are the minimal residence time of EV at all intersections and the maximal passing numbers of general society vehicles, is presented. Finally, a simulation calculation is carried out. Calculation results indicate that, by adopting the signal preemption method based on route, the delay of EV is reduced and the number of society vehicles passing through the whole system is increased. The signal preemption control method of EV based on route can reduce the time delay of EV and improve the evacuation efficiency of the system.

  6. Control System for Prosthetic Devices

    Science.gov (United States)

    Bozeman, Richard J. (Inventor)

    1996-01-01

    A control system and method for prosthetic devices is provided. The control system comprises a transducer for receiving movement from a body part for generating a sensing signal associated with that of movement. The sensing signal is processed by a linearizer for linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part. The linearized sensing signal is normalized to be a function of the entire range of body part movement from the no-shrug position of the moveable body part through the full-shrg position of the moveable body part. The normalized signal is divided into a plurality of discrete command signals. The discrete command signals are used by typical converter devices which are in operational association with the prosthetic device. The converter device uses the discrete command signals for driving the moveable portions of the prosthetic device and its sub-prosthesis. The method for controlling a prosthetic device associated with the present invention comprises the steps of receiving the movement from the body part, generating a sensing signal in association with the movement of the body part, linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part, normalizing the linear signal to be a function of the entire range of the body part movement, dividing the normalized signal into a plurality of discrete command signals, and implementing the plurality of discrete command signals for driving the respective moveable prosthesis device and its sub-prosthesis.

  7. Motion modelling and control strategies of over-actuated vehicles

    OpenAIRE

    Edrén, Johannes

    2014-01-01

    With the growing concern for environmental change and uncertain oil resources, the development of new vehicle concepts will in many cases include full or partial electric propulsion. The introduction of more advanced powertrains enables vehicles that can be controlled with a variety of electric actuators, such as wheel hub motors and individual steering. With these actuators, the chassis can be enabled to adjust its properties depending on the driving situation. Manoeuvring of the vehicle, us...

  8. Connected variable speed limits control and car-following control with vehicle-infrastructure communication to resolve stop-and-go waves

    NARCIS (Netherlands)

    Wang, M.; Daamen, W.; Hoogendoorn, S.P.; van Arem, B.

    2016-01-01

    The vision of intelligent vehicles traveling in road networks has prompted numerous concepts to control future traffic flow, one of which is the in-vehicle actuation of traffic control commands. The key of this concept is using intelligent vehicles as actuators for traffic control systems. Under

  9. Operation control device for nuclear power plants

    International Nuclear Information System (INIS)

    Suto, Osamu.

    1982-01-01

    Purpose: To render the controlling functions of a central control console more centralized by constituting the operation controls for a nuclear power plant with computer systems having substantially independent functions such as those of plant monitor controls, reactor monitor management and CRT display and decreasing interactions between each of the systems. Constitution: An input/output device for the input of process data for a nuclear power plant and indication data for a plant control console is connected to a plant supervisory and control computer system and a display computer system, the plant supervisory control computer system and a reactor and management computer system are connected with a CRT display control device, a printer and a CRT display input/output device, and the display computer system is connected with the CRT display control device and the CRT display unit on the central control console, whereby process input can be processed and displayed at high speed. (Yoshino, Y.)

  10. On Optimizing Steering Performance of Multi-axle Vehicle Based on Driving Force Control

    Directory of Open Access Journals (Sweden)

    Wu Zhicheng

    2017-01-01

    Full Text Available The steering performance of multi-axle vehicle with independent driving system is affected by the distribution of the wheel driving force. A nonlinear vehicle dynamics model including magic formula tire model for describing 11 DoF four-axle vehicle with dual-front-axle-steering (DFAS system was presented. The influence of different driving force distribution scheme on the steering performance of the vehicle was analyzed. A control strategy for improving the steady response and transient response of the vehicle steering is proposed. The results show: For the steady response, setting different drive force for internal and external wheels according to the actual steering characteristics of the vehicle can effectively improve its steering characteristics; For the transient response, adopting the zero sideslip angle control strategy and using the PID control algorithm to control the driving force of the outside wheel of tear-two-axle, under angle step input, the vehicle sideslip angle can quickly stabilize to 0 and yaw rate also significantly decreases.

  11. Vision-based control in driving assistance of agricultural vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Khadraoui, D.; Martinet, P.; Bonton, P.; Gallice, J. [Univ. Blaise Pascal, Aubiere (France). Lab. des Sciences et Materiaux pour l`Electronique et d`Automatique; Debain, C. [Inst. de Recherche pour l`Ingenierie de l`Agriculture et de l`Environment, Montoldre (France). Div. Techniques du Machinisme Agricole; Rouveure, R. [Inst. de Recherche pour l`Ingenierie de l`Agriculture et de l`Environment, Antony (France). Div. Electronique et Intelligence Artificielle

    1998-10-01

    This article presents a real-time control system for an agricultural mobile machine (vehicle) based on an on-board vision system using a single camera. This system has been designed to help humans in repetitive and difficult tasks in the agricultural domain. The aim of the robotics application concerns the control of the vehicle with regard to the reap limit detected in image space. The perception aspect in relation to the application has been described in previous work, and here the authors deal with the control aspect. They integrate image features issues from the modeling of the scene in the control loop to perform an image-based servoing technique. The vehicle behavior described here concerns bicycle and neural models, and three control laws are then synthesized. The first and the second are modeling approaches and use an interaction between the scene and the image space. They are based on the regulation of a task function. The third is a black-box modeling technique, and is based on a neural network. Finally, experimental results obtained with these different control laws in different conditions are presented and discussed.

  12. Vehicle health management for guidance, navigation and control systems

    Science.gov (United States)

    Radke, Kathleen; Frazzini, Ron; Bursch, Paul; Wald, Jerry; Brown, Don

    1993-01-01

    The objective of the program was to architect a vehicle health management (VHM) system for space systems avionics that assures system readiness for launch vehicles and for space-based dormant vehicles. The platforms which were studied and considered for application of VHM for guidance, navigation and control (GN&C) included the Advanced Manned Launch System (AMLS), the Horizontal Landing-20/Personnel Launch System (HL-20/PLS), the Assured Crew Return Vehicle (ACRV) and the Extended Duration Orbiter (EDO). This set was selected because dormancy and/or availability requirements are driving the designs of these future systems.

  13. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  14. Feedback control for a train-like vehicle

    International Nuclear Information System (INIS)

    Micaelli, A.

    1994-01-01

    This paper presents a feedback nonlinear control law for a train-like vehicle (TLV) used in nuclear power-station maintenance. The front cart is either manual or automated guided. The rear carts are feedback controlled. The control objective is to ensure that the rear carts track the path produced (on-line) by the front cart. This controller was experimentally tested on the TLV-prototype. (authors). 4 figs., 4 refs

  15. Determining an energy-optimal thermal management strategy for electric driven vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Suchaneck, Andre; Probst, Tobias; Puente Leon, Fernando [Karlsruher Institut fuer Technology (KIT), Karlsruhe (Germany). Inst. of Industrial Information Technology (IIIT)

    2012-11-01

    In electric, hybrid electric and fuel cell vehicles, thermal management may have a significant impact on vehicle range. Therefore, optimal thermal management strategies are required. In this paper a method for determining an energy-optimal control strategy for thermal power generation in electric driven vehicles is presented considering all controlled devices (pumps, valves, fans, and the like) as well as influences like ambient temperature, vehicle speed, motor and battery and cooling cycle temperatures. The method is designed to be generic to increase the thermal management development process speed and to achieve the maximal energy reduction for any electric driven vehicle (e.g., by waste heat utilization). Based on simulations of a prototype electric vehicle with an advanced cooling cycle structure, the potential of the method is shown. (orig.)

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

    Directory of Open Access Journals (Sweden)

    Aref M.A. Soliman

    2012-04-01

    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.

  17. Port-based Modeling and Control of Underactuated Aerial Vehicles

    NARCIS (Netherlands)

    Mersha, A.Y.; Carloni, Raffaella; Stramigioli, Stefano

    2011-01-01

    In this paper, we propose a generic model and a controller design for a class of underactuated aerial vehicles, namely for unmanned aerial vehicles whose primary support against gravity is thrust. The approach followed is based on energetic consideration and uses the formalisms of port-Hamiltonian

  18. A controller for controlling a group of lighting devices and a method thereof

    OpenAIRE

    2017-01-01

    A controller (100) for controlling a group (110) of lighting devices (112, 114) is disclosed. The group (110) comprises a first lighting device (112) and a second lighting device (114). The controller (100) comprises a communication unit (102) for communicating with the first and second lighting devices (112, 114), and for receiving a first current light setting of the first lighting device (112) and a second current light setting of the second lighting device (114). The controller (100) furt...

  19. A Vehicle Active Safety Model: Vehicle Speed Control Based on Driver Vigilance Detection Using Wearable EEG and Sparse Representation

    Directory of Open Access Journals (Sweden)

    Zutao Zhang

    2016-02-01

    Full Text Available In this paper, we present a vehicle active safety model for vehicle speed control based on driver vigilance detection using low-cost, comfortable, wearable electroencephalographic (EEG sensors and sparse representation. The proposed system consists of three main steps, namely wireless wearable EEG collection, driver vigilance detection, and vehicle speed control strategy. First of all, a homemade low-cost comfortable wearable brain-computer interface (BCI system with eight channels is designed for collecting the driver’s EEG signal. Second, wavelet de-noising and down-sample algorithms are utilized to enhance the quality of EEG data, and Fast Fourier Transformation (FFT is adopted to extract the EEG power spectrum density (PSD. In this step, sparse representation classification combined with k-singular value decomposition (KSVD is firstly introduced in PSD to estimate the driver’s vigilance level. Finally, a novel safety strategy of vehicle speed control, which controls the electronic throttle opening and automatic braking after driver fatigue detection using the above method, is presented to avoid serious collisions and traffic accidents. The simulation and practical testing results demonstrate the feasibility of the vehicle active safety model.

  20. 78 FR 43262 - Use of Wireless Mobile Data Devices as Transponders for the Commercial Motor Vehicle Information...

    Science.gov (United States)

    2013-07-19

    ... FMCSA's regulations prohibiting texting and the use of hand-held wireless mobile phones by commercial... part 392 prohibiting texting and the use of hand-held wireless mobile phones by commercial motor vehicle (CMV) drivers. Benefits Use of wireless mobile data devices as transponders with CMRS provides...

  1. Testing device for control rod drives

    International Nuclear Information System (INIS)

    Hayakawa, Toshifumi.

    1992-01-01

    A testing device for control rod drives comprises a logic measuring means for measuring an output signal from a control rod drive logic generation circuit, a control means for judging the operation state of a control rod and a man machine interface means for outputting the result of the judgement. A driving instruction outputted from the control rod operation device is always monitored by the control means, and if the operation instruction is stopped, a testing signal is outputted to the control rod control device to simulate a control rod operation. In this case, the output signal of the control rod drive logic generation circuit is held in a control rod drive memory means and intaken into a logic analysis means for measurement and an abnormality is judged by the control means. The stopping of the control rod drive instruction is monitored and the operation abnormality of the control rod is judged, to mitigate the burden of an operator. Further, the operation of the control rod drive logic generation circuit can be confirmed even during a nuclear plant operation by holding the control rod drive instruction thereby enabling to improve maintenance efficiency. (N.H.)

  2. A Fuzzy Rule-based Controller For Automotive Vehicle Guidance

    OpenAIRE

    Hessburg, Thomas; Tomizuka, Masayoshi

    1991-01-01

    A fuzzy rule-based controller is applied to lateral guidance of a vehicle for an automated highway system. The fuzzy rules, based on human drivers' experiences, are developed to track the center of a lane in the presence of external disturbances and over a range of vehicle operating conditions.

  3. Cooperative control of a squad of mobile vehicles

    International Nuclear Information System (INIS)

    Lewis, C.; Feddema, J.; Klarer, P.

    1998-01-01

    Tasks such as the localization of chemical sources, demining, perimeter control, surveillance and search and rescue missions are usually performed by teams of people. At least conceptually, large groups of relatively cheap mobile vehicles outfitted with sensors should be able to automatically accomplish some of these tasks. Sandia National Labs is currently developing a swarm of semi-autonomous all terrain vehicles for remote cooperative sensing applications. This paper will describe the capabilities of this system and outline some of its possible applications. Cooperative control and sensing strategies will also be described. Eight Roving All Terrain Lunar Explorer Rovers (RATLERs) have been built at Sandia as a test platform for cooperative control and sensing applications. This paper will first describe the hardware capabilities of the RATLER system. Then it will describe the basic control algorithm for GPS based navigation and obstacle avoidance. A higher level cooperative control task will then be described

  4. Reactor core control device

    International Nuclear Information System (INIS)

    Sano, Hiroki

    1998-01-01

    The present invention provides a reactor core control device, in which switching from a manual operation to an automatic operation, and the control for the parameter of an automatic operation device are facilitated. Namely, the hysteresis of the control for the operation parameter by an manual operation input means is stored. The hysteresis of the control for the operation parameter is collected. The state of the reactor core simulated by an operation control to which the collected operation parameters are manually inputted is determined as an input of the reactor core state to the automatic input means. The record of operation upon manual operation is stored as a hysteresis of control for the operation parameter, but the hysteresis information is not only the result of manual operation of the operation parameter. This is results of operation conducted by a skilled operator who judge the state of the reactor core to be optimum. Accordingly, it involves information relevant to the reactor core state. Then, it is considered that the optimum automatic operation is not deviated greatly from the manual operation. (I.S.)

  5. Response of lead-acid batteries to chopper-controlled discharge. [for electric vehicles

    Science.gov (United States)

    Cataldo, R. L.

    1978-01-01

    The results of tests on an electric vehicle battery, using a simulated electric vehicle chopper-speed controller, show energy output losses up to 25 percent compared to constant current discharges at the same average current of 100 A. However, an energy output increase of 22 percent is noticed at the 200 A average level and 44 percent increase at the 300 A level using pulse discharging. Because of these complex results, electric vehicle battery/speed controller interactions must be considered in vehicle design.

  6. Nonlinear control of marine vehicles using only position and attitude measurements

    Energy Technology Data Exchange (ETDEWEB)

    Paulsen, Marit Johanne

    1996-12-31

    This thesis presents new results on the design and analysis of nonlinear output feedback controllers for auto pilots and dynamic positioning systems for ships and underwater vehicles. Only position and attitude measurements of the vehicle are used in the control design. The underlying idea of the work is to use certain structural properties of the equations of motion in the controller design and analysis. New controllers for regulation and tracking have been developed and the stability of the resulting closed-loop systems has been rigorously established. The results are supported by simulations. The following problems have been investigated covering design of passive controller for regulation, comparison of two auto pilots, nonlinear damping compensation for tracking, tracking control for nonlinear ships, and output tracking control with wave filtering for multivariable models of possibly unstable vehicles. 97 refs., 32 figs.

  7. Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

    Science.gov (United States)

    Ren, Wei

    Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and

  8. Dynamic modeling and ascent flight control of Ares-I Crew Launch Vehicle

    Science.gov (United States)

    Du, Wei

    This research focuses on dynamic modeling and ascent flight control of large flexible launch vehicles such as the Ares-I Crew Launch Vehicle (CLV). A complete set of six-degrees-of-freedom dynamic models of the Ares-I, incorporating its propulsion, aerodynamics, guidance and control, and structural flexibility, is developed. NASA's Ares-I reference model and the SAVANT Simulink-based program are utilized to develop a Matlab-based simulation and linearization tool for an independent validation of the performance and stability of the ascent flight control system of large flexible launch vehicles. A linearized state-space model as well as a non-minimum-phase transfer function model (which is typical for flexible vehicles with non-collocated actuators and sensors) are validated for ascent flight control design and analysis. This research also investigates fundamental principles of flight control analysis and design for launch vehicles, in particular the classical "drift-minimum" and "load-minimum" control principles. It is shown that an additional feedback of angle-of-attack can significantly improve overall performance and stability, especially in the presence of unexpected large wind disturbances. For a typical "non-collocated actuator and sensor" control problem for large flexible launch vehicles, non-minimum-phase filtering of "unstably interacting" bending modes is also shown to be effective. The uncertainty model of a flexible launch vehicle is derived. The robust stability of an ascent flight control system design, which directly controls the inertial attitude-error quaternion and also employs the non-minimum-phase filters, is verified by the framework of structured singular value (mu) analysis. Furthermore, nonlinear coupled dynamic simulation results are presented for a reference model of the Ares-I CLV as another validation of the feasibility of the ascent flight control system design. Another important issue for a single main engine launch vehicle is

  9. Development of a Remotely Operated Vehicle Test-bed

    Directory of Open Access Journals (Sweden)

    Biao WANG

    2013-06-01

    Full Text Available This paper presents the development of a remotely operated vehicle (ROV, designed to serve as a convenient, cost-effective platform for research and experimental validation of hardware, sensors and control algorithms. Both of the mechanical and control system design are introduced. The vehicle with a dimension 0.65 m long, 0.45 m wide has been designed to have a frame structure for modification of mounted devices and thruster allocation. For control system, STM32 based MCU boards specially designed for this project, are used as core processing boards. And an open source, modular, flexible software is developed. Experiment results demonstrate the effectiveness of the test-bed.

  10. Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles

    Science.gov (United States)

    Fahimi, Farbod

    2013-03-01

    Most of the controllers introduced for four-wheel-steer (4WS) vehicles are derived with the assumption that the longitudinal speed of the vehicle is constant. However, in real applications, the longitudinal speed varies, and the longitudinal, lateral, and yaw dynamics are coupled. In this paper, the longitudinal dynamics of the vehicle as well as its lateral and yaw motions are controlled simultaneously. This way, the effect of driving/braking forces of the tires on the lateral and yaw motions of the vehicle are automatically included in the control laws. To address the dynamic parameter uncertainty of the vehicle, a chatter-free variable structure controller is introduced. Elimination of chatter is achieved by introducing a dynamically adaptive boundary layer thickness. It is shown via simulations that the proposed control approach performs more robustly than the controllers developed based on dynamic models, in which longitudinal speed is assumed to be constant, and only lateral speed and yaw rate are used as system states. Furthermore, this approach supports all-wheel-drive vehicles. Front-wheel-drive or rear-wheel-drive vehicles are also supported as special cases of an all-wheel-drive vehicle.

  11. Control Strategies for Arrays of Wave Energy Devices

    OpenAIRE

    Westphalen, J; Bacelli, G; Balitsky, P; Ringwood, John

    2011-01-01

    In this paper, we investigate the differences between two control strategies for a two-device linear array of wave energy converters (WEC) for device spacings of 4 to 80 times the device diameter. The WECs operate in heave only and are controlled in real time. The control strategies, called the independent device and global array control, estimate the excitation forces and calculate the optimum vertical velocity trajectory and reactive power take off force to achieve the ...

  12. Control of a Virtual Vehicle Influences Postural Activity and Motion Sickness

    Science.gov (United States)

    Dong, Xiao; Yoshida, Ken; Stoffregen, Thomas A.

