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.

Constraint Embedding for Vehicle Suspension Dynamics

Directory of Open Access Journals (Sweden)

Jain Abhinandan

2016-06-01

Full Text Available The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. A challenge is that typical vehicle suspensions involve closed-chain loops which require expensive DAE integration techniques. In this paper, we illustrate the use the alternative constraint embedding technique to reduce the cost and improve the accuracy of the dynamics model for the vehicle.

An automotive vehicle dynamics prototyping platform based on a remote control model car

OpenAIRE

SOLMAZ, Selim; COŞKUN, Türker

2013-01-01

The use of a modified remote control (RC) model car as a vehicle dynamics testing and development platform is detailed. Vehicle dynamics testing is an important aspect of automotive engineering and it plays a key role during the design and tuning of active safety control systems. Considering the fact that such tests are conductedi at great expense, scaled model cars can potentially be used to help with the process to reduce the costs. With this view, we instrument and develop a stand...

Real time control of the flexible dynamics of orbital launch vehicles

NARCIS (Netherlands)

Bos, van den J.; Steinbuch, M.; Gutierrez, H.M.

2011-01-01

During this traineeship the flexible dynamics of orbital launch vehicles are estimated and controlled in real time, using distributed fiber-Bragg sensor arrays for motion estimation and cold gas thrusters for control. The use of these cold-gas thrusters to actively control flexible modes is the main

Vehicle systems: coupled and interactive dynamics analysis

Science.gov (United States)

Vantsevich, Vladimir V.

2014-11-01

This article formulates a new direction in vehicle dynamics, described as coupled and interactive vehicle system dynamics. Formalised procedures and analysis of case studies are presented. An analytical consideration, which explains the physics of coupled system dynamics and its consequences for dynamics of a vehicle, is given for several sets of systems including: (i) driveline and suspension of a 6×6 truck, (ii) a brake mechanism and a limited slip differential of a drive axle and (iii) a 4×4 vehicle steering system and driveline system. The article introduces a formal procedure to turn coupled system dynamics into interactive dynamics of systems. A new research direction in interactive dynamics of an active steering and a hybrid-electric power transmitting unit is presented and analysed to control power distribution between the drive axles of a 4×4 vehicle. A control strategy integrates energy efficiency and lateral dynamics by decoupling dynamics of the two systems thus forming their interactive dynamics.

Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

Science.gov (United States)

Ni, Jun; Hu, Jibin

2017-06-01

In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.

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

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

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

Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces

Directory of Open Access Journals (Sweden)

Ali Tavasoli

2012-01-01

Full Text Available Nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. A high-level sliding mode control with adaptive upper bounds is considered to assess the body yaw moment and lateral force for the vehicle motion. The proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties. Static and dynamic control allocation approaches have been formulated to distribute high-level control objectives among the system inputs. For static control allocation, the interior-point method is applied to solve the formulated nonlinear optimization problem. Based on the dynamic control allocation method, a dynamic update law is derived to allocate vehicle control to tire forces. The allocated tire forces are fed into a low-level control module, where the applied torque and active steering angle at each wheel are determined through a slip-ratio controller and an inverse tire model. Computer simulations are used to prove the significant effects of the proposed control allocation methods on improving the stability and handling performance. The advantages and limitations of each method have been discussed, and conclusions have been derived.

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.)

Dynamic performances analysis of a real vehicle driving

Science.gov (United States)

Abdullah, M. A.; Jamil, J. F.; Salim, M. A.

2015-12-01

Vehicle dynamic is the effects of movement of a vehicle generated from the acceleration, braking, ride and handling activities. The dynamic behaviours are determined by the forces from tire, gravity and aerodynamic which acting on the vehicle. This paper emphasizes the analysis of vehicle dynamic performance of a real vehicle. Real driving experiment on the vehicle is conducted to determine the effect of vehicle based on roll, pitch, and yaw, longitudinal, lateral and vertical acceleration. The experiment is done using the accelerometer to record the reading of the vehicle dynamic performance when the vehicle is driven on the road. The experiment starts with weighing a car model to get the center of gravity (COG) to place the accelerometer sensor for data acquisition (DAQ). The COG of the vehicle is determined by using the weight of the vehicle. A rural route is set to launch the experiment and the road conditions are determined for the test. The dynamic performance of the vehicle are depends on the road conditions and driving maneuver. The stability of a vehicle can be controlled by the dynamic performance analysis.