    2011-01-01

    Everyday experience suggests that drivers are less susceptible to motion sickness than passengers. In the context of inertial motion (i.e., physical displacement), this effect has been confirmed in laboratory research using whole body motion devices. We asked whether a similar effect would occur in the context of simulated vehicles in a visual…

  13. Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    M. Fauzi Nor Shah

    2011-08-01

    Full Text Available Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an unmanned underwater vehicle is described in this paper. The control algorithm is simulated by using the marine guidance navigation and control simulator. The project shows a radial basis function metamodel can be used to tune the scaling factors of a fuzzy logic controller. By using offline optimization approach, a comparison between genetic algorithm and metamodeling has been done to minimize the integral square error between the set point and the measured depth of the underwater vehicle. The results showed that it is possible to obtain a reasonably good error using metamodeling approach in much a shorter time compared to the genetic algorithm approach.

  14. Control of maglev vehicles with aerodynamic and guideway disturbances

    Science.gov (United States)

    Flueckiger, Karl; Mark, Steve; Caswell, Ruth; Mccallum, Duncan

    1994-01-01

    A modeling, analysis, and control design methodology is presented for maglev vehicle ride quality performance improvement as measured by the Pepler Index. Ride quality enhancement is considered through active control of secondary suspension elements and active aerodynamic surfaces mounted on the train. To analyze and quantify the benefits of active control, the authors have developed a five degree-of-freedom lumped parameter model suitable for describing a large class of maglev vehicles, including both channel and box-beam guideway configurations. Elements of this modeling capability have been recently employed in studies sponsored by the U.S. Department of Transportation (DOT). A perturbation analysis about an operating point, defined by vehicle and average crosswind velocities, yields a suitable linearized state space model for multivariable control system analysis and synthesis. Neglecting passenger compartment noise, the ride quality as quantified by the Pepler Index is readily computed from the system states. A statistical analysis is performed by modeling the crosswind disturbances and guideway variations as filtered white noise, whereby the Pepler Index is established in closed form through the solution to a matrix Lyapunov equation. Data is presented which indicates the anticipated ride quality achieved through various closed-loop control arrangements.

  15. Marine vehicle path following using inner-outer loop control.

    Digital Repository Service at National Institute of Oceanography (India)

    Maurya, P.K.; Agular, A.P.; Pascoal, A.M.

    constraints are imposed on the motion of the vehicle. This is in striking contrast with trajectory tracking, where the reference for the vehicle motion is given explicitly in terms of ”space versus time” coordinates. This strategy is seldom pursued in practice... that its output variables can be tracked infinitely fast by the inner dynamic loop. In practice, this does not hold true. Furthermore, many vehicle suppliers equip their platforms with inner dynamic control loops for which only a general characterization...

  16. Route-Based Control of Hybrid Electric Vehicles: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Gonder, J. D.

    2008-01-01

    Today's hybrid electric vehicle controls cannot always provide maximum fuel savings over all drive cycles. Route-based controls could improve HEV fuel efficiency by 2%-4% and help save nearly 6.5 million gallons of fuel annually.

  17. Research of Ant Colony Optimized Adaptive Control Strategy for Hybrid Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Linhui Li

    2014-01-01

    Full Text Available Energy management control strategy of hybrid electric vehicle has a great influence on the vehicle fuel consumption with electric motors adding to the traditional vehicle power system. As vehicle real driving cycles seem to be uncertain, the dynamic driving cycles will have an impact on control strategy’s energy-saving effect. In order to better adapt the dynamic driving cycles, control strategy should have the ability to recognize the real-time driving cycle and adaptively adjust to the corresponding off-line optimal control parameters. In this paper, four types of representative driving cycles are constructed based on the actual vehicle operating data, and a fuzzy driving cycle recognition algorithm is proposed for online recognizing the type of actual driving cycle. Then, based on the equivalent fuel consumption minimization strategy, an ant colony optimization algorithm is utilized to search the optimal control parameters “charge and discharge equivalent factors” for each type of representative driving cycle. At last, the simulation experiments are conducted to verify the accuracy of the proposed fuzzy recognition algorithm and the validity of the designed control strategy optimization method.

  18. Human Engineering of Space Vehicle Displays and Controls

    Science.gov (United States)

    Whitmore, Mihriban; Holden, Kritina L.; Boyer, Jennifer; Stephens, John-Paul; Ezer, Neta; Sandor, Aniko

    2010-01-01

    Proper attention to the integration of the human needs in the vehicle displays and controls design process creates a safe and productive environment for crew. Although this integration is critical for all phases of flight, for crew interfaces that are used during dynamic phases (e.g., ascent and entry), the integration is particularly important because of demanding environmental conditions. This panel addresses the process of how human engineering involvement ensures that human-system integration occurs early in the design and development process and continues throughout the lifecycle of a vehicle. This process includes the development of requirements and quantitative metrics to measure design success, research on fundamental design questions, human-in-the-loop evaluations, and iterative design. Processes and results from research on displays and controls; the creation and validation of usability, workload, and consistency metrics; and the design and evaluation of crew interfaces for NASA's Crew Exploration Vehicle are used as case studies.

  19. H∞ control of railway vehicle suspension with MR damper using scaled roller rig

    International Nuclear Information System (INIS)

    Shin, Yu-Jeong; You, Won-Hee; Hur, Hyun-Moo; Park, Joon-Hyuk

    2014-01-01

    In this paper, a magneto-rheological (MR) damper was applied to the secondary suspension to reduce the vibration of a car body. The control performance of the MR damper was verified by numerical analysis with a 1/5 scale railway vehicle model in accordance with the similarity law. The analysis results were then validated in tests. In particular, the objective of the study was to understand how the control performance affected the dynamic characteristics of a railway vehicle and to systematically analyze the relationship between control performance and dynamic characteristics depending on various running speeds. To achieve this, experimental results for the dynamic characteristics of the scaled MR damper designed for the 1/5 scale railway vehicle model were applied to the railway vehicle model. The H ∞ control method was applied to the controller. The means of designing the railway vehicle body vibration controller and the effectiveness of its results were studied. (paper)

  20. Modular Estimation Strategy of Vehicle Dynamic Parameters for Motion Control Applications

    Directory of Open Access Journals (Sweden)

    Rawash Mustafa

    2018-01-01

    Full Text Available The presence of motion control or active safety systems in vehicles have become increasingly important for improving vehicle performance and handling and negotiating dangerous driving situations. The performance of such systems would be improved if combined with knowledge of vehicle dynamic parameters. Since some of these parameters are difficult to measure, due to technical or economic reasons, estimation of those parameters might be the only practical alternative. In this paper, an estimation strategy of important vehicle dynamic parameters, pertaining to motion control applications, is presented. The estimation strategy is of a modular structure such that each module is concerned with estimating a single vehicle parameter. Parameters estimated include: longitudinal, lateral, and vertical tire forces – longitudinal velocity – vehicle mass. The advantage of this strategy is its independence of tire parameters or wear, road surface condition, and vehicle mass variation. Also, because of its modular structure, each module could be later updated or exchanged for a more effective one. Results from simulations on a 14-DOF vehicle model are provided here to validate the strategy and show its robustness and accuracy.

  1. Plasma position and shape control device for thermonuclear device

    International Nuclear Information System (INIS)

    Takeuchi, Kazuhiro; Abe, Mitsushi; Kinoshita, Shigemi.

    1993-01-01

    A plasma position and shape control system is constituted with a measuring device, a quenching probability calculation section and a control calculation section. A quenching probability is calculated in the quenching probability calculation section by using a measuring data on temperature, electric current and magnetic field of superconductive coils, based on a margin upto a limit value. The control calculation section selects a control method which decreases applied voltage or current instruction value as the quenching probability of the coils is higher. Since the quenching probability of the superconductive coils can be forecast and a state of low quenching danger can be selected, the safety of the device is improved. When the quenching danger is allowed to a predetermined value, a wide operation region can be provided. (N.H.)

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

    Directory of Open Access Journals (Sweden)

    Nenglian Feng

    2013-01-01

    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.

  3. Design of driving control strategy of torque distribution for two - wheel independent drive electric vehicle

    Science.gov (United States)

    Zhang, Chuanwei; Zhang, Dongsheng; Wen, Jianping

    2018-02-01

    In order to coordinately control the torque distribution of existing two-wheel independent drive electric vehicle, and improve the energy efficiency and control stability of the whole vehicle, the control strategies based on fuzzy control were designed which adopt the direct yaw moment control as the main line. For realizing the torque coordination simulation of the two-wheel independent drive vehicle, the vehicle model, motor model and tire model were built, including the vehicle 7 - DOF dynamics model, motion equation, torque equation. Finally, in the Carsim - Simulink joint simulation platform, the feasibility of the drive control strategy was verified.

  4. The effect on photochemical smog of converting the U.S. fleet of gasoline vehicles to modern diesel vehicles

    OpenAIRE

    Jacobson, Mark Z.; Seinfeld, John H.; Carmichael, Greg R.; Streets, David G.

    2004-01-01

    With the increased use of particle traps and nitrogen oxide (NO_x) control devices to reduce air pollution, “modern” diesel vehicles are being encouraged over gasoline vehicles globally as a central method of slowing global warming. Data to date, though, suggest that the NO_2:NO ratio from modern diesel may exceed that of gasoline, and it is difficult to reduce diesel NO_x below gasoline NO_x without increasing particle emissions. Here, it is calculated that, unless the diesel NO_2:NO ratio a...

  5. Study on Active Suppression Control of Drivetrain Oscillations in an Electric Vehicle

    Science.gov (United States)

    Huang, Lei; Cui, Ying

    2017-07-01

    Due to the low damping in a central driven electric vehicle and lack of passive damping mechanisms as compared with a conventional vehicle, the vehicle may endure torsional vibrations which may deteriorates the vehicle’s drivability. Thus active damping control strategy is required to reduce the undesirable oscillations in an EV. In this paper, the origin of the vibration and the design of a damping control method to suppress such oscillations to improve the drivability of an EV are studied. The traction motor torque that is given by the vehicle controller is adjusted according to the acceleration rate of the motor speed to attenuate the resonant frequency. Simulations and experiments are performed to validate the system. The results show that the proposed control system can effectively suppress oscillations and hence improve drivability.

  6. A novel integrated chassis controller for full drive-by-wire vehicles

    Science.gov (United States)

    Song, Pan; Tomizuka, Masayoshi; Zong, Changfu

    2015-02-01

    In this paper, a systematic design with multiple hierarchical layers is adopted in the integrated chassis controller for full drive-by-wire vehicles. A reference model and the optimal preview acceleration driver model are utilised in the driver control layer to describe and realise the driver's anticipation of the vehicle's handling characteristics, respectively. Both the sliding mode control and terminal sliding mode control techniques are employed in the vehicle motion control (MC) layer to determine the MC efforts such that better tracking performance can be attained. In the tyre force allocation layer, a polygonal simplification method is proposed to deal with the constraints of the tyre adhesive limits efficiently and effectively, whereby the load transfer due to both roll and pitch is also taken into account which directly affects the constraints. By calculating the motor torque and steering angle of each wheel in the executive layer, the total workload of four wheels is minimised during normal driving, whereas the MC efforts are maximised in extreme handling conditions. The proposed controller is validated through simulation to improve vehicle stability and handling performance in both open- and closed-loop manoeuvres.

  7. Slip Control of Electric Vehicle Based on Tire-Road Friction Coefficient Estimation

    Directory of Open Access Journals (Sweden)

    Gaojian Cui

    2017-01-01

    Full Text Available The real-time change of tire-road friction coefficient is one of the important factors that influence vehicle safety performance. Besides, the vehicle wheels’ locking up has become an important issue. In order to solve these problems, this paper comes up with a novel slip control of electric vehicle (EV based on tire-road friction coefficient estimation. First and foremost, a novel method is proposed to estimate the tire-road friction coefficient, and then the reference slip ratio is determined based on the estimation results. Finally, with the reference slip ratio, a slip control based on model predictive control (MPC is designed to prevent the vehicle wheels from locking up. In this regard, the proposed controller guarantees the optimal braking torque on each wheel by individually controlling the slip ratio of each tire within the stable zone. Theoretical analyses and simulation show that the proposed controller is effective for better braking performance.

  8. Effectiveness of electronic stability control on single-vehicle accidents.

    Science.gov (United States)

    Lyckegaard, Allan; Hels, Tove; Bernhoft, Inger Marie

    2015-01-01

    This study aims at evaluating the effectiveness of electronic stability control (ESC) on single-vehicle injury accidents while controlling for a number of confounders influencing the accident risk. Using police-registered injury accidents from 2004 to 2011 in Denmark with cars manufactured in the period 1998 to 2011 and the principle of induced exposure, 2 measures of the effectiveness of ESC were calculated: The crude odds ratio and the adjusted odds ratio, the latter by means of logistic regression. The logistic regression controlled for a number of confounding factors, of which the following were significant. For the driver: Age, gender, driving experience, valid driving license, and seat belt use. For the vehicle: Year of registration, weight, and ESC. For the accident surroundings: Visibility, light, and location. Finally, for the road: Speed limit, surface, and section characteristics. The present study calculated the crude odds ratio for ESC-equipped cars of getting in a single-vehicle injury accident as 0.40 (95% confidence interval [CI], 0.34-0.47) and the adjusted odds ratio as 0.69 (95% CI, 0.54-0.88). No difference was found in the effectiveness of ESC across the injury severity categories (slight, severe, and fatal). In line with previous results, this study concludes that ESC reduces the risk for single-vehicle injury accidents by 31% when controlling for various confounding factors related to the driver, the car, and the accident surroundings. Furthermore, it is concluded that it is important to control for human factors (at a minimum age and gender) in analyses where evaluations of this type are performed.

  9. Simulation Research on Vehicle Active Suspension Controller Based on G1 Method

    Science.gov (United States)

    Li, Gen; Li, Hang; Zhang, Shuaiyang; Luo, Qiuhui

    2017-09-01

    Based on the order relation analysis method (G1 method), the optimal linear controller of vehicle active suspension is designed. The system of the main and passive suspension of the single wheel vehicle is modeled and the system input signal model is determined. Secondly, the system motion state space equation is established by the kinetic knowledge and the optimal linear controller design is completed with the optimal control theory. The weighting coefficient of the performance index coefficients of the main passive suspension is determined by the relational analysis method. Finally, the model is simulated in Simulink. The simulation results show that: the optimal weight value is determined by using the sequence relation analysis method under the condition of given road conditions, and the vehicle acceleration, suspension stroke and tire motion displacement are optimized to improve the comprehensive performance of the vehicle, and the active control is controlled within the requirements.

  10. Motion coordination for VTOL unmanned aerial vehicles attitude synchronisation and formation control

    CERN Document Server

    Abdessameud, Abdelkader

    2013-01-01

    Motion Coordination for VTOL Unmanned Aerial Vehicles develops new control design techniques for the distributed coordination of a team of autonomous unmanned aerial vehicles. In particular, it provides new control design approaches for the attitude synchronization of a formation of rigid body systems. In addition, by integrating new control design techniques with some concepts from nonlinear control theory and multi-agent systems, it presents  a new theoretical framework for the formation control of a class of under-actuated aerial vehicles capable of vertical take-off and landing. Several practical problems related to the systems’ inputs, states measurements, and  restrictions on the interconnection  topology  between the aerial vehicles in the team  are addressed. Worked examples with sufficient details and simulation results are provided to illustrate the applicability and effectiveness of the theoretical results discussed in the book. The material presented is primarily intended for researchers an...

  11. Control and state estimation for energy recuperation in fully electric vehicles

    NARCIS (Netherlands)

    Falcone, P.; Lidberg, M.; Ólafsdóttir, J.M.; Jansen, S.T.H.; Iersel, S. van

    2011-01-01

    Energy recuperation in fully electric vehicles is mainly limited by the requirement to preserve vehicle stability but it is also dependent on the brake system design and the ability of the control system. The boundaries of vehicle stability are difficult to assess, and must be approached with care,

  12. INTERACTIVE MOTION PLATFORMS AND VIRTUAL REALITY FOR VEHICLE SIMULATORS

    Directory of Open Access Journals (Sweden)

    Evžen Thöndel

    2017-12-01

    Full Text Available Interactive motion platforms are intended for vehicle simulators, where the direct interaction of the human body is used for controlling the simulated vehicle (e.g. bicycle, motorbike or other sports vehicles. The second use of interactive motion platforms is for entertainment purposes or fitness. The development of interactive motion platforms reacts to recent calls in the simulation industry to provide a device, which further enhances the virtual reality experience, especially with connection to the new and very fast growing business in virtual reality glasses. The paper looks at the design and control of an interactive motion platform with two degrees of freedom to be used in virtual reality applications. The paper provides the description of the control methods and new problems related to the virtual reality sickness are discussed here.

  13. Vehicle to Vehicle Services

    DEFF Research Database (Denmark)

    Brønsted, Jeppe Rørbæk

    2008-01-01

    location aware infotainment, increase safety, and lessen environmental strain. This dissertation is about service oriented architecture for pervasive computing with an emphasis on vehicle to vehicle applications. If devices are exposed as services, applications can be created by composing a set of services...... be evaluated. Service composition mechanisms for pervasive computing are categorized and we discuss how the characteristics of pervasive computing can be supported by service composition mechanisms. Finally, we investigate how to make pervasive computing systems capable of being noticed and understood...

  14. The vehicle dynamics control system of Bosch; Die Fahrdynamikregelung von Bosch

    Energy Technology Data Exchange (ETDEWEB)

    Zanten, A.T. van [Robert Bosch GmbH, Stuttgart (Germany); Erhardt, R. [Robert Bosch GmbH, Stuttgart (Germany); Pfaff, G. [Robert Bosch GmbH, Stuttgart (Germany)

    1996-11-01

    Vehicle handling at the physical limit of adhesion between the tires and the road is extremely difficult. In such situations the driver may be supported by controlling the longitudinal and the lateral forces on the tires. The Vehicle Dynamics Control System of Bosch (VDC) does that by controlled braking of individual wheels which makes the vehicle motion approach the nomial motion intended by the driver. It uses signals to derive the driver`s intent (steering wheel angle, brake pressure, engine torque) and signals to dervie the actual motion of the vehicle (yaw rate, lateral acceleration). The support of the driver is not limited to coasting conditions. Also during full braking (ABS), partial braking, engine drag, free rolling and acceleration (ASR) of the vehicle the system supports the driver in all safety critical situations. In this paper an overview of the VDC is given. The goal of the development of VDC, the physical background, the concept of the system, the control and the controller algorithm are described. The benefit of VDC is demonstrated by an experimental test. (orig.) [Deutsch] Fahrdynamikregelsysteme FDR sind Regelsysteme im Bremssystem und Antriebsstrang, die das seitliche Ausbrechen des Fahrzeugs verhindern. Waehrend ABS das Blockieren der Raeder beim Bremsen und ASR das Durchdrehen der Raeder beim Antrieb verhindert, verhindert FDR das Schleudern und das Schieben des Fahrzeugs. (orig.)

  15. 75 FR 43975 - California State Motor Vehicle and Nonroad Engine Pollution Control Standards; Truck Idling...

    Science.gov (United States)

    2010-07-27

    ... standards) for the control of emissions from new motor vehicles or new motor vehicle engines prior to March... approval relating to the control of emissions from any new motor vehicle or new motor vehicle engine as... relating to the control of emissions from new nonroad spark-ignition engines smaller than 50 horsepower...

  16. Unified Brake Service by a Hierarchical Controller for Active Deceleration Control in an Electric and Automated Vehicle

    Directory of Open Access Journals (Sweden)

    Yuliang Nie

    2017-12-01

    Full Text Available Unified brake service is a universal service for generating certain brake force to meet the demand deceleration and is essential for an automated driving system. However, it is rather difficult to control the pressure in the wheel cylinders to reach the target deceleration of the automated vehicle, which is the key issue of the active deceleration control system (ADC. This paper proposes a hierarchical control method to actively control vehicle deceleration with active-brake actuators. In the upper hierarchical, the target pressure of wheel cylinders is obtained by dynamic equations of a pure electric vehicle. In the lower hierarchical, the solenoid valve instructions and the pump speed of hydraulic control unit (HCU are determined to satisfy the desired pressure with the feedback of measured wheel cylinder pressure by pressure sensors. Results of road experiments of a pure electric and automated vehicle indicate that the proposed method realizes the target deceleration accurately and efficiently.

  17. Research on Adaptive Dual-Mode Switch Control Strategy for Vehicle Maglev Flywheel Battery

    Directory of Open Access Journals (Sweden)

    Hui Gao

    2015-01-01

    Full Text Available Because of the jamming signal is real-time changeable and control algorithm cannot timely tracking control flywheel rotor, this paper takes vehicle maglev flywheel battery as the research object. One kind of dual-model control strategy is developed based on the analysis of the vibration response impact of the flywheel battery control system. In view of the complex foundation vibration problems of electric vehicles, the nonlinear dynamic simulation model of vehicle maglev flywheel battery is solved. Through analyzing the nonlinear vibration response characteristics, one kind of dual-mode adaptive hybrid control strategy based on H∞ control and unbalance displacement feed-forward compensation control is presented and a real-time switch controller is designed. The reliable hybrid control is implemented, and the stability in the process of real-time switch is solved. The results of this project can provide important basic theory support for the research of vehicle maglev flywheel battery control system.

  18. Nonlinear Cascade Strategy for Longitudinal Control of Electric Vehicle.

    Science.gov (United States)

    El Majdoub, K; Giri, F; Ouadi, H; Chaoui, F Z

    2014-01-01

    The problem of controlling the longitudinal motion of front-wheels electric vehicle (EV) is considered making the focus on the case where a single dc motor is used for both front wheels. Chassis dynamics are modelled applying relevant fundamental laws taking into account the aerodynamic effects and the road slope variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke's model. Despite its highly nonlinear nature the complete model proves to be utilizable in longitudinal control design. The control objective is to achieve a satisfactory vehicle speed regulation in acceleration/deceleration stages, despite wind speed and other parameters uncertainty. An adaptive controller is developed using the backstepping design technique. The obtained adaptive controller is shown to meet its objectives in presence of the changing aerodynamics efforts and road slope.

  19. Electromechanical motion devices

    CERN Document Server

    Krause, Paul C; Pekarek, Steven D

    2012-01-01

    This text provides a basic treatment of modern electric machine analysis that gives readers the necessary background for comprehending the traditional applications and operating characteristics of electric machines-as well as their emerging applications in modern power systems and electric drives, such as those used in hybrid and electric vehicles. Through the appropriate use of reference frame theory, Electromagnetic Motion Devices, Second Edition introduces readers to field-oriented control of induction machines, constant-torque, and constant-power control of dc, permanent-magnet ac

  20. A Study of Torque Vectoring and Traction Control for an All-Wheel Drive Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Maharun Mui’nuddin

    2014-07-01

    Full Text Available Common vehicle always experience energy loss during cornering manoeuver. Thus, to ensure it did not happened especially at high speed, a study of torque vectoring and traction control need to be made since it can increase the traction control of tyres during cornering at high speed. The study of torque vectoring and traction control for an all-wheel drive electric vehicle was conducted by modelling an all-wheel drive electric vehicle (EV in ADAMS/Car software. In addition, an optimal control algorithm will be developed for best performance to minimize energy losses using MATLAB/Simulink software. Furthermore, to prove the effectiveness of the all-wheel drive electric, the torque and traction control simulation of the all-wheel drive electric vehicle will be compared with uncontrolled electric vehicle model. According to the result, torque vectoring and traction control of in-wheel motor in all wheel drive EV can help to increase the performance of the electric vehicle during cornering manoeuver. In conclusion, this study of torque vectoring and traction control for an all-wheel drive electric vehicle will help researchers to improve the design of the future electric vehicle in term of the vehicle performance during cornering manoeuvre.

  1. The Role of Guidance, Navigation, and Control in Hypersonic Vehicle Multidisciplinary Design and Optimization

    Science.gov (United States)

    Ouzts, Peter J.; Soloway, Donald I.; Moerder, Daniel D.; Wolpert, David H.; Benavides, Jose Victor

    2009-01-01

    Airbreathing hypersonic systems offer distinct performance advantages over rocket-based systems for space access vehicles. However, these performance advantages are dependent upon advances in current state-of-the-art technologies in many areas such as ram/scramjet propulsion integration, high temperature materials, aero-elastic structures, thermal protection systems, transition to hypersonics and hypersonic control elements within the framework of complex physics and new design methods. The complex interactions between elements of an airbreathing hypersonic vehicle represent a new paradigm in vehicle design to achieve the optimal performance necessary to meet space access mission objectives. In the past, guidance, navigation, and control (GNC) analysis often follows completion of the vehicle conceptual design process. Individual component groups design subsystems which are then integrated into a vehicle configuration. GNC is presented the task of developing control approaches to meet vehicle performance objectives given that configuration. This approach may be sufficient for vehicles where significant performance margins exist. However, for higher performance vehicles engaging the GNC discipline too late in the design cycle has been costly. For example, the X-29 experimental flight vehicle was built as a technology demonstrator. One of the many technologies to be demonstrated was the use of light-weight material composites for structural components. The use of light-weight materials increased the flexibility of the X- 29 beyond that of conventional metal alloy constructed aircraft. This effect was not considered when the vehicle control system was designed and built. The impact of this is that the control system did not have enough control authority to compensate for the effects of the first fundamental structural mode of the vehicle. As a result, the resulting pitch rate response of the vehicle was below specification and no post-design changes could recover the

  2. Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Yi-Hsiang Tseng

    2013-01-01

    Full Text Available The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.

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

    Science.gov (United States)

    Barret, C.

    1995-01-01

    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.

  4. Vehicle brake testing system

    Science.gov (United States)

    Stevens, Samuel S [Harriman, TN; Hodgson, Jeffrey W [Lenoir City, TN

    2002-11-19

    This invention relates to a force measuring system capable of measuring forces associated with vehicle braking and of evaluating braking performance. The disclosure concerns an invention which comprises a first row of linearly aligned plates, a force bearing surface extending beneath and beside the plates, vertically oriented links and horizontally oriented links connecting each plate to a force bearing surface, a force measuring device in each link, a transducer coupled to each force measuring device, and a computing device coupled to receive an output signal from the transducer indicative of measured force in each force measuring device. The present invention may be used for testing vehicle brake systems.

  5. Elevator Sizing, Placement, and Control-Relevant Tradeoffs for Hypersonic Vehicles

    Science.gov (United States)

    Dickeson, Jeffrey J.; Rodriguez, Armando A.; Sridharan, Srikanth; Korad, Akshay

    2010-01-01

    Within this paper, control-relevant vehicle design concepts are examined using a widely used 3 DOF (plus flexibility) nonlinear model for the longitudinal dynamics of a generic carrot-shaped scramjet powered hypersonic vehicle. The impact of elevator size and placement on control-relevant static properties (e.g. level-flight trimmable region, trim controls, Angle of Attack (AOA), thrust margin) and dynamic properties (e.g. instability and right half plane zero associated with flight path angle) are examined. Elevator usage has been examine for a class of typical hypersonic trajectories.

  6. Engineering Social Justice into Traffic Control for Self-Driving Vehicles?

    Science.gov (United States)

    Mladenovic, Milos N; McPherson, Tristram

    2016-08-01

    The convergence of computing, sensing, and communication technology will soon permit large-scale deployment of self-driving vehicles. This will in turn permit a radical transformation of traffic control technology. This paper makes a case for the importance of addressing questions of social justice in this transformation, and sketches a preliminary framework for doing so. We explain how new forms of traffic control technology have potential implications for several dimensions of social justice, including safety, sustainability, privacy, efficiency, and equal access. Our central focus is on efficiency and equal access as desiderata for traffic control design. We explain the limitations of conventional traffic control in meeting these desiderata, and sketch a preliminary vision for a next-generation traffic control tailored to address better the demands of social justice. One component of this vision is cooperative, hierarchically distributed self-organization among vehicles. Another component of this vision is a priority system enabling selection of priority levels by the user for each vehicle trip in the network, based on the supporting structure of non-monetary credits.

  7. FACTS device control strategy using PMU

    Directory of Open Access Journals (Sweden)

    Mohd Tauseef Khan

    2016-09-01

    Full Text Available The laying and commissioning of new transmission line is very difficult due to socio-economic problems, like environmental clearances, right of way, etc. Therefore, there is an emphasis on better utilization of available transmission infrastructure. FACTS devices can provide reactive power compensation, transmission capability enhancement, and voltage and stability improvement. FACTS devices operate under the command of system operator who analyses its demand by the data acquired through traditional SCADA system, state estimation algorithms and PMUs. SCADA together with PMU give accurate information about the operational state of power system. This paper proposes a scheme to automate the FACTS devices in collaboration with PMUs in a more efficient way. Highly precised data from PMUs can be fed to intelligent controllers for effective analyzing and automating the FACTS device through control command. Thus, this combination can provide real time control of reactive power, together with enhancement of power handling capability and stability improvement.

  8. Predictive control strategies for energy saving of hybrid electric vehicles based on traffic light information

    Directory of Open Access Journals (Sweden)

    Kaijiang YU

    2015-10-01

    Full Text Available As the conventional control method for hybrid electric vehicle doesn’t consider the effect of known traffic light information on the vehicle energy management, this paper proposes a model predictive control intelligent optimization strategies based on traffic light information for hybrid electric vehicles. By building the simplified model of the hybrid electric vehicle and adopting the continuation/generalized minimum residual method, the model prediction problem is solved. The simulation is conducted by using MATLAB/Simulink platform. The simulation results show the effectiveness of the proposed model of the traffic light information, and that the proposed model predictive control method can improve fuel economy and the real-time control performance significantly. The research conclusions show that the proposed control strategy can achieve optimal control of the vehicle trajectory, significantly improving fuel economy of the vehicle, and meet the system requirements for the real-time optimal control.

  9. A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

    Directory of Open Access Journals (Sweden)

    Abdallah A. Hassan

    2014-12-01

    Full Text Available Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is questionable. Consequently, in this paper a fully distributed algorithm is proposed where vehicles in the vicinity of an intersection continuously cooperate with each other to develop a schedule that allows them to safely proceed through the intersection while incurring minimum delay. Unlike other distributed approaches described in the literature, the wireless communication constraints are considered in the design of the control algorithm. Specifically, the proposed algorithm requires vehicles heading to an intersection to communicate only with neighboring vehicles, while the lead vehicles on each approach lane share information to develop a complete intersection utilization schedule. The scheduling rotates between vehicles to identify higher traffic volumes and favor vehicles coming from heavier lanes to minimize the overall intersection delay. The simulated experiments show significant reductions in the average delay using the proposed approach compared to other methods reported in the literature and reduction in the maximum delay experienced by a vehicle especially in cases of heavy traffic demand levels.

  10. Vehicle Lateral Control under Fault in Front and/or Rear Sensors

    OpenAIRE

    Huang, Jihua; Lu, Guang; Tomizuka, Masayoshi

    2000-01-01

    This report documents the findings of research performed under TO4204, "Vehicle Lateral Control under Fault in Front and/or Rear Sensors" during the year 2000- 2001. The research goal of TO4204 is to develop vehicle lateral control strategies under faulty operation of the magnetometers. The main objectives of the project are: (1) to design controllers that use the output from only one set of magnetometers, and (2) to develop an autonomous lateral control scheme that uses no magnetometers. New...

  11. Dynamics and Control of Non-Smooth Systems with Applications to Supercavitating Vehicles

    Science.gov (United States)

    2011-01-01

    ABSTRACT Title of dissertation: Dynamics and Control of Non-Smooth Systems with Applications to Supercavitating Vehicles Vincent Nguyen, Doctor of...relates to the dynamics of non-smooth vehicle systems, and in particular, supercavitating vehicles. These high-speed under- water vehicles are...Applications to Supercavitating Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK

  12. Direct Yaw Control of Vehicle using State Dependent Riccati Equation with Integral Terms

    Directory of Open Access Journals (Sweden)

    SANDHU, F.

    2016-05-01

    Full Text Available Direct yaw control of four-wheel vehicles using optimal controllers such as the linear quadratic regulator (LQR and the sliding mode controller (SMC either considers only certain parameters constant in the nonlinear equations of vehicle model or totally neglect their effects to obtain simplified models, resulting in loss of states for the system. In this paper, a modified state-dependent Ricatti equation method obtained by the simplification of the vehicle model is proposed. This method overcomes the problem of the lost states by including state integrals. The results of the proposed system are compared with the sliding mode slip controller and state-dependent Ricatti equation method using high fidelity vehicle model in the vehicle simulation software package, Carsim. Results show 38% reduction in the lateral velocity, 34% reduction in roll and 16% reduction in excessive yaw by only increasing the fuel consumption by 6.07%.

  13. DEVICE FOR CONTROL OF OXYGEN PARTIAL PRESSURE

    Science.gov (United States)

    Bradner, H.; Gordon, H.S.

    1957-12-24

    A device is described that can sense changes in oxygen partial pressure and cause a corresponding mechanical displacement sufficient to actuate meters, valves and similar devices. A piston and cylinder arrangement contains a charge of crystalline metal chelate pellets which have the peculiar property of responding to variations in the oxygen content of the ambient atmosphere by undergoing a change in dimension. A lever system amplifies the relative displacement of the piston in the cylinder, and actuates the controlled valving device. This partial pressure oxygen sensing device is useful in controlled chemical reactions or in respiratory devices such as the oxygen demand meters for high altitude aircraft.

  14. 76 FR 61095 - California State Motor Vehicle Pollution Control Standards; Within the Scope Determination and...

    Science.gov (United States)

    2011-10-03

    ... ENVIRONMENTAL PROTECTION AGENCY [FRL-9474-5] California State Motor Vehicle Pollution Control... longer expected to produce fuel-cell vehicles to meet part of its gold vehicle credit requirements for... motor vehicle pollution control program. Because EPA has not received adverse public comment challenging...

  15. Launch Vehicle Control Center Architectures

    Science.gov (United States)

    Watson, Michael D.; Epps, Amy; Woodruff, Van; Vachon, Michael Jacob; Monreal, Julio; Williams, Randall; McLaughlin, Tom

    2014-01-01

    This analysis is a survey of control center architectures of the NASA Space Launch System (SLS), United Launch Alliance (ULA) Atlas V and Delta IV, and the European Space Agency (ESA) Ariane 5. Each of these control center architectures have similarities in basic structure, and differences in functional distribution of responsibilities for the phases of operations: (a) Launch vehicles in the international community vary greatly in configuration and process; (b) Each launch site has a unique processing flow based on the specific configurations; (c) Launch and flight operations are managed through a set of control centers associated with each launch site, however the flight operations may be a different control center than the launch center; and (d) The engineering support centers are primarily located at the design center with a small engineering support team at the launch site.

  16. Blast resistant vehicle seat

    Science.gov (United States)

    Ripley, Edward B

    2013-02-12

    Disclosed are various seats for vehicles particularly military vehicles that are susceptible to attack by road-bed explosive devices such as land mines or improvised explosive devices. The seats often have rigid seat shells and may include rigid bracing for rigidly securing the seat to the chassis of the vehicle. Typically embodiments include channels and particulate media such as sand disposed in the channels. A gas distribution system is generally employed to pump a gas through the channels and in some embodiments the gas is provided at a pressure sufficient to fluidize the particulate media when an occupant is sitting on the seat.

  17. Hybrid adaptive ascent flight control for a flexible launch vehicle

    Science.gov (United States)

    Lefevre, Brian D.

    For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the

  18. Hybrid Electric Vehicle Experimental Model with CAN Network Real Time Control

    Directory of Open Access Journals (Sweden)

    RATOI, M.

    2010-05-01

    Full Text Available In this paper an experimental model with a distributed control system of a hybrid electrical vehicle is presented. A communication CAN network of high speed (1 Mbps assures a distributed control of the all components. The modeling and the control of different operating regimes are realized on an experimental test-bench of a hybrid electrical vehicle. The experimental results concerning the variations of the mains variables (currents, torques, speeds are presented.

  19. A model predictive speed tracking control approach for autonomous ground vehicles

    Science.gov (United States)

    Zhu, Min; Chen, Huiyan; Xiong, Guangming

    2017-03-01

    This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

  20. Closed Loop Control Compact Exercise Device for Use on MPCV

    Science.gov (United States)

    Sheehan, Chris; Funk, Justin; Funk, Nathan; Kutnick, Gilead; Humphreys, Brad; Bruinsma, Douwe; Perusek, Gail

    2016-01-01

    Long duration space travel to Mars or to an asteroid will expose astronauts to extended periods of reduced gravity. To combat spaceflight physiological deconditioning, astronauts will use resistive and aerobic exercise regimens for the duration of the space flight to minimize the loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Unlike the International Space Station (ISS), the mass and volume available for an exercise device in the next generation of spacecraft is limited. Therefore, compact exercise device prototypes are being developed for human in the loop evaluations. The NASA Human Research Program (HRP) is managing Advanced Exercise Concepts (AEC) requirements development and candidate technology maturation for all exploration mission profiles from Multi-Purpose Crew Vehicle (MPCV) exploration missions (e.g., EM-2, up to 21 day) to Mars Transit (up to 1000 day) missions. Numerous technologies have been considered and evaluated against HRP-approved functional requirements and include flywheel, pneumatic and closed-loop microprocessor-controlled motor driven power plants. Motor driven technologies offer excellent torque density and load accuracy characteristics as well as the ability to create custom mechanical impedance (the dynamic relationship between force and velocity) and custom load versus position exercise algorithms. Further, closed-loop motor-driven technologies offer the ability to monitor exercise dose parameters and adapt to the needs of the crewmember for real time optimization of exercise prescriptions. A simple proportional-integral-derivative (PID) controller is demonstrated in a prototype motor driven exercise device with comparison to resistive static and dynamic load set points and aerobic work rate targets. The resistive load term in the algorithm includes a constant force component (Fcmg) as well as inertial component (Fima) and a discussion of system tuning is presented

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

    Energy Technology Data Exchange (ETDEWEB)

    Sohn, J W; Choi, S B [Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751 (Korea, Republic of); Wereley, N M [Smart Structures Laboratory, Department of Aerospace Engineering, University of Maryland, College Park, MD 20742 (United States)], E-mail: seungbok@inha.ac.kr

    2009-02-01

    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.