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.

Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer

Directory of Open Access Journals (Sweden)

Pengchao Zhang

2018-01-01

Full Text Available This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV. It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method. The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances.

Occupant-vehicle dynamics and the role of the internal model

Science.gov (United States)

Cole, David J.

2018-05-01

With the increasing need to reduce time and cost of vehicle development there is increasing advantage in simulating mathematically the dynamic interaction of a vehicle and its occupant. The larger design space arising from the introduction of automated vehicles further increases the potential advantage. The aim of the paper is to outline the role of the internal model hypothesis in understanding and modelling occupant-vehicle dynamics, specifically the dynamics associated with direction and speed control of the vehicle. The internal model is the driver's or passenger's understanding of the vehicle dynamics and is thought to be employed in the perception, cognition and action processes of the brain. The internal model aids the estimation of the states of the vehicle from noisy sensory measurements. It can also be used to optimise cognitive control action by predicting the consequence of the action; thus model predictive control (MPC) theory provides a foundation for modelling the cognition process. The stretch reflex of the neuromuscular system also makes use of the prediction of the internal model. Extensions to the MPC approach are described which account for: interaction with an automated vehicle; robust control; intermittent control; and cognitive workload. Further work to extend understanding of occupant-vehicle dynamic interaction is outlined. This paper is based on a keynote presentation given by the author to the 13th International Symposium on Advanced Vehicle Control (AVEC) conference held in Munich, September 2016.

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.

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...

A review of dynamic characteristics of magnetically levitated vehicle systems

Energy Technology Data Exchange (ETDEWEB)

Cai, Y.; Chen, S.S.

1995-11-01

The dynamic response of magnetically levitated (maglev) ground transportation systems has important consequences for safety and ride quality, guideway design, and system costs. Ride quality is determined by vehicle response and by environmental factors such as humidity and noise. The dynamic response of the vehicles is the key element in determining ride quality, while vehicle stability is an important safety-related element. To design a guideway that provides acceptable ride quality in the stable region, vehicle dynamics must be understood. Furthermore, the trade-off between guideway smoothness and levitation and control systems must be considered if maglev systems are to be economically feasible. The link between the guideway and the other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. This report, which reviews various aspects of the dynamic characteristics, experiments and analysis, and design guidelines for maglev systems, discusses vehicle stability, motion dependent magnetic force components, guideway characteristics, vehicle/ guideway interaction, ride quality, suspension control laws, aerodynamic loads and other excitations, and research needs.

Sliding Mode Control for Mass Moment Aerospace Vehicles Using Dynamic Inversion Approach

Directory of Open Access Journals (Sweden)

Xiao-Yu Zhang

2013-01-01

Full Text Available The moving mass actuation technique offers significant advantages over conventional aerodynamic control surfaces and reaction control systems, because the actuators are contained entirely within the airframe geometrical envelope. Modeling, control, and simulation of Mass Moment Aerospace Vehicles (MMAV utilizing moving mass actuators are discussed. Dynamics of the MMAV are separated into two parts on the basis of the two time-scale separation theory: the dynamics of fast state and the dynamics of slow state. And then, in order to restrain the system chattering and keep the track performance of the system by considering aerodynamic parameter perturbation, the flight control system is designed for the two subsystems, respectively, utilizing fuzzy sliding mode control approach. The simulation results describe the effectiveness of the proposed autopilot design approach. Meanwhile, the chattering phenomenon that frequently appears in the conventional variable structure systems is also eliminated without deteriorating the system robustness.

Vehicle dynamics theory and application

CERN Document Server

Jazar, Reza N

2017-01-01

This intermediate textbook is appropriate for students in vehicle dynamics courses, in their last year of undergraduate study or their first year of graduate study. It is also appropriate for mechanical engineers, automotive engineers, and researchers in the area of vehicle dynamics for continuing education or as a reference. It addresses fundamental and advanced topics, and a basic