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

    International Nuclear Information System (INIS)

    Sohn, J W; Choi, S B; Wereley, N M

    2009-01-01

    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.

  3. Control of an Autonomous Vehicle for Registration of Weed and Crop in Precision Agriculture

    DEFF Research Database (Denmark)

    Nielsen, Kirsten Mølgaard; Andersen, Palle; Pedersen, Tom Søndergaard

    2002-01-01

    The paper describes the development of an autonomous electrical vehicle to be used for weed mapping in precision agriculture with special focus on the conceptual framework of the control system. The lowest layer of the control system is the propulsion and steering control, the second layer...... coordinates the movements of the wheel units, the third layer is path execution and perception and the upper layer performs planning and reasoning. The control system is implemented on an autonomous vehicle. The vehicle has been tested for path following and position accuracy. Based on the results a new...... vehicle is under construction....

  4. Genetic algorithm–based varying parameter linear quadratic regulator control for four-wheel independent steering vehicle

    Directory of Open Access Journals (Sweden)

    Linlin Gao

    2015-11-01

    Full Text Available From the perspective of vehicle dynamics, the four-wheel independent steering vehicle dynamics stability control method is studied, and a four-wheel independent steering varying parameter linear quadratic regulator control system is proposed with the help of expert control method. In the article, a four-wheel independent steering linear quadratic regulator controller for model following purpose is designed first. Then, by analyzing the four-wheel independent steering vehicle dynamic characteristics and the influence of linear quadratic regulator control parameters on control performance, a linear quadratic regulator control parameter adjustment strategy based on vehicle steering state is proposed to achieve the adaptive adjustment of linear quadratic regulator control parameters. In addition, to further improve the control performance, the proposed varying parameter linear quadratic regulator control system is optimized by genetic algorithm. Finally, simulation studies have been conducted by applying the proposed control system to the 8-degree-of-freedom four-wheel independent steering vehicle dynamics model. The simulation results indicate that the proposed control system has better performance and robustness and can effectively improve the stability and steering safety of the four-wheel independent steering vehicle.

  5. Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

    Directory of Open Access Journals (Sweden)

    Taochang Li

    2014-01-01

    Full Text Available Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

  6. Learning feedforward controller for a mobile robot vehicle

    NARCIS (Netherlands)

    Starrenburg, J.G.; Starrenburg, J.G.; van Luenen, W.T.C.; van Luenen, W.T.C.; Oelen, W.; Oelen, W.; van Amerongen, J.

    1996-01-01

    This paper describes the design and realisation of an on-line learning posetracking controller for a three-wheeled mobile robot vehicle. The controller consists of two components. The first is a constant-gain feedback component, designed on the basis of a second-order model. The second is a learning

  7. 47 CFR 15.103 - Exempted devices.

    Science.gov (United States)

    2010-10-01

    ... any transportation vehicle including motor vehicles and aircraft. (b) A digital device used... digital device utilized exclusively in an appliance, e.g., microwave oven, dishwasher, clothes dryer, air conditioner (central or window), etc. (e) Specialized medical digital devices (generally used at the direction...

  8. Brain-controlled body movement assistance devices and methods

    Energy Technology Data Exchange (ETDEWEB)

    Leuthardt, Eric C.; Love, Lonnie J.; Coker, Rob; Moran, Daniel W.

    2017-01-10

    Methods, devices, systems, and apparatus, including computer programs encoded on a computer storage medium, for brain-controlled body movement assistance devices. In one aspect, a device includes a brain-controlled body movement assistance device with a brain-computer interface (BCI) component adapted to be mounted to a user, a body movement assistance component operably connected to the BCI component and adapted to be worn by the user, and a feedback mechanism provided in connection with at least one of the BCI component and the body movement assistance component, the feedback mechanism being configured to output information relating to a usage session of the brain-controlled body movement assistance device.

  9. Passivity-based model predictive control for mobile vehicle motion planning

    CERN Document Server

    Tahirovic, Adnan

    2013-01-01

    Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoretical approach to the adoption of passivity-based model predictive control (MPC) for autonomous vehicle navigation in both indoor and outdoor environments. The brief also introduces analysis of the worst-case scenario that might occur during the task execution. Some of the questions answered in the text include: • how to use an MPC optimization framework for the mobile vehicle navigation approach; • how to guarantee safe task completion even in complex environments including obstacle avoidance and sideslip and rollover avoidance; and  • what to expect in the worst-case scenario in which the roughness of the terrain leads the algorithm to generate the longest possible path to the goal. The passivity-based MPC approach provides a framework in which a wide range of complex vehicles can be accommodated to obtain a safer and more realizable tool during the path-planning stage. During task execution, the optimi...

  10. Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint

    OpenAIRE

    Aksun-Güvenc, B.; Güvenc, L.; Odenthal, D.; Bünte, T.

    2001-01-01

    Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability a...

  11. Hybrid vehicle energy management: singular optimal control

    NARCIS (Netherlands)

    Delprat, S.; Hofman, T.; Paganelli, S.

    2017-01-01

    Hybrid vehicle energymanagement is often studied in simulation as an optimal control problem. Under strict convexity assumptions, a solution can be developed using Pontryagin’s minimum principle. In practice, however, many engineers do not formally check these assumptions resulting in the possible

  12. Reactor power control device

    International Nuclear Information System (INIS)

    Ishii, Yoshihiko; Arita, Setsuo; Miyamoto, Yoshiyuki; Fukazawa, Yukihisa; Ishii, Kazuhiko

    1998-01-01

    The present invention provides a reactor power control device capable of enhancing an operation efficiency while keeping high reliability and safety in a BWR type nuclear power plant. Namely, the device of the present invention comprises (1) a means for inputting a set value of a generator power and a set value of a reactor power, (2) a means for controlling the reactor power to either smaller one of the reactor power corresponding to the set value of the generator power and the set value of the reactor power. With such procedures, even if the nuclear power plant is set so as to operate it to make the reactor power 100%, when the generator power reaches the upper limit, the reactor power is controlled with a preference given to the upper limit value of the generator power. Accordingly, safety and reliability are not deteriorated. The operation efficiency of the plant can be improved. (I.S.)

  13. Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

    Directory of Open Access Journals (Sweden)

    Marta Niccolini

    2014-01-01

    Full Text Available The paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the single agent and each task or mission. The swarm motion is controlled by minimizing a suitable norm of the error between agents’ descriptor functions and other descriptor functions which models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios.

  14. Analysis and Design of Launch Vehicle Flight Control Systems

    Science.gov (United States)

    Wie, Bong; Du, Wei; Whorton, Mark

    2008-01-01

    This paper describes the fundamental principles of launch vehicle flight control analysis and design. In particular, the classical concept of "drift-minimum" and "load-minimum" control principles is re-examined and its performance and stability robustness with respect to modeling uncertainties and a gimbal angle constraint is discussed. It is shown that an additional feedback of angle-of-attack or lateral acceleration can significantly improve the overall performance and robustness, especially in the presence of unexpected large wind disturbance. Non-minimum-phase structural filtering of "unstably interacting" bending modes of large flexible launch vehicles is also shown to be effective and robust.

  15. Evolution of an artificial neural network based autonomous land vehicle controller.

    Science.gov (United States)

    Baluja, S

    1996-01-01

    This paper presents an evolutionary method for creating an artificial neural network based autonomous land vehicle controller. The evolved controllers perform better in unseen situations than those trained with an error backpropagation learning algorithm designed for this task. In this paper, an overview of the previous connectionist based approaches to this task is given, and the evolutionary algorithms used in this study are described in detail. Methods for reducing the high computational costs of training artificial neural networks with evolutionary algorithms are explored. Error metrics specific to the task of autonomous vehicle control are introduced; the evolutionary algorithms guided by these error metrics reveal improved performance over those guided by the standard sum-squared error metric. Finally, techniques for integrating evolutionary search and error backpropagation are presented. The evolved networks are designed to control Carnegie Mellon University's NAVLAB vehicles in road following tasks.

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

    CERN Document Server

    From, Pal Johan; Pettersen, Kristin Ytterstad

    2014-01-01

    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. Plasma control device

    International Nuclear Information System (INIS)

    Matsutomi, Akiyoshi.

    1995-01-01

    Plasma position and shape estimation values are outputted based on measured values of coil current. When the measured values of the position and the shape are judged to be abnormal, position and shape estimation values estimated by a plasma position and shape estimation means are outputted as position and shape feed back values to a plasma position and shape control means instead of the position and shape measured values. Since only a portion of the abnormal position and shape measured values may also be replaced with the position and shape estimation values, errors in the plasma position and shape feed back values can be reduced as a whole. In addition, even if the position and shape measured values are abnormal or if they can not be measured, plasma control can be continued by alternative position and shape estimation values, thereby enabling to avoid interruption of plasma control. Since the position and shape estimation values are obtained not only with the measured values of coil current but also with the position and shape estimation values, the accuracy is improved. Further, noises superposed on the position and shape measured values are filtered, and the device is stabilized compared with a prior art device. (N.H.)

  18. A controller for controlling a group of lighting devices and a method thereof

    NARCIS (Netherlands)

    2017-01-01

    A controller (100) for controlling a group (110) of lighting devices (112, 114) is disclosed. The group (110) comprises a first lighting device (112) and a second lighting device (114). The controller (100) comprises a communication unit (102) for communicating with the first and second lighting

  19. 78 FR 21189 - Petition for Exemption From the Vehicle Theft Prevention Standard; BMW of North America, LLC

    Science.gov (United States)

    2013-04-09

    ... From the Vehicle Theft Prevention Standard; BMW of North America, LLC AGENCY: National Highway Traffic... device and allow the vehicle to start. When the EWS/CAS control unit has sent a correct release signal... and only then will the ignition signal and fuel supply be released. BMW stated that the vehicle is...

  20. A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

    OpenAIRE

    Abdallah A. Hassan; Hesham A. Rakha

    2014-01-01

    Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is ques...

  1. Hypersonic vehicle model and control law development using H(infinity) and micron synthesis

    Science.gov (United States)

    Gregory, Irene M.; Chowdhry, Rajiv S.; Mcminn, John D.; Shaughnessy, John D.

    1994-01-01

    The control system design for a Single Stage To Orbit (SSTO) air breathing vehicle will be central to a successful mission because a precise ascent trajectory will preserve narrow payload margins. The air breathing propulsion system requires the vehicle to fly roughly halfway around the Earth through atmospheric turbulence. The turbulence, the high sensitivity of the propulsion system to inlet flow conditions, the relatively large uncertainty of the parameters characterizing the vehicle, and continuous acceleration make the problem especially challenging. Adequate stability margins must be provided without sacrificing payload mass since payload margins are critical. Therefore, a multivariable control theory capable of explicitly including both uncertainty and performance is needed. The H(infinity) controller in general provides good robustness but can result in conservative solutions for practical problems involving structured uncertainty. Structured singular value mu framework for analysis and synthesis is potentially much less conservative and hence more appropriate for problems with tight margins. An SSTO control system requires: highly accurate tracking of velocity and altitude commands while limiting angle-of-attack oscillations, minimized control power usage, and a stabilized vehicle when atmospheric turbulence and system uncertainty are present. The controller designs using H(infinity) and mu-synthesis procedures were compared. An integrated flight/propulsion dynamic mathematical model of a conical accelerator vehicle was linearized as the vehicle accelerated through Mach 8. Vehicle acceleration through the selected flight condition gives rise to parametric variation that was modeled as a structured uncertainty. The mu-analysis approach was used in the frequency domain to conduct controller analysis and was confirmed by time history plots. Results demonstrate the inherent advantages of the mu framework for this class of problems.

  2. Calculation of vehicle delay at signal-controlled intersections with adaptive traffic control algorithm

    Directory of Open Access Journals (Sweden)

    Andronov Roman

    2018-01-01

    Full Text Available By widely introducing information technology tools in the field of traffic control, it is possible to increase the capacity of hubs and reduce vehicle delays. Adaptive traffic light control is one of such tools. Its effectiveness can be assessed through traffic flow simulation. The aim of this study is to create a simulation model of a signal-controlled intersection that can be used to assess the effectiveness of adaptive control in various traffic situations, including the presence or absence of pedestrian traffic through an intersection. The model is based on a numerical experiment conducted using the Monte Carlo method. As a result of the study, vehicle delays, queue length and duration of traffic light cycles are calculated subject to different intensities of incoming traffic flows, and the presence or absence of pedestrian traffic.

  3. Control techniques for an automated mixed traffic vehicle

    Science.gov (United States)

    Meisenholder, G. W.; Johnston, A. R.

    1977-01-01

    The paper describes an automated mixed traffic vehicle (AMTV), a driverless low-speed tram designed to operate in mixed pedestrian and vehicular traffic. The vehicle is a six-passenger electric tram equipped with sensing and control which permit it to function on existing streets in an automatic mode. The design includes established wire-following techniques for steering and near-IR headway sensors. A 7-mph cruise speed is reduced to 2 mph or a complete stop in response to sensor (or passenger) inputs. The AMTV performance is evaluated by operation on a loop route and by simulation. Some necessary improvements involving sensors, sensor pattern, use of an audible signal, and control lag are discussed. It is suggested that appropriate modifications will eliminate collision incidents.

  4. Methodology for testing a system for remote monitoring and control on auxiliary machines in electric vehicles

    Directory of Open Access Journals (Sweden)

    Dimitrov Vasil

    2017-01-01

    Full Text Available A laboratory system for remote monitoring and control of an asynchronous motor controlled by a soft starter and contemporary measuring and control devices has been developed and built. This laboratory system is used for research and in teaching. A study of the principles of operation, setting up and examination of intelligent energy meters, soft starters and PLC has been made as knowledge of the relevant software products is necessary. This is of great importance because systems for remote monitoring and control of energy consumption, efficiency and proper operation of the controlled objects are very often used in different spheres of industry, in building automation, transport, electricity distribution network, etc. Their implementation in electric vehicles for remote monitoring and control on auxiliary machines is also possible and very useful. In this paper, a methodology of tests is developed and some experiments are presented. Thus, an experimental verification of the developed methodology is made.

  5. Characteristic Model-Based Robust Model Predictive Control for Hypersonic Vehicles with Constraints

    Directory of Open Access Journals (Sweden)

    Jun Zhang

    2017-06-01

    Full Text Available Designing robust control for hypersonic vehicles in reentry is difficult, due to the features of the vehicles including strong coupling, non-linearity, and multiple constraints. This paper proposed a characteristic model-based robust model predictive control (MPC for hypersonic vehicles with reentry constraints. First, the hypersonic vehicle is modeled by a characteristic model composed of a linear time-varying system and a lumped disturbance. Then, the identification data are regenerated by the accumulative sum idea in the gray theory, which weakens effects of the random noises and strengthens regularity of the identification data. Based on the regenerated data, the time-varying parameters and the disturbance are online estimated according to the gray identification. At last, the mixed H2/H∞ robust predictive control law is proposed based on linear matrix inequalities (LMIs and receding horizon optimization techniques. Using active tackling system constraints of MPC, the input and state constraints are satisfied in the closed-loop control system. The validity of the proposed control is verified theoretically according to Lyapunov theory and illustrated by simulation results.

  6. A Review of Control Strategy of the Large-scale of Electric Vehicles Charging and Discharging Behavior

    Science.gov (United States)

    Kong, Lingyu; Han, Jiming; Xiong, Wenting; Wang, Hao; Shen, Yaqi; Li, Ying

    2017-05-01

    Large scale access of electric vehicles will bring huge challenges to the safe operation of the power grid, and it’s important to control the charging and discharging of the electric vehicle. First of all, from the electric quality and network loss, this paper points out the influence on the grid caused by electric vehicle charging behaviour. Besides, control strategy of electric vehicle charging and discharging has carried on the induction and the summary from the direct and indirect control. Direct control strategy means control the electric charging behaviour by controlling its electric vehicle charging and discharging power while the indirect control strategy by means of controlling the price of charging and discharging. Finally, for the convenience of the reader, this paper also proposed a complete idea of the research methods about how to study the control strategy, taking the adaptability and possibility of failure of electric vehicle control strategy into consideration. Finally, suggestions on the key areas for future research are put up.

  7. Sharing Data between Mobile Devices, Connected Vehicles and Infrastructure Task 4 / Task 10 : System Architecture and Design Document (SA/DD).

    Science.gov (United States)

    2017-10-27

    This report describes the system architecture and design of the Experimental Prototype System (EPS) for the demonstration of the use of mobile devices in a connected vehicle environment. Specifically, it defines the system structure and behavior, the...

  8. Single Operator Control of Multiple Uninhabited Air Vehicles: Situational Awareness Requirement

    National Research Council Canada - National Science Library

    Sebalj, Derek

    2008-01-01

    ... > 1. The ultimate goal, and the object of much research, is the technology to lower, or even invert the control ratio from many people to one vehicle to one operator of several vehicles, e.g., 1...

  9. Hybrid Control of Long-Endurance Aerial Robotic Vehicles for Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Deok-Jin Lee

    2011-06-01

    Full Text Available This paper presents an effective hybrid control approach for building stable wireless sensor networks between heterogeneous unmanned vehicles using long‐ endurance aerial robotic vehicles. For optimal deployment of the aerial vehicles in communication networks, a gradient climbing based self‐estimating control algorithm is utilized to locate the aerial platforms to maintain maximum communication throughputs between distributed multiple nodes. The autonomous aerial robots, which function as communication relay nodes, extract and harvest thermal energy from the atmospheric environment to improve their flight endurance within specified communication coverage areas. The rapidly‐deployable sensor networks with the high‐endurance aerial vehicles can be used for various application areas including environment monitoring, surveillance, tracking, and decision‐making support. Flight test and simulation studies are conducted to evaluate the effectiveness of the proposed hybrid control technique for robust communication networks.

  10. Fuzzy logic control of vehicle suspensions with dry friction nonlinearity

    Indian Academy of Sciences (India)

    Fuzzy logic control; active vehicle suspension; suspension space. 1. ... surface unevenness, stability and directional control during handling ..... Burton A W, Truscott A J, Wellstead P E 1995 Analysis, modeling and control of an advanced.

  11. Real-time control strategy to maximize hybrid electric vehicle powertrain efficiency

    International Nuclear Information System (INIS)

    Shabbir, Wassif; Evangelou, Simos A.

    2014-01-01

    Highlights: • An off-line local control is proposed for real-time HEV energy management. • Powertrain efficiencies are studied to produce a unified objective function. • Penalty function is designed to ensure charge sustaining operation. • Implementation by storing optimal power share in a two-dimensional control map. • Proposed control improved fuel economy by up to 20% compared to conventional control. - Abstract: The proposed supervisory control system (SCS) uses a control map to maximize the powertrain efficiency of a hybrid electric vehicle (HEV) in real-time. The paper presents the methodology and structure of the control, including a novel, comprehensive and unified expression for the overall powertrain efficiency that considers the engine-generator set and the battery in depth as well as the power electronics. A control map is then produced with instructions for the optimal power share between the engine branch and battery branch of the vehicle such that the powertrain efficiency is maximized. This map is computed off-line and can thereafter be operated in real-time at very low computational cost. A charge sustaining factor is also developed and introduced to ensure the SCS operates the vehicle within desired SOC bounds. This SCS is then tested and benchmarked against two conventional control strategies in a high-fidelity vehicle model, representing a series HEV. Extensive simulation results are presented for repeated cycles of a diverse range of standard driving cycles, showing significant improvements in fuel economy (up to 20%) and less aggressive use of the battery

  12. Central Vehicle Dynamics Control of the Robotic Research Platform ROboMObil

    OpenAIRE

    Bünte, Tilman; Ho, Lok Man; Satzger, Clemens; Brembeck, Jonathan

    2014-01-01

    The ROboMObil is DLR’s space-robotics driven by-wire electro-mobile research platform for mechatronic actuators, vehicle dynamics control, human machine interfaces, and autonomous driving (DLR = German Aerospace Center). Due to its four highly integrated identical Wheel Robots it exhibits an extraordinary manoeuvrability even allowing for driving sideward or rotating on the spot. Topics related to vehicle dynamics control are addressed in this article.

  13. A Saturation Balancing Control Method for Enhancing Dynamic Vehicle Stability (PREPRINT)

    Science.gov (United States)

    2011-03-01

    braking torques (with regenerative braking ) at the individual wheels or axles of the vehicle with independent drive or torque-biasing systems ...VSC (also referred to as vehicle dynamics control (VDC)) systems available on the market today are brake -based systems which extend the functionality...of mature hardware technology available for anti-lock braking (ABS) and traction control systems . These systems Report Documentation Page Form

  14. Subjective and objective assessment of manual, supported, and automated vehicle control

    NARCIS (Netherlands)

    Vos, A.P. de; Godthelp, J.; Käppler, W.D.

    1998-01-01

    In this paper subjective and objective assessments of vehicle control are illustrated by means of ex-periments concerning manipulation of vehicle dynamics, driver support, and automated driving. Subjective ratings are discussed in relation to objective performance measures.

  15. System for remote control of underground device

    Science.gov (United States)

    Brumleve, T.D.; Hicks, M.G.; Jones, M.O.

    1975-10-21

    A system is described for remote control of an underground device, particularly a nuclear explosive. The system includes means at the surface of the ground for transmitting a seismic signal sequence through the earth having controlled and predetermined signal characteristics for initiating a selected action in the device. Additional apparatus, located with or adjacent to the underground device, produces electrical signals in response to the seismic signals received and compares these electrical signals with the predetermined signal characteristics.

  16. System for remote control of underground device

    International Nuclear Information System (INIS)

    Brumleve, T.D.; Hicks, M.G.; Jones, M.O.

    1975-01-01

    A system is described for remote control of an underground device, particularly a nuclear explosive. The system includes means at the surface of the ground for transmitting a seismic signal sequence through the earth having controlled and predetermined signal characteristics for initiating a selected action in the device. Additional apparatus, located with or adjacent to the underground device, produces electrical signals in response to the seismic signals received and compares these electrical signals with the predetermined signal characteristics

  17. Hybrid systems, optimal control and hybrid vehicles theory, methods and applications

    CERN Document Server

    Böhme, Thomas J

    2017-01-01

    This book assembles new methods showing the automotive engineer for the first time how hybrid vehicle configurations can be modeled as systems with discrete and continuous controls. These hybrid systems describe naturally and compactly the networks of embedded systems which use elements such as integrators, hysteresis, state-machines and logical rules to describe the evolution of continuous and discrete dynamics and arise inevitably when modeling hybrid electric vehicles. They can throw light on systems which may otherwise be too complex or recondite. Hybrid Systems, Optimal Control and Hybrid Vehicles shows the reader how to formulate and solve control problems which satisfy multiple objectives which may be arbitrary and complex with contradictory influences on fuel consumption, emissions and drivability. The text introduces industrial engineers, postgraduates and researchers to the theory of hybrid optimal control problems. A series of novel algorithmic developments provides tools for solving engineering pr...

  18. Robust H∞ output-feedback control for path following of autonomous ground vehicles

    Science.gov (United States)

    Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

    2016-03-01

    This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

  19. Testing device for pipeline groups and control method for testing device

    International Nuclear Information System (INIS)

    Naito, Shinji; Kajiyama, Shigeru; Takahashi, Fuminobu; Tsuchida, Kenji; Tachibana, Yukio; Shigehiro, Katsuya; Mahara, Yoichi.

    1995-01-01

    The device of the present invention comprises a testing device main body disposed to a rail, a movable mechanism positioning from a reference point, a circumferential direction scanning mechanism, an axial direction scanning mechanism, a posture control mechanism, and a testing probe. Upon testing of pipelines, the detection device main body and auxiliary members are moved from a reference point previously set on a rail for numerical control toward pipelines to be tested in a state where the axial direction scanning mechanism and the testing probe are suspended in the axial direction. The testing is conducted by controlling the position of the testing probe in the axial direction of the pipeline by means of the axial direction scanning mechanism, and scanning the testing probe to the outer circumference of the pipeline along the circumferential track by way of the circumferential direction scanning mechanism. The device can be extremely reduced in the thickness, and can be moved with no interference with pipelines and other obstacles by remote operation even under such undesired condition as the pipelines being crowded, so that non-destructive testing can be conducted accurately. (N.H.)

  20. Obstacle detection system for underground mining vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Cohen, P.; Polotski, V.; Piotte, M.; Melamed, F. [Ecole Polytechnique de Montreal, Montreal, PQ (Canada)

    1998-01-01

    A device for detecting obstacles by autonomous vehicles navigating in mine drifts is described. The device is based upon structured lighting and the extraction of relevant features from images of obstacles. The system uses image profile changes, ground and wall irregularities, disturbances of the vehicle`s trajectory, and impaired visibility to detect obstacles, rather than explicit three-dimensional scene reconstruction. 7 refs., 5 figs.

  1. Vehicle engine sound design based on an active noise control system

    Energy Technology Data Exchange (ETDEWEB)

    Lewis, M. [Siemens VDO Automotive, Auburn Hills, MI (United States)

    2002-07-01

    A study has been carried out to identify the types of vehicle engine sounds that drivers prefer while driving at different locations and under different driving conditions. An active noise control system controlled the sound at the air intake orifice of a vehicle engine's first sixteen orders and half orders. The active noise control system was used to change the engine sound to quiet, harmonic, high harmonic, spectral shaped and growl. Videos were made of the roads traversed, binaural recording of vehicle interior sounds, and vibrations of the vehicle floor pan. Jury tapes were made up for day driving, nighttime driving and driving in the rain during the day for each of the sites. Jurors used paired comparisons to evaluate the vehicle interior sounds while sitting in a vehicle simulator developed by Siemens VDO that replicated videos of the road traversed, binaural recording of the vehicle interior sounds and vibrations of the floor pan and seat. (orig.) [German] Im Rahmen einer Studie wurden Typen von Motorgeraeuschen identifiziert, die von Fahrern unter verschiedenen Fahrbedingungen als angenehm empfunden werden. Ein System zur aktiven Geraeuschbeeinflussung am Ansauglufteinlass im Bereich des Luftfilters modifizierte den Klang des Motors bis zur 16,5ten Motorordnung, und zwar durch Bedaempfung, Verstaerkung und Filterung der Signalfrequenzen. Waehrend der Fahrt wurden Videoaufnahmen der befahrenen Strassen, Stereoaufnahmen der Fahrzeuginnengeraeusche und Aufnahmen der Vibrationsamplituden des Fahrzeugbodens erstellt; dies bei Tag- und Nachtfahrten und bei Tagfahrten im Regen. Zur Beurteilung der aufgezeichneten Geraeusche durch Versuchspersonen wurde ein Fahrzeug-Laborsimulator mit Fahrersitz, Bildschirm, Lautsprecher und mechanischer Erregung der Bodenplatte aufgebaut, um die aufgenommenen Signale moeglichst wirklichkeitsgetreu wiederzugeben. (orig.)

  2. Power control device

    International Nuclear Information System (INIS)

    Fukawa, Naohiro.

    1982-01-01

    Purpose: To alleviate the load of an operator by automatically operating the main controller, the speed controller, etc. of a recirculation control system and safely operating them without erroneous operation for long period of time, thereby improving the efficiency of a plant. Constitution: An electric type hydraulic control device controls loads of a turbine and a generator and outputs a control signal also to the main controller of a recirculation flow rate control system. At this time, the main controller is set at an automatic position, and the speed controller receives a recirculation pump speed signal from the main controller at the automatic position. The speed controller outputs a pump speed control signal to the recirculation pump system, and a reactor generates a power corresponding thereto. When the power control is automatically performed by the recirculation flow rate control, an operator sets a rate of change of the recirculation pump speed and the rate of change of the mean power range monitor at a change rate setting unit. Therefore, the control of the recirculation flow rate under the power control can be substantially entirely automated. (Yoshigara, H.)

  3. Hyperspectral Image-Based Night-Time Vehicle Light Detection Using Spectral Normalization and Distance Mapper for Intelligent Headlight Control

    Directory of Open Access Journals (Sweden)

    Heekang Kim

    2016-07-01

    Full Text Available This paper proposes a vehicle light detection method using a hyperspectral camera instead of a Charge-Coupled Device (CCD or Complementary metal-Oxide-Semiconductor (CMOS camera for adaptive car headlamp control. To apply Intelligent Headlight Control (IHC, the vehicle headlights need to be detected. Headlights are comprised from a variety of lighting sources, such as Light Emitting Diodes (LEDs, High-intensity discharge (HID, and halogen lamps. In addition, rear lamps are made of LED and halogen lamp. This paper refers to the recent research in IHC. Some problems exist in the detection of headlights, such as erroneous detection of street lights or sign lights and the reflection plate of ego-car from CCD or CMOS images. To solve these problems, this study uses hyperspectral images because they have hundreds of bands and provide more information than a CCD or CMOS camera. Recent methods to detect headlights used the Spectral Angle Mapper (SAM, Spectral Correlation Mapper (SCM, and Euclidean Distance Mapper (EDM. The experimental results highlight the feasibility of the proposed method in three types of lights (LED, HID, and halogen.

  4. Optimal strategies for the control of autonomous vehicles in data assimilation

    Science.gov (United States)

    McDougall, D.; Moore, R. O.

    2017-08-01

    We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with arbitrary control over direction. It is this direction that is used as the basis for the locally optimal control algorithm presented here, with objective formed from the variance trace of the expected posterior distribution. We present results for linear flows near hyperbolic fixed points.

  5. Using connected vehicle technology to deliver timely warnings to pedestrians.

    Science.gov (United States)

    2016-07-01

    Pedestrian injuries and deaths caused by collisions with motor vehicles are on the : rise in the U.S. One factor that may increase the risk of such collisions is pedestrian : mobile device use. Both field observations and controlled experiments indic...

  6. Crew exploration vehicle (CEV) attitude control using a neural-immunology/memory network

    Science.gov (United States)

    Weng, Liguo; Xia, Min; Wang, Wei; Liu, Qingshan

    2015-01-01

    This paper addresses the problem of the crew exploration vehicle (CEV) attitude control. CEVs are NASA's next-generation human spaceflight vehicles, and they use reaction control system (RCS) jet engines for attitude adjustment, which calls for control algorithms for firing the small propulsion engines mounted on vehicles. In this work, the resultant CEV dynamics combines both actuation and attitude dynamics. Therefore, it is highly nonlinear and even coupled with significant uncertainties. To cope with this situation, a neural-immunology/memory network is proposed. It is inspired by the human memory and immune systems. The control network does not rely on precise system dynamics information. Furthermore, the overall control scheme has a simple structure and demands much less computation as compared with most existing methods, making it attractive for real-time implementation. The effectiveness of this approach is also verified via simulation.

  7. Optimal charging control of electric vehicles in smart grids

    CERN Document Server

    Tang, Wanrong

    2017-01-01

    This book introduces the optimal online charging control of electric vehicles (EVs) and battery energy storage systems (BESSs) in smart grids. The ultimate goal is to minimize the total energy cost as well as reduce the fluctuation of the total power flow caused by the integration of the EVs and renewable energy generators. Using both theoretic analysis and data-driven numerical results, the authors reveal the effectiveness and efficiency of the proposed control techniques. A major benefit of these control techniques is their practicality, since they do not rely on any non-causal knowledge of future information. Researchers, operators of power grids, and EV users will find this to be an exceptional resource. It is also suitable for advanced-level students of computer science interested in networks, electric vehicles, and energy systems.

  8. Development of a dedicated ethanol ultra-low-emissions vehicle (ULEV): Phase 3 report

    Energy Technology Data Exchange (ETDEWEB)

    Dodge, L; Callahan, T; Leone, D; Naegeli, D; Shouse, K; Smith, L; Whitney, K [Southwest Research Inst., San Antonio, TX (United States)

    1998-04-01

    The objective of the 3.5 year project discussed in this report was to develop a commercially competitive vehicle powered by ethanol (or an ethanol blend) that can meet California`s Ultra Low Emissions Vehicle (ULEV) standards and equivalent Corporate Average Fuel Economy (CAFE) energy efficiency for a light duty passenger car application. This particular report summarizes the third phase of the project, which lasted 12 months. Emissions tests were conducted with advanced after-treatment devices on one of the two, almost identical, test vehicles, a 1993 Ford Taurus flexible fuel vehicle. The report also covers tests on the engine removed from the second Taurus vehicle. This engine was modified for an increased compression ratio, fitted with air assist injectors, and included an advanced engine control system with model-based control.

  9. Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

    Science.gov (United States)

    VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

    2014-01-01

    Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a

  10. Smooth Sliding Mode Control for Vehicle Rollover Prevention Using Active Antiroll Suspension

    Directory of Open Access Journals (Sweden)

    Duanfeng Chu

    2015-01-01

    Full Text Available The rollover accidents induced by severe maneuvers are very dangerous and mostly happen to vehicles with elevated center of gravity, such as heavy-duty trucks and pickup trucks. Unfortunately, it is hard for drivers of those vehicles to predict and prevent the trend of the maneuver-induced (untripped rollover ahead of time. In this study, a lateral load transfer ratio which reflects the load distribution of left and right tires is used to indicate the rollover criticality. An antiroll controller is designed with smooth sliding mode control technique for vehicles, in which an active antiroll suspension is installed. A simplified second order roll dynamic model with additive sector bounded uncertainties is used for control design, followed by robust stability analysis. Combined with the vehicle dynamics simulation package TruckSim, MATLAB/Simulink is used for simulating experiment. The results show that the applied controller can improve the roll stability under some typical steering maneuvers, such as Fishhook and J-turn. This direct antiroll control method could be more effective for untripped rollover prevention when driver deceleration or steering is too late. It could also be extended to handle tripped rollovers.

  11. 78 FR 724 - California State Nonroad Engine Pollution Control Standards; Off-Highway Recreational Vehicles...

    Science.gov (United States)

    2013-01-04

    ... ENVIRONMENTAL PROTECTION AGENCY [FRL-9766-2] California State Nonroad Engine Pollution Control...\\ California State Nonroad Engine and Vehicle Pollution Control Standards; Authorization of State Standards... standards and other requirements relating to the control of emissions from such vehicles or engines if...

  12. On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

    OpenAIRE

    Dell'Amico, Alessandro

    2016-01-01

    This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. The power steer...

  13. Automatic exchange unit for control rod drive device

    International Nuclear Information System (INIS)

    Nasu, Seiji; Sasaki, Masayoshi.

    1982-01-01

    Purpose: To enable automatic reoperation and continuation without external power interruption remedy device at the time of recovering the interrupted power soruce during automatic positioning operation. Constitution: In case of an automatic exchange unit for a control rod drive device of the control type for setting the deviation between the positioning target position and the present position of the device to zero, the position data of the drive device of the positioning target value of the device is automatically read, and an interlock of operation inhibit is applied to a control system until the data reading is completed and automatic operation start or restart conditions are sequentially confirmed. After the confirmation, the interlock is released to start the automatic operation or reoperation. Accordingly, the automatic operation can be safely restarted and continued. (Yoshihara, H.)

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

    Directory of Open Access Journals (Sweden)

    Pan Zhao

    2012-07-01

    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.

  15. Automatic operation device for control rods

    International Nuclear Information System (INIS)

    Sekimizu, Koichi

    1984-01-01

    Purpose: To enable automatic operation of control rods based on the reactor operation planning, and particularly, to decrease the operator's load upon start up and shutdown of the reactor. Constitution: Operation plannings, demand for the automatic operation, break point setting value, power and reactor core flow rate change, demand for operation interrupt, demand for restart, demand for forecasting and the like are inputted to an input device, and an overall judging device performs a long-term forecast as far as the break point by a long-term forecasting device based on the operation plannings. The automatic reactor operation or the like is carried out based on the long-term forecasting and the short time forecasting is performed by the change in the reactor core status due to the control rod operation sequence based on the control rod pattern and the operation planning. Then, it is judged if the operation for the intended control rod is possible or not based on the result of the short time forecasting. (Aizawa, K.)

  16. Control rod guide tube cleaning device

    International Nuclear Information System (INIS)

    Tsuji, Tadashi; Shiota, Yoshiaki.

    1990-01-01

    Since there was no exclusive device for cleaning control rods, no effective cleaning could not be conducted and there was a possibility that obstacles may not be recovered. Then, there are disposed a first pump for supplying pressurized water, a spray nozzle for forming a swirling flow in a control rod guide tube, a second pump for pressurizing water introduced by a sucking pipeline and a collecting device for recovering obstacles intruding to water from the second pump. The pressurized water supplied from the first pump is introduced to a head passing through a blowing pipe and jetted from the spray nozzle to the control rod guide tube. In this case, a swirling stream occurs and obstacles in the control guide tube are mixed into water. The water containing the obstacles passes from the sucking port through a pipeline, introduced to the second pump and recovered to the collecting device. Since there is no water staying portion upon cleaning operation, the obstacles accumulating over the entire region of the bottom of the guide tube can be recovered reliably and efficiently. (N.H.)

  17. Anti-Windup Control for an Air-Breathing Hypersonic Vehicle Model

    National Research Council Canada - National Science Library

    Groves, Kevin P; Serrani, Andrea; Yurkovich, Stephen; Bolender, Michael A; Doman, David B

    2005-01-01

    .... Anti-windup control allows the input constraints to be considered explicitly in the design of linear controllers to track a reference trajectory for the vehicle velocity, altitude, and angle of attack...

  18. Nonlinear reset integrator control design: Application to the active suspension control of vehicles

    OpenAIRE

    Acho Zuppa, Leonardo

    2014-01-01

    We present an unexampled reset integrator control design based on the Clegg integrator system. Using an appropriate mathematical model of our Clegg integrator controller, stability proof of the closed-loop system applied to the vibration control problem of a second-order system is shown without invoking hybrid system theory. Furthermore, we illustrate the pplicability of our controller, from the numerical experiment point of view, to the suspension vibration control of vehicles.

  19. Robust adaptive control for Unmanned Aerial Vehicles

    Science.gov (United States)

    Kahveci, Nazli E.

    The objective of meeting higher endurance requirements remains a challenging task for any type and size of Unmanned Aerial Vehicles (UAVs). According to recent research studies significant energy savings can be realized through utilization of thermal currents. The navigation strategies followed across thermal regions, however, are based on rather intuitive assessments of remote pilots and lack any systematic path planning approaches. Various methods to enhance the autonomy of UAVs in soaring applications are investigated while seeking guarantees for flight performance improvements. The dynamics of the aircraft, small UAVs in particular, are affected by the environmental conditions, whereas unmodeled dynamics possibly become significant during aggressive flight maneuvers. Besides, the demanded control inputs might have a magnitude range beyond the limits dictated by the control surface actuators. The consequences of ignoring these issues can be catastrophic. Supporting this claim NASA Dryden Flight Research Center reports considerable performance degradation and even loss of stability in autonomous soaring flight tests with the subsequent risk of an aircraft crash. The existing control schemes are concluded to suffer from limited performance. Considering the aircraft dynamics and the thermal characteristics we define a vehicle-specific trajectory optimization problem to achieve increased cross-country speed and extended range of flight. In an environment with geographically dispersed set of thermals of possibly limited lifespan, we identify the similarities to the Vehicle Routing Problem (VRP) and provide both exact and approximate guidance algorithms for the navigation of automated UAVs. An additional stochastic approach is used to quantify the performance losses due to incorrect thermal data while dealing with random gust disturbances and onboard sensor measurement inaccuracies. One of the main contributions of this research is a novel adaptive control design with

  20. Development of Fuzzy Logic Control for Vehicle Air Conditioning System

    Directory of Open Access Journals (Sweden)

    Henry Nasution

    2008-08-01

    Full Text Available A vehicle air conditioning system is experimentally investigated. Measurements were taken during the experimental period at a time interval of one minute for a set point temperature of 22, 23 and 24oC with internal heat loads of 0, 1 and 2 kW. The cabin temperature and the speed of the compressor were varied and the performance of the system, energy consumption and energy saving ware analyzed. The main objective of the experimental work is to evaluate the energy saving obtained when the fuzzy logic control (FLC algorithm, through an inverter, continuously regulates the compressor speed. It demonstrates better control of the compressor operation in terms of energy consumption as compared to the control by using a thermostat imposing On/Off cycles on the compressor at the nominal frequency of 50 Hz. The experimental set-up consists of original components from the air conditioning system of a compact passenger vehicle. The experimental results indicate that the proposed technique can save energy and improve indoor comfort significantly for vehicle air conditioning systems compared to the conventional (On/Off control technique.

  1. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.; Klarer, P.; Lewis, C.

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  2. A Steady-State Visual Evoked Potential Brain-Computer Interface System Evaluation as an In-Vehicle Warning Device

    Science.gov (United States)

    Riyahi, Pouria

    This thesis is part of current research at Center for Intelligence Systems Research (CISR) at The George Washington University for developing new in-vehicle warning systems via Brain-Computer Interfaces (BCIs). The purpose of conducting this research is to contribute to the current gap between BCI and in-vehicle safety studies. It is based on the premise that accurate and timely monitoring of human (driver) brain's signal to external stimuli could significantly aide in detection of driver's intentions and development of effective warning systems. The thesis starts with introducing the concept of BCI and its development history while it provides a literature review on the nature of brain signals. The current advancement and increasing demand for commercial and non-medical BCI products are described. In addition, the recent research attempts in transportation safety to study drivers' behavior or responses through brain signals are reviewed. The safety studies, which are focused on employing a reliable and practical BCI system as an in-vehicle assistive device, are also introduced. A major focus of this thesis research has been on the evaluation and development of the signal processing algorithms which can effectively filter and process brain signals when the human subject is subjected to Visual LED (Light Emitting Diodes) stimuli at different frequencies. The stimulated brain generates a voltage potential, referred to as Steady-State Visual Evoked Potential (SSVEP). Therefore, a newly modified analysis algorithm for detecting the brain visual signals is proposed. These algorithms are designed to reach a satisfactory accuracy rate without preliminary trainings, hence focusing on eliminating the need for lengthy training of human subjects. Another important concern is the ability of the algorithms to find correlation of brain signals with external visual stimuli in real-time. The developed analysis models are based on algorithms which are capable of generating results

  3. Robust Predictive Functional Control for Flight Vehicles Based on Nonlinear Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Yinhui Zhang

    2015-01-01

    Full Text Available A novel robust predictive functional control based on nonlinear disturbance observer is investigated in order to address the control system design for flight vehicles with significant uncertainties, external disturbances, and measurement noise. Firstly, the nonlinear longitudinal dynamics of the flight vehicle are transformed into linear-like state-space equations with state-dependent coefficient matrices. And then the lumped disturbances are considered in the linear structure predictive model of the predictive functional control to increase the precision of the predictive output and resolve the intractable mismatched disturbance problem. As the lumped disturbances cannot be derived or measured directly, the nonlinear disturbance observer is applied to estimate the lumped disturbances, which are then introduced to the predictive functional control to replace the unknown actual lumped disturbances. Consequently, the robust predictive functional control for the flight vehicle is proposed. Compared with the existing designs, the effectiveness and robustness of the proposed flight control are illustrated and validated in various simulation conditions.

  4. Feedwater control method and device therefor

    International Nuclear Information System (INIS)

    Nakahara, Mitsugu; Ichikawa, Yoshiaki; Ishii, Yoshikazu; Suzuki, Katsuyuki; Tanikawa, Naoshi; Mizuki, Fumio.

    1997-01-01

    The present invention provides a method of and a device for easily changing the constitution of feedwater systems without causing change in the water level of a reactor even when a plurality of feedwater systems have imbalance points. Namely, a feedwater control device comprises at least two feedwater systems capable of feeding water to tanks independently respectively and a controller capable of controlling water level in the tanks by controlling these feedwater systems. There is disposed a means for outputting gradually increasing driving signals to other feedwater systems, when the water level controller automatically controls one of the feedwater systems. There is also disposed a means for switching from automatic control for one of the feedwater systems to automatic control for the other feedwater system by a water level controller when the other feedwater system is in a stable operation region. As a result, entire feedwater flow rate is not temporarily changed and the water level in the tanks can be maintained constant. (N.H.)

  5. Tire-road friction estimation and traction control strategy for motorized electric vehicle

    Science.gov (United States)

    Jin, Li-Qiang; Yue, Weiqiang

    2017-01-01

    In this paper, an optimal longitudinal slip ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal slip rate torque control can be identified in real time by calculating the derivative and slip rate of the adhesion coefficient. Secondly, the vehicle speed estimation method is also brought. Thirdly, an ideal vehicle simulation model is proposed to verify the algorithm with simulation, and we find that the slip ratio corresponds to the detection of the adhesion limit in real time. Finally, the proposed strategy is applied to traction control system (TCS). The results showed that the method can effectively identify the state of wheel and calculate the optimal slip ratio without wheel speed sensor; in the meantime, it can improve the accelerated stability of electric vehicle with traction control system (TCS). PMID:28662053

  6. Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Ming Lei

    2012-01-01

    Full Text Available A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory.

  7. Plasma control device

    International Nuclear Information System (INIS)

    Takase, Haruhiko.

    1987-01-01

    Purpose: To obtain the optimum controllability for the plasmas and the thermonuclear device by selectively executing control operation for proportion, integration and differentiation (PID) by first and second controllers respectively based on selection instruction signals. Constitution: Deviation between a vertical direction equilibrium position: Zp as the plasma status amount measured in a measuring section and an aimed value Zref thereof is inputted to a first PID selection controller. The first controller selectively executes one of the PID control operations in accordance with the first selection signal instruction instructed by a PID control operation instruction circuit. Further, Zp is also inputted to a second PID selection controller, which selectively executes one of the PID control operations in accordance with the second selection instruction signal in the same manner as in the first controller. The deviation amount u between operations signals u1 and u2 from the first and second PID selection controllers is inputted to a power source to thereby supply a predetermined current value to control coils that generate equilibrium magnetic fields for making the vertical direction equilibrium position of plasmas constant. (Kamimura, M.)

  8. Learning Mobility: Adaptive Control Algorithms for the Novel Unmanned Ground Vehicle (NUGV)

    National Research Council Canada - National Science Library

    Blackburn, Mike

    2003-01-01

    Mobility is a serious limiting factor in the usefulness of unmanned ground vehicles, This paper contains a description of our approach to develop control algorithms for the Novel Unmanned Ground Vehicle (NUGV...

  9. Vehicle-to-infrastructure program cooperative adaptive cruise control.

    Science.gov (United States)

    2015-03-01

    This report documents the work completed by the Crash Avoidance Metrics Partners LLC (CAMP) Vehicle to Infrastructure (V2I) Consortium during the project titled Cooperative Adaptive Cruise Control (CACC). Participating companies in the V2I Cons...

  10. Controller synthesis for string stability of vehicle platoons

    NARCIS (Netherlands)

    Ploeg, J.; Shukla, D.P.; Wouw, N. van de; Nijmeijer, H.

    2014-01-01

    Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped

  11. On distributed model predictive control for vehicle platooning with a recursive feasibility guarantee

    NARCIS (Netherlands)

    Shi, Shengling; Lazar, Mircea

    2017-01-01

    This paper proposes a distributed model predictive control algorithm for vehicle platooning and more generally networked systems in a chain structure. The distributed models of the vehicle platoon are coupled through the input of the preceding vehicles. Using the principles of robust model

  12. Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity

    DEFF Research Database (Denmark)

    Fossen, T. I.; Blanke, Mogens

    2000-01-01

    Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using...... a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller...... compensates for variations in thrust due to time variations in advance speed. This 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. The simulations demonstrate that the axial water...

  13. Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms

    Directory of Open Access Journals (Sweden)

    Mauricio Marcano

    2018-01-01

    Full Text Available Advanced Driver Assistance Systems (ADAS acting over throttle and brake are already available in level 2 automated vehicles. In order to increase the level of automation new systems need to be tested in an extensive set of complex scenarios, ensuring safety under all circumstances. Validation of these systems using real vehicles presents important drawbacks: the time needed to drive millions of kilometers, the risk associated with some situations, and the high cost involved. Simulation platforms emerge as a feasible solution. Therefore, robust and reliable virtual environments to test automated driving maneuvers and control techniques are needed. In that sense, this paper presents a use case where three longitudinal low speed control techniques are designed, tuned, and validated using an in-house simulation framework and later applied in a real vehicle. Control algorithms include a classical PID, an adaptive network fuzzy inference system (ANFIS, and a Model Predictive Control (MPC. The simulated dynamics are calculated using a multibody vehicle model. In addition, longitudinal actuators of a Renault Twizy are characterized through empirical tests. A comparative analysis of results between simulated and real platform shows the effectiveness of the proposed framework for designing and validating longitudinal controllers for real automated vehicles.

  14. Wheel Slip Control of Vehicle ABS Using Piezoactuator-Based Valve System

    Directory of Open Access Journals (Sweden)

    Juncheol Jeon

    2014-04-01

    Full Text Available This paper presents a novel piezoactuator-based valve for vehicle ABS. The piezoactuator located in one side of a rigid beam makes a displacement required to control the pressure at a flapper-nozzle of the pneumatic valve. In order to obtain the wide control range of the pressure, a pressure modulator comprised of dual-type cylinder and piston is proposed. The governing equation of the piezovalve system which consists of the proposed piezoactuator-based valve and the pressure modulator is obtained. The longitudinal vehicle dynamics and the wheel slip condition are then formulated. In order to evaluate the performance of the proposed piezovalve system from the viewpoint of the vehicle ABS, a sliding mode controller is designed for wheel slip control. The tracking control performances for the desired wheel slip rate are evaluated and the braking performances in terms of braking distance are then presented on different road conditions (dry asphalt, wet asphalt, and wet jennite. It is clearly shown that the desired wheel slip rate is well achieved and the braking distance and braking time can be significantly reduced by using the proposed piezovalve system associated with the slip rate controller.

  15. A safety control device for detecting undesirable conditions

    Energy Technology Data Exchange (ETDEWEB)

    1974-09-26

    The invention relates to safety control devices. It deals with a device adapted to transmit a warning signal and to the detection of an undesirable condition in an associated apparatus, said device comprising switching means comprising transistors mounted in a reaction path, feeding means for opening the switching means whenever an undesirable condition has been detected by sensors, whereby an oscillator is caused to stop oscillating, and an outlet device controlled by the oscillator stoppage. This can be applied to the supervision of nuclear reactor.

  16. A new electronic control system for unmanned underwater vehicles

    OpenAIRE

    Molina Molina, J.C.; Guerrero González, A.; Gilabert, J.

    2015-01-01

    In this paper a new electronic control system for unmanned underwater vehicles is presented. This control system is characterized by a distribution in control over two network of type CANBus and Ethernet. This new electronic control system integrates functionalities of AUVs, as the automatic execution of preprogrammed trajectories. The control system also integrates an acoustic positioning system based on USBL. The information of relative positioning is sent through specific...

  17. Improved SCR ac Motor Controller for Battery Powered Urban Electric Vehicles

    Science.gov (United States)

    Latos, T. S.

    1982-01-01

    An improved ac motor controller, which when coupled to a standard ac induction motor and a dc propulsion battery would provide a complete electric vehicle power train with the exception of the mechanical transmission and drive wheels was designed. In such a system, the motor controller converts the dc electrical power available at the battery terminals to ac electrical power for the induction motor in response to the drivers commands. The performance requirements of a hypothetical electric vehicle with an upper weight bound of 1590 kg (3500 lb) were used to determine the power rating of the controller. Vehicle acceleration capability, top speed, and gradeability requisites were contained in the Society of Automotive Engineers (SAE) Schedule 227a(d) driving cycle. The important capabilities contained in this driving cycle are a vehicle acceleration requirement of 0 to 72.4 kmph (0 to 45 mph) in 28 seconds a top speed of 88.5 kmph (55 mph), and the ability to negotiate a 10% grade at 48 kmph (30 mph). A 10% grade is defined as one foot of vertical rise per 10 feet of horizontal distance.

  18. Ground control station software design for micro aerial vehicles

    Science.gov (United States)

    Walendziuk, Wojciech; Oldziej, Daniel; Binczyk, Dawid Przemyslaw; Slowik, Maciej

    2017-08-01

    This article describes the process of designing the equipment part and the software of a ground control station used for configuring and operating micro unmanned aerial vehicles (UAV). All the works were conducted on a quadrocopter model being a commonly accessible commercial construction. This article contains a characteristics of the research object, the basics of operating the micro aerial vehicles (MAV) and presents components of the ground control station model. It also describes the communication standards for the purpose of building a model of the station. Further part of the work concerns the software of the product - the GIMSO application (Generally Interactive Station for Mobile Objects), which enables the user to manage the actions and communication and control processes from the UAV. The process of creating the software and the field tests of a station model are also presented in the article.

  19. Research on Acceleration Compensation Strategy of Electric Vehicle Based on Fuzzy Control Theory

    Science.gov (United States)

    Zhu, Tianjun; Li, Bin; Zong, Changfu; Wei, Zhicheng

    2017-09-01

    Nowadays, the driving technology of electric vehicle is developing rapidly. There are many kinds of methods in driving performance control technology. The paper studies the acceleration performance of electric vehicle. Under the premise of energy management, an acceleration power compensation method by fuzzy control theory based on driver intention recognition is proposed, which can meet the driver’s subjective feelings better. It avoids the problem that the pedal opening and power output are single correspondence when the traditional vehicle accelerates. Through the simulation test, this method can significantly improve the performance of acceleration and output torque smoothly in non-emergency acceleration to ensure vehicle comfortable and stable.

  20. Wind turbine remote control using Android devices

    Science.gov (United States)

    Rat, C. L.; Panoiu, M.

    2018-01-01

    This paper describes the remote control of a wind turbine system over the internet using an Android device, namely a tablet or a smartphone. The wind turbine workstation contains a LabVIEW program which monitors the entire wind turbine energy conversion system (WECS). The Android device connects to the LabVIEW application, working as a remote interface to the wind turbine. The communication between the devices needs to be secured because it takes place over the internet. Hence, the data are encrypted before being sent through the network. The scope was the design of remote control software capable of visualizing real-time wind turbine data through a secure connection. Since the WECS is fully automated and no full-time human operator exists, unattended access to the turbine workstation is needed. Therefore the device must not require any confirmation or permission from the computer operator in order to control it. Another condition is that Android application does not have any root requirements.

  1. State estimation and control for low-cost unmanned aerial vehicles

    CERN Document Server

    Hajiyev, Chingiz; Yenal Vural, Sıtkı

    2015-01-01

    This book discusses state estimation and control procedures for a low-cost unmanned aerial vehicle (UAV). The authors consider the use of robust adaptive Kalman filter algorithms and demonstrate their advantages over the optimal Kalman filter in the context of the difficult and varied environments in which UAVs may be employed. Fault detection and isolation (FDI) and data fusion for UAV air-data systems are also investigated, and control algorithms, including the classical, optimal, and fuzzy controllers, are given for the UAV. The performance of different control methods is investigated and the results compared. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles covers all the important issues for designing a guidance, navigation and control (GNC) system of a low-cost UAV. It proposes significant new approaches that can be exploited by GNC system designers in the future and also reviews the current literature. The state estimation, control and FDI methods are illustrated by examples and MATLAB...

  2. Lighting system with illuminance control

    DEFF Research Database (Denmark)

    2013-01-01

    The present invention relates to an illumination control system comprising a plurality of outdoor luminaries and a motorized service vehicle. Each luminaire comprises a controllable light source producing a light illuminance. The motorized service vehicle comprises a light sensor configured...... to detect the light illuminance generated by the controllable light source at the motorized service vehicle. The motorized service vehicle computes light illuminance data based on the detected light illuminance and transmits these to the outdoor luminaire through a wireless communication link or stores...... the light illuminance data on a data recording device of the motorized service vehicle. The outdoor luminaire receives may use the light illuminance data to set or adjust a light illuminance of the controllable light source....

  3. Device Configuration Handler for Accelerator Control Applications at Jefferson Lab

    International Nuclear Information System (INIS)

    Bickley, Matt; Chevtsov, P.; Larrieu, T.

    2003-01-01

    The accelerator control system at Jefferson Lab uses hundreds of physical devices with such popular instrument bus interfaces as Industry Pack (IPAC), GPIB, RS-232, etc. To properly handle all these components, control computers (IOCs) must be provided with the correct information about the unique memory addresses of the used interface cards, interrupt numbers (if any), data communication channels and protocols. In these conditions, the registration of a new control device in the control system is not an easy task for software developers. Because the device configuration is distributed, it requires the detailed knowledge about not only the new device but also the configuration of all other devices on the existing system. A configuration handler implemented at Jefferson Lab centralizes the information about all control devices making their registration user-friendly and very easy to use. It consists of a device driver framework and the device registration software developed on the basis of ORACLE database and freely available scripting tools (perl, php)

  4. Traffic Control Models Based on Cellular Automata for At-Grade Intersections in Autonomous Vehicle Environment

    OpenAIRE

    Wei Wu; Yang Liu; Yue Xu; Quanlun Wei; Yi Zhang

    2017-01-01

    Autonomous vehicle is able to facilitate road safety and traffic efficiency and has become a promising trend of future development. With a focus on highways, existing literatures studied the feasibility of autonomous vehicle in continuous traffic flows and the controllability of cooperative driving. However, rare efforts have been made to investigate the traffic control strategies in autonomous vehicle environment on urban roads, especially in urban intersections. In autonomous vehicle enviro...

  5. Wheel Slip Control for Improving Traction-Ability and Energy Efficiency of a Personal Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Kanghyun Nam

    2015-07-01

    Full Text Available In this paper, a robust wheel slip control system based on a sliding mode controller is proposed for improving traction-ability and reducing energy consumption during sudden acceleration for a personal electric vehicle. Sliding mode control techniques have been employed widely in the development of a robust wheel slip controller of conventional internal combustion engine vehicles due to their application effectiveness in nonlinear systems and robustness against model uncertainties and disturbances. A practical slip control system which takes advantage of the features of electric motors is proposed and an algorithm for vehicle velocity estimation is also introduced. The vehicle velocity estimator was designed based on rotational wheel dynamics, measurable motor torque, and wheel velocity as well as rule-based logic. The simulations and experiments were carried out using both CarSim software and an experimental electric vehicle equipped with in-wheel-motors. Through field tests, traction performance and effectiveness in terms of energy saving were all verified. Comparative experiments with variations of control variables proved the effectiveness and practicality of the proposed control design.

  6. GPS User Devices Parameter Control Methods

    OpenAIRE

    Klūga, A; Kuļikovs, M; Beļinska, V; Zeļenkovs, A

    2007-01-01

    In our day’s wide assortment of GPS user devices is manufacture. How to verify that parameters of the real device corresponds to parameters that manufacture shows. How to verify that parameters have not been changed during the operation time. The last one is very important for aviation GPS systems, which must be verified before the flight, but the values of parameter in time of repair works. This work analyses GPS user devices parameters control methods.

  7. Selection of input devices and controls for modern process control consoles

    International Nuclear Information System (INIS)

    Hasenfuss, O.; Zimmermann, R.

    1975-06-01

    In modern process control consoles man-machine communication is realized more and more by computer driven CRT displays, the most efficient communication system today. This paper describes the most important input devices and controls for such control consoles. A certain number of facts are given, which should be considered during the selection. The aptitude of the described devices for special tasks is discussed and recommendations are given for carrying out a selection. (orig.) [de

  8. Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking

    OpenAIRE

    Shiuh-Jer Huang; Yu-Sheng Hsu

    2017-01-01

    On-board available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward auto-parking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between ego-car and surrounding obstacle. The dimension of a found empty space can be calculated based on vehicle speed and the time history of ultrasonic sensor detecting information. This result can be u...

  9. Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

    Science.gov (United States)

    Zhang, Han; Zhao, Wanzhong

    2018-02-01

    To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

  10. Improved transistorized AC motor controller for battery powered urban electric passenger vehicles

    Science.gov (United States)

    Peak, S. C.

    1982-01-01

    An ac motor controller for an induction motor electric vehicle drive system was designed, fabricated, tested, evaluated, and cost analyzed. A vehicle performance analysis was done to establish the vehicle tractive effort-speed requirements. These requirements were then converted into a set of ac motor and ac controller requirements. The power inverter is a three-phase bridge using power Darlington transistors. The induction motor was optimized for use with an inverter power source. The drive system has a constant torque output to base motor speed and a constant horsepower output to maximum speed. A gear shifting transmission is not required. The ac controller was scaled from the base 20 hp (41 hp peak) at 108 volts dec to an expanded horsepower and battery voltage range. Motor reversal was accomplished by electronic reversal of the inverter phase sequence. The ac controller can also be used as a boost chopper battery charger. The drive system was tested on a dynamometer and results are presented. The current-controlled pulse width modulation control scheme yielded improved motor current waveforms. The ac controller favors a higher system voltage.

  11. A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Aizzat Zakaria

    2013-08-01

    Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle's lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

  12. Probe data from consumer GPS navigation devices for the analysis of controlled intersections

    NARCIS (Netherlands)

    Van Arem, B.; Salomons, A.M.; Krootjes, P.; Cohn, N.; Meijer, A.

    2012-01-01

    Probe data from consumer GPS navigation devices provides a network-wide and costefficient data source for measuring vehicle movements, whereas experimental studies have been confined to small datasets. Data collection from road-side sensors can provide similar information but is expensive and

  13. Robust Switched Predictive Braking Control for Rollover Prevention in Wheeled Vehicles

    Directory of Open Access Journals (Sweden)

    Martín Antonio Rodríguez Licea

    2014-01-01

    Full Text Available The aim of this paper is to propose a differential braking rollover mitigation strategy for wheeled vehicles. The strategy makes use of a polytopic (piecewise linear description of the vehicle and includes translational and rotational dynamics, as well as suspension effects. The braking controller is robust and the system states are predicted to estimate the rollover risk up to a given time horizon. In contrast to existing works, the switched predictive nature of the control allows it to be applied only when risk of rollover is foreseen, interfering a minimum with driver’s actions. The stability of the strategy is analyzed and its robustness is illustrated via numerical simulations using CarSim for a variety of vehicles.

  14. Vehicle underbody fairing

    Science.gov (United States)

    Ortega, Jason M.; Salari, Kambiz; McCallen, Rose

    2010-11-09

    A vehicle underbody fairing apparatus for reducing aerodynamic drag caused by a vehicle wheel assembly, by reducing the size of a recirculation zone formed under the vehicle body immediately downstream of the vehicle wheel assembly. The fairing body has a tapered aerodynamic surface that extends from a front end to a rear end of the fairing body with a substantially U-shaped cross-section that tapers in both height and width. Fasteners or other mounting devices secure the fairing body to an underside surface of the vehicle body, so that the front end is immediately downstream of the vehicle wheel assembly and a bottom section of the tapered aerodynamic surface rises towards the underside surface as it extends in a downstream direction.

  15. A control-oriented simulation model of a power-split hybrid electric vehicle

    International Nuclear Information System (INIS)

    Cipek, Mihael; Pavković, Danijel; Petrić, Joško

    2013-01-01

    Highlights: ► A simulation model of a two mode power-split hybrid electric vehicle (HEV) is proposed. ► Modeling the energy losses in the HEV transmission components are presented. ► The control optimization model implementation aspects are discussed. -- Abstract: A simulation model of a two mode power-split hybrid electric vehicle (HEV) is proposed in this paper for the purpose of HEV dynamics analysis and control system design. The bond graph methodology is used to model dominant dynamic effects of the mechanical part of the HEV transmission. Simple quasi-static battery model, the environment model, the tire and the power losses model of a vehicle are included, as well. A low-level electric generator speed control loop is designed, which includes a PI controller tuned according to the symmetrical optimum tuning procedure. Finally, off-line optimization by conjugate gradient-based BPTT-like optimal control algorithm, which is based on the presented mathematical model, is also given in the paper.

  16. Advanced Control System Design for Hypersonic Vehicles, Phase I

    Data.gov (United States)

    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)...

  17. Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters

    Directory of Open Access Journals (Sweden)

    Zool H. Ismail

    2014-01-01

    Full Text Available This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces.

  18. Device for controlling gas recovery

    International Nuclear Information System (INIS)

    Ichioka, Atsushi.

    1976-01-01

    Purpose: To provide a controlling device for UF 6 gas recovery device, which can increase working efficiency and to discriminate normality and abnormality of the recovery device. Constitution: The gas recovery device comprises a plurality of traps, which are connected in series. The UF 6 gas is introduced into the first trap where adsorbing work is taken place to accumulate UF 6 gases, and the UF 6 gases partly flow into the succeeding trap. Even in this trap, when the adsorbing work begins, the succeeding trap is operated in series fashion. In this manner, two traps are continuously operated to recover the gases while performing the steps of adsorbing, waiting and regenerating in that order. The switching operation of the aforesaid steps is accomplished on the basis of concentration of the UF 6 detected between two traps, which are continuously driven. (Kamimura, M.)

  19. 49 CFR 178.338-11 - Discharge control devices.

    Science.gov (United States)

    2010-10-01

    ... pump or compressor is used to open this valve, the control must be of fail-safe design and spring... activate the emergency control system. (ii) On a cargo tank motor vehicle of 3,500 gallons water capacity... control system. [Amdt. 178-77, 48 FR 27705, June 16, 1983, as amended by Amdt. 178-105, 59 FR 55173, Nov...

  20. Assessment of the Greenhouse Gas Emission Reduction Potential of Ultra-Clean Hybrid-Electric Vehicles

    OpenAIRE

    Burke, A.F.; Miller, M.

    1997-01-01

    The study focused on the emission reduction and fuel economy benefits of the application of hybrid/electric powertrain technology to tight-duty vehicles (mid-size and compact passenger cars). The approach taken was to calculate the exhaust emissions (gm/mi) energy use (Wh/mi and mpg) for a wide range of vehicle designs (steel and light-weight materials), engines, energy storage devices, control strategies, and driving cycles using two vehicle simulation programs (SIMPLEV and AVTE). The full f...

  1. Flight Control of Biomimetic Air Vehicles Using Vibrational Control and Averaging

    Science.gov (United States)

    Tahmasian, Sevak; Woolsey, Craig A.

    2017-08-01

    A combination of vibrational inputs and state feedback is applied to control the flight of a biomimetic air vehicle. First, a control strategy is developed for longitudinal flight, using a quasi-steady aerodynamic model and neglecting wing inertial effects. Vertical and forward motion is controlled by modulating the wings' stroke and feather angles, respectively. Stabilizing control parameter values are determined using the time-averaged dynamic model. Simulations of a system resembling a hawkmoth show that the proposed controller can overcome modeling error associated with the wing inertia and small parameter uncertainties when following a prescribed trajectory. After introducing the approach through an application to longitudinal flight, the control strategy is extended to address flight in three-dimensional space.

  2. Wireless alerting system using vibration for vehicles dashboard

    Science.gov (United States)

    Raj, Sweta; Rai, Shweta; Magaramagara, Wilbert; Sivacoumar, R.

    2017-11-01

    This paper aims at improving the engine life of any vehicle through a continuous measurement and monitoring of vital engine operational parameters and providing an effective alerting to drivers for any abnormality. Vehicles currently are using audio and visible alerting signals through alarms and light as a warning to the driver but these are not effective in noisy environments and during daylight. Through the use of the sense of feeling a driver can be alerted effectively. The need to no other vehicle parameter needs to be aided through the mobile display (phone).Thus a system is designed and implements to measure engine temperature, RPM, Oil level and Coolant level using appropriate sensors and a wireless communication (Bluetooth) is established to actuate a portable vibration control device and to read the different vehicle sensor readings through an android application for display and diagnosis.

  3. Modeling of in-vehicle magnetic refrigeration

    DEFF Research Database (Denmark)

    Olsen, Ulrik Lund; Bahl, Christian R.H.; Engelbrecht, Kurt

    2014-01-01

    A high-performance magnetic refrigeration device is considered as a potential technology for in-vehicle air conditioners in electric vehicles. The high power consumption of a conventional air conditioner in an electric vehicle has considerable impacts on cruising distance. For this purpose...

  4. Modeling of In-vehicle Magnetic refrigeration

    DEFF Research Database (Denmark)

    Olsen, Ulrik Lund; Bahl, Christian; Engelbrecht, Kurt

    2012-01-01

    A high-performance magnetic refrigeration device is considered as a potential technology for in-vehicle air conditioners in electric vehicles. The high power consumption of a conventional air conditioner in an electric vehicle has considerable impacts on cruising distance. For this purpose...

  5. Control concepts for vehicle drive line to reduce fuel consumption

    Energy Technology Data Exchange (ETDEWEB)

    Ossyra, J.C.

    2005-07-01

    In this work advanced drive line control concepts for off-road vehicles have been developed and investigated to reduce the power losses and finally the fuel consumption of the entire drive system by use of on-line optimization procedure. Two separate closed loop speed controls have been developed for the use on a microcontroller onboard the vehicle: one to control the hydrostatic transmission and the other to control the engine speed. Considering the loss characteristics of the displacement machines in the hydrostatic transmission and the steady state characteristics of the combustion engine by use of pure mathematical approximations of measured curves, a direct optimization strategy is used, which works on-line on a microcontroller. A laboratory hardware-in-the loop test rig has been used to investigate the proposed control concepts. For different typical and desired work cycles of an off-road machine on level ground and uphill a slope the effectiveness of the proposed control concepts have been proven. (orig.)

  6. Use of UPFC device controlled by fuzzy logic controllers for decoupled power flow control

    Directory of Open Access Journals (Sweden)

    Ivković Sanja

    2014-01-01

    Full Text Available This paper investigates the possibility of decoupled active and reactive power flow control in a power system using a UPFC device controlled by fuzzy logic controllers. A Brief theoretical review of the operation principles and applications of UPFC devices and design principles of the fuzzy logic controller used are given. A Matlab/Simulink model of the system with UPFC, the fuzzy controller setup, and graphs of the results are presented. Conclusions are drawn regarding the possibility of using this system for decoupled control of the power flow in power systems based on analysis of these graphs.

  7. Active Vibration Control of a Railway Vehicle Carbody Using Piezoelectric Elements

    Science.gov (United States)

    Molatefi, Habibollah; Ayoubi, Pejman; Mozafari, Hozhabr

    2017-07-01

    In recent years and according to modern transportation development, rail vehicles are manufactured lighter to achieve higher speed and lower transportation costs. On the other hand, weight reduction of rail vehicles leads to increase the structural vibration. In this study, Active Vibration Control of a rail vehicle using piezoelectric elements is investigated. The optimal control employed as the control approach regard to the first two modes of vibration. A simplified Car body structure is modeled in Matlab using the finite element theory by considering six DOF beam element and then the Eigen functions and mode shapes are derived. The surface roughness of different classes of rail tracks have been obtained using random vibration theory and applied to the secondary suspension as the excitation of the structure; Then piezoelectric mounted where the greatest moments were captured. The effectiveness of Piezoelectric in structural vibrations attenuation of car body is demonstrated through the state space equations and its effect on modal coefficient.

  8. Method and device for controlling radiation

    International Nuclear Information System (INIS)

    Wilhelm, G.M.

    1979-01-01

    A device which will control radiation emanating from colour television sets is described. It consists of two transparent plates the same size as a television screen, with a thin layer of transparent mineral oil sealed between them. The device may be installed by the manufacturer or bought separately and installed by the user. (LL)

  9. Torque Distribution Algorithm for an Independently Driven Electric Vehicle Using a Fuzzy Control Method

    Directory of Open Access Journals (Sweden)

    Jinhyun Park

    2015-08-01

    Full Text Available The in-wheel electric vehicle is expected to be a popular next-generation vehicle because an in-wheel system can simplify the powertrain and improve driving performance. In addition, it also has an advantage in that it maximizes driving efficiency through independent torque control considering the motor efficiency. However, there is an instability problem if only the driving torque is controlled in consideration of only the motor efficiency. In this paper, integrated torque distribution strategies are proposed to overcome these problems. The control algorithm consists of various strategies for optimizing driving efficiency, satisfying driver demands, and considering tire slip and vehicle cornering. Fuzzy logic is used to determine the appropriate timing of intervention for each distribution strategy. A performance simulator for in-wheel electric vehicles was developed by using MATLAB/Simulink and CarSim to validate the control strategies. From simulation results under complex driving conditions, the proposed algorithm was verified to improve both the driving stability and fuel economy of the in-wheel vehicle.

  10. Advanced Emergency Braking Control Based on a Nonlinear Model Predictive Algorithm for Intelligent Vehicles

    Directory of Open Access Journals (Sweden)

    Ronghui Zhang

    2017-05-01

    Full Text Available Focusing on safety, comfort and with an overall aim of the comprehensive improvement of a vision-based intelligent vehicle, a novel Advanced Emergency Braking System (AEBS is proposed based on Nonlinear Model Predictive Algorithm. Considering the nonlinearities of vehicle dynamics, a vision-based longitudinal vehicle dynamics model is established. On account of the nonlinear coupling characteristics of the driver, surroundings, and vehicle itself, a hierarchical control structure is proposed to decouple and coordinate the system. To avoid or reduce the collision risk between the intelligent vehicle and collision objects, a coordinated cost function of tracking safety, comfort, and fuel economy is formulated. Based on the terminal constraints of stable tracking, a multi-objective optimization controller is proposed using the theory of non-linear model predictive control. To quickly and precisely track control target in a finite time, an electronic brake controller for AEBS is designed based on the Nonsingular Fast Terminal Sliding Mode (NFTSM control theory. To validate the performance and advantages of the proposed algorithm, simulations are implemented. According to the simulation results, the proposed algorithm has better integrated performance in reducing the collision risk and improving the driving comfort and fuel economy of the smart car compared with the existing single AEBS.

  11. Control system and method for prosthetic devices

    Science.gov (United States)

    Bozeman, Richard J., Jr. (Inventor)

    1992-01-01

    A control system and method for prosthetic devices is provided. The control system comprises a transducer for receiving movement from a body part for generating a sensing signal associated with that movement. The sensing signal is processed by a linearizer for linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part. The linearized sensing signal is normalized to be a function of the entire range of body part movement from the no-shrug position of the movable body part through the full-shrug position of the movable body part. The normalized signal is divided into a plurality of discrete command signals. The discrete command signals are used by typical converter devices which are in operational association with the prosthetic device. The converter device uses the discrete command signals for driving the movable portions of the prosthetic device and its sub-prosthesis. The method for controlling a prosthetic device associated with the present invention comprises the steps of receiving the movement from the body part, generating a sensing signal in association with the movement of the body part, linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part, normalizing the linear signal to be a function of the entire range of the body part movement, dividing the normalized signal into a plurality of discrete command signals, and implementing the plurality of discrete command signals for driving the respective movable prosthesis device and its sub-prosthesis.

  12. Omnidirectional configuration and control approach on mini heavy loaded forklift autonomous guided vehicle

    Directory of Open Access Journals (Sweden)

    Adam Norsharimie

    2017-01-01

    Full Text Available This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm × 270cm square with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system’s control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse.

  13. The Control of Switched Reluctance Motor in Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Zheng Liu

    2014-05-01

    Full Text Available The control of SRM was discussed: current chopping control, angle position control. This paper presents an inverter circuit and a fuzzy sliding mode control method to minimize the torque fluctuation and noise of the SRM. Based on the experimental results, Using the inverter circuit and fuzzy sliding mode control method can effectively minimize the torque fluctuation and noise of the SRM, For the switched reluctance motor applications in electric vehicles to provide a theoretical basis.

  14. Autocommander: A Supervisory Controller for Integrated Guidance and Control for the 2nd Generation Reusable Launch Vehicle

    Science.gov (United States)

    Fisher, J. E.; Lawrence, D. A.; Zhu, J. J.; Jackson, Scott (Technical Monitor)

    2002-01-01

    This paper presents a hierarchical architecture for integrated guidance and control that achieves risk and cost reduction for NASA's 2d generation reusable launch vehicle (RLV). Guidance, attitude control, and control allocation subsystems that heretofore operated independently will now work cooperatively under the coordination of a top-level autocommander. In addition to delivering improved performance from a flight mechanics perspective, the autocommander is intended to provide an autonomous supervisory control capability for traditional mission management under nominal conditions, G&C reconfiguration in response to effector saturation, and abort mode decision-making upon vehicle malfunction. This high-level functionality is to be implemented through the development of a relational database that is populated with the broad range of vehicle and mission specific data and translated into a discrete event system model for analysis, simulation, and onboard implementation. A Stateflow Autocoder software tool that translates the database into the Stateflow component of a Matlab/Simulink simulation is also presented.

  15. High voltage bus and auxiliary heater control system for an electric or hybrid vehicle

    Science.gov (United States)

    Murty, Balarama Vempaty

    2000-01-01

    A control system for an electric or hybrid electric vehicle includes a vehicle system controller and a control circuit having an electric immersion heater. The heater is electrically connected to the vehicle's high voltage bus and is thermally coupled to a coolant loop containing a heater core for the vehicle's climate control system. The system controller responds to cabin heat requests from the climate control system by generating a pulse width modulated signal that is used by the control circuit to operate the heater at a duty cycle appropriate for the amount of cabin heating requested. The control system also uses the heater to dissipate excess energy produced by an auxiliary power unit and to provide electric braking when regenerative braking is not desirable and manual braking is not necessary. The control system further utilizes the heater to provide a safe discharge of a bank of energy storage capacitors following disconnection of the battery or one of the high voltage connectors used to transmit high voltage operating power to the various vehicle systems. The control circuit includes a high voltage clamping circuit that monitors the voltage on the bus and operates the heater to clamp down the bus voltage when it exceeds a pre-selected maximum voltage. The control system can also be used to phase in operation of the heater when the bus voltage exceeds a lower threshold voltage and can be used to phase out the auxiliary power unit charging and regenerative braking when the battery becomes fully charged.

  16. Semi-active H∞ control of high-speed railway vehicle suspension with magnetorheological dampers

    Science.gov (United States)

    Zong, Lu-Hang; Gong, Xing-Long; Xuan, Shou-Hu; Guo, Chao-Yang

    2013-05-01

    In this paper, semi-active H∞ control with magnetorheological (MR) dampers for railway vehicle suspension systems to improve the lateral ride quality is investigated. The proposed semi-active controller is composed of a H∞ controller as the system controller and an adaptive neuro-fuzzy inference system (ANFIS) inverse MR damper model as the damper controller. First, a 17-degree-of-freedom model for a full-scale railway vehicle is developed and the random track irregularities are modelled. Then a modified Bouc-Wen model is built to characterise the forward dynamic characteristics of the MR damper and an inverse MR damper model is built with the ANFIS technique. Furthermore, a H∞ controller composed of a yaw motion controller and a rolling pendulum motion (lateral motion+roll motion) controller is established. By integrating the H∞ controller with the ANFIS inverse model, a semi-active H∞ controller for the railway vehicle is finally proposed. Simulation results indicate that the proposed semi-active suspension system possesses better attenuation ability for the vibrations of the car body than the passive suspension system.

  17. Experimental evaluation of optimal Vehicle Dynamic Control based on the State Dependent Riccati Equation technique

    NARCIS (Netherlands)

    Alirezaei, M.; Kanarachos, S.A.; Scheepers, B.T.M.; Maurice, J.P.

    2013-01-01

    Development and experimentally evaluation of an optimal Vehicle Dynamic Control (VDC) strategy based on the State Dependent Riccati Equation (SDRE) control technique is presented. The proposed nonlinear controller is based on a nonlinear vehicle model with nonlinear tire characteristics. A novel

  18. Wearable Device Control Platform Technology for Network Application Development

    Directory of Open Access Journals (Sweden)

    Heejung Kim

    2016-01-01

    Full Text Available Application development platform is the most important environment in IT industry. There are a variety of platforms. Although the native development enables application to optimize, various languages and software development kits need to be acquired according to the device. The coexistence of smart devices and platforms has rendered the native development approach time and cost consuming. Cross-platform development emerged as a response to these issues. These platforms generate applications for multiple devices based on web languages. Nevertheless, development requires additional implementation based on a native language because of the coverage and functions of supported application programming interfaces (APIs. Wearable devices have recently attracted considerable attention. These devices only support Bluetooth-based interdevice communication, thereby making communication and device control impossible beyond a certain range. We propose Network Application Agent (NetApp-Agent in order to overcome issues. NetApp-Agent based on the Cordova is a wearable device control platform for the development of network applications, controls input/output functions of smartphones and wearable/IoT through the Cordova and Native API, and enables device control and information exchange by external users by offering a self-defined API. We confirmed the efficiency of the proposed platform through experiments and a qualitative assessment of its implementation.

  19. Object oriented programming techniques applied to device access and control

    International Nuclear Information System (INIS)

    Goetz, A.; Klotz, W.D.; Meyer, J.

    1992-01-01

    In this paper a model, called the device server model, has been presented for solving the problem of device access and control faced by all control systems. Object Oriented Programming techniques were used to achieve a powerful yet flexible solution. The model provides a solution to the problem which hides device dependancies. It defines a software framework which has to be respected by implementors of device classes - this is very useful for developing groupware. The decision to implement remote access in the root class means that device servers can be easily integrated in a distributed control system. A lot of the advantages and features of the device server model are due to the adoption of OOP techniques. The main conclusion that can be drawn from this paper is that 1. the device access and control problem is adapted to being solved with OOP techniques, 2. OOP techniques offer a distinct advantage over traditional programming techniques for solving the device access problem. (J.P.N.)

  20. SMART VIDEO SURVEILLANCE SYSTEM FOR VEHICLE DETECTION AND TRAFFIC FLOW CONTROL

    Directory of Open Access Journals (Sweden)

    A. A. SHAFIE

    2011-08-01

    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.

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

    NARCIS (Netherlands)

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

    2010-01-01

    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

  2. Hot gas handling device and motorized vehicle comprising the device

    NARCIS (Netherlands)

    Klein Geltink, J.; Beukers, A.; Van Tooren, M.J.L.; Koussios, S.

    2012-01-01

    The invention relates to a device for handling hot exhaust gasses discharged from an internal combustion engine. The device comprises a housing (2), enclosing a space (3) for transporting the exhaust gasses. The housing (2) is provided with an entrance - opening (4) for the exhaust gasses discharged

  3. 76 FR 49532 - Federal Motor Vehicle Safety Standards; Electronic Stability Control; Technical Report on the...

    Science.gov (United States)

    2011-08-10

    ...-0112] Federal Motor Vehicle Safety Standards; Electronic Stability Control; Technical Report on the Effectiveness of Electronic Stability Control Systems for Cars and LTVs AGENCY: National Highway Traffic Safety..., Electronic Stability Control Systems. The report's title is: Crash Prevention Effectiveness in Light-Vehicle...

  4. Online Traffic Signal Control for Reducing Vehicle Carbon Dioxide Emissions

    Science.gov (United States)

    Oda, Toshihiko; Otokita, Tohru; Niikura, Satoshi

    In Japan, carbon dioxide (CO2) emissions caused by vehicles have been increasing year by year and it is well known that CO2 causes a serious global warming problem. For urban traffic control systems, there is a great demand for realization of signal control measures as soon as possible due to the urgency of the recent environmental situation. This paper describes a new traffic signal control for reducing vehicle CO2 emissions on an arterial road. First, we develop a model for estimating the emissions using the traffic delay and the number of stops a driver makes. Second, to find the optimal control parameters, we introduce a random search method with rapid convergence suitable for an online traffic control. We conduct experiments in Kawasaki to verify the effectiveness of our method. The experiments show that our approach decreases not only the emissions but also congestion and travel time significantly, compared to the method implemented in the real system.

  5. Position and force control of a vehicle with two or more steerable drive wheels

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Unseren, M.A.

    1992-10-01

    When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.

  6. Robotic reactions: Delay-induced patterns in autonomous vehicle systems

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  7. Robotic reactions: delay-induced patterns in autonomous vehicle systems.

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  8. Detection device for control rod scram

    International Nuclear Information System (INIS)

    Ishiyama, Satoshi.

    1989-01-01

    The device of the present invention comprises a control rod dropping separately from a control rod driving mechanism main body, a following tube falling separately accompanying therewith and a guide tube for guiding the dropping of the control rod and the following tube. Further, rare earth permanent magnets are embedded with the pole being axially oriented in the following tube and bobbins each mounted with an inner flange made of high magnetic permeability material are disposed to the guide tube. Coils are wound in the bobbin. In this control rod scram detection device, since magnetic fluxes can effectively be supplied to the coils, it is possible to obtain stable and highly reliable scram detection signals. Further, since the coils and the bobbins can be manufactured separately from the guide tube, their assemblies can be tested independently from the guide tube. (K.M.)

  9. Genetic algorithm with small population size for search feasible control parameters for parallel hybrid electric vehicles

    Directory of Open Access Journals (Sweden)

    Yu-Huei Cheng

    2017-11-01

    Full Text Available The control strategy is a major unit in hybrid electric vehicles (HEVs. In order to provide suitable control parameters for reducing fuel consumptions and engine emissions while maintaining vehicle performance requirements, the genetic algorithm (GA with small population size is applied to search for feasible control parameters in parallel HEVs. The electric assist control strategy (EACS is used as the fundamental control strategy of parallel HEVs. The dynamic performance requirements stipulated in the Partnership for a New Generation of Vehicles (PNGV is considered to maintain the vehicle performance. The known ADvanced VehIcle SimulatOR (ADVISOR is used to simulate a specific parallel HEV with urban dynamometer driving schedule (UDDS. Five population sets with size 5, 10, 15, 20, and 25 are used in the GA. The experimental results show that the GA with population size of 25 is the best for selecting feasible control parameters in parallel HEVs.

  10. Design, Modeling And Control Of Steering And Braking For An Urban Electric Vehicle

    OpenAIRE

    Maciua, Dragos

    1996-01-01

    This report describes research which involved the design modification, modeling and control of automatic steering and braking systems for an urban electric vehicle. The vehicle is equipped with four-wheel independent drive, four-wheel independent braking and four-wheel steering. Control algorithms were developed for steering and braking. Simulation results show the feasibility of the algorithms.

  11. Presentation of electric motor and motor control technology for electric vehicles and hybrid vehicles; Denki jidosha hybrid sha yo motor oyobi motor seigyo gijutsu no shokai

    Energy Technology Data Exchange (ETDEWEB)

    Matsudaira, N.; Masakik, R.; Tajima, F. [Hitachi, Ltd., Tokyo (Japan)

    1999-02-01

    The authors have developed a motor drive system for electric vehicles and hybrid vehicles. This system consists of a permanent magnet type synchronous motor, an inverter using insulated gate bipolar transistors (IGBTs) and a controller based on a single-chip microcomputer. To achieve a compact and light weight synchronous motor, an internal permanent magnet type rotor structure was designed. This paper presents motor control technology for electric vehicles, such as an optimization method of field weakening control and a new current control method. (author)

  12. Air-Breathing Hypersonic Vehicle Tracking Control Based on Adaptive Dynamic Programming.

    Science.gov (United States)

    Mu, Chaoxu; Ni, Zhen; Sun, Changyin; He, Haibo

    2017-03-01

    In this paper, we propose a data-driven supplementary control approach with adaptive learning capability for air-breathing hypersonic vehicle tracking control based on action-dependent heuristic dynamic programming (ADHDP). The control action is generated by the combination of sliding mode control (SMC) and the ADHDP controller to track the desired velocity and the desired altitude. In particular, the ADHDP controller observes the differences between the actual velocity/altitude and the desired velocity/altitude, and then provides a supplementary control action accordingly. The ADHDP controller does not rely on the accurate mathematical model function and is data driven. Meanwhile, it is capable to adjust its parameters online over time under various working conditions, which is very suitable for hypersonic vehicle system with parameter uncertainties and disturbances. We verify the adaptive supplementary control approach versus the traditional SMC in the cruising flight, and provide three simulation studies to illustrate the improved performance with the proposed approach.

  13. The estimated reduction in the odds of loss-of-control type crashes for sport utility vehicles equipped with electronic stability control.

    Science.gov (United States)

    Green, Paul E; Woodrooffe, John

    2006-01-01

    Using data from the NASS General Estimates System (GES), the method of induced exposure was used to assess the effects of electronic stability control (ESC) on loss-of-control type crashes for sport utility vehicles. Sport utility vehicles were classified into crash types generally associated with loss of control and crash types most likely not associated with loss of control. Vehicles were then compared as to whether ESC technology was present or absent in the vehicles. A generalized additive model was fit to assess the effects of ESC, driver age, and driver gender on the odds of loss of control. In addition, the effects of ESC on roads that were not dry were compared to effects on roads that were dry. Overall, the estimated percentage reduction in the odds of a loss-of-control crash for sport utility vehicles equipped with ESC was 70.3%. Both genders and all age groups showed reduced odds of loss-of-control crashes, but there was no significant difference between males and females. With respect to driver age, the maximum percentage reduction of 73.6% occurred at age 27. The positive effects of ESC on roads that were not dry were significantly greater than on roads that were dry.

  14. A proposed protocol for remote control of automated assessment devices

    International Nuclear Information System (INIS)

    Kissock, P.S.; Pritchard, D.A.

    1996-01-01

    Systems and devices that are controlled remotely are becoming more common in security systems in the US Air Force and other government agencies to provide protection of valuable assets. These systems reduce the number of needed personnel while still providing a high level of protection. However, each remotely controlled device usually has its own communication protocol. This limits the ability to change devices without changing the system that provides the communications control to the device. Sandia is pursuing a standard protocol that can be used to communicate with the different devices currently in use, or may be used in the future, in the US Air Force and other government agencies throughout the security community. Devices to be controlled include intelligent pan/tilt mounts, day/night video cameras, thermal imaging cameras, and remote data processors. Important features of this protocol include the ability to send messages of varying length, identify the sender, and more importantly, control remote data processors. This paper describes the proposed public domain protocol, features, and examples of use. The authors hope to elicit comments from security technology developers regarding format and use of remotely controlled automated assessment devices

  15. Driving Performance After Self-Regulated Control Transitions in Highly Automated Vehicles.

    Science.gov (United States)

    Eriksson, Alexander; Stanton, Neville A

    2017-12-01

    This study aims to explore whether driver-paced, noncritical transitions of control may counteract some of the aftereffects observed in the contemporary literature, resulting in higher levels of vehicle control. Research into control transitions in highly automated driving has focused on urgent scenarios where drivers are given a relatively short time span to respond to a request to resume manual control, resulting in seemingly scrambled control when manual control is resumed. Twenty-six drivers drove two scenarios with an automated driving feature activated. Drivers were asked to read a newspaper or monitor the system and relinquish or resume control from the automation when prompted by vehicle systems. Driving performance in terms of lane positioning and steering behavior was assessed for 20 seconds post resuming control to capture the resulting level of control. It was found that lane positioning was virtually unaffected for the duration of the 20-second time span in both automated conditions compared to the manual baseline when drivers resumed manual control; however, significant increases in the standard deviation of steering input were found for both automated conditions compared to baseline. No significant differences were found between the two automated conditions. The results indicate that when drivers self-paced the transfer back to manual control they exhibit less of the detrimental effects observed in system-paced conditions. It was shown that self-paced transitions could reduce the risk of accidents near the edge of the operational design domain. Vehicle manufacturers must consider these benefits when designing contemporary systems.

  16. Method for installing a control rod driving device in a reactor

    International Nuclear Information System (INIS)

    Sato, Haruo; Watanabe, Masatoshi.

    1975-01-01

    Object: To install a device using a wire rope, including individually moving up and down a control rod and a control rod driving device thereby enabling to install them within a low house and to reduce time required for installing operation. Structure: The control rod is temporarily attached to a support structure for the control rod driving device, the control rod driving device is suspended on a crane positioned upwardly of the support structure, a rope connected to the control rod driving device is connected to the control rod, a sagged portion of the rope is then wound about a rotary cylinder, the control rod is disconnected from its temporary attachment, and the wound rope is wound back while the rotary cylinder is rotated to move down the control rod. After the rope has been released from the rotary cylinder, the control rod driving device is moved down by the crane. (Kamimura, M.)

  17. Machine & electrical double control air dryer for vehicle air braking system

    Science.gov (United States)

    Zhang, Xuan; Yang, Liu; Wang, Xian Yan; Tan, Xiao Yan; Wang, Wei

    2017-09-01

    As is known to all, a vehicle air brake system, in which usually contains moisture. To solve the problem, it is common to use air dryer to dry compressed air effectively and completely remove the moisture and oil of braking system. However, the existing air dryer is not suitable for all commercial vehicles. According to the operational status of the new energy vehicles in the initial operating period, the structure design principle of the machine & electric control air dryer is expounded from the aspects of the structure and operating principle, research & development process.

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

    Science.gov (United States)

    Wei, Xiukun; Zhu, Ming; Jia, Limin

    2016-07-01

    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.

  19. Combined Optimal Sizing and Control for a Hybrid Tracked Vehicle

    Directory of Open Access Journals (Sweden)

    Huei Peng

    2012-11-01

    Full Text Available The optimal sizing and control of a hybrid tracked vehicle is presented and solved in this paper. A driving schedule obtained from field tests is used to represent typical tracked vehicle operations. Dynamics of the diesel engine-permanent magnetic AC synchronous generator set, the lithium-ion battery pack, and the power split between them are modeled and validated through experiments. Two coupled optimizations, one for the plant parameters, forming the outer optimization loop and one for the control strategy, forming the inner optimization loop, are used to achieve minimum fuel consumption under the selected driving schedule. The dynamic programming technique is applied to find the optimal controller in the inner loop while the component parameters are optimized iteratively in the outer loop. The results are analyzed, and the relationship between the key parameters is observed to keep the optimal sizing and control simultaneously.

  20. Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles

    Directory of Open Access Journals (Sweden)

    Miguel Angel Olivares-Mendez

    2016-03-01

    Full Text Available Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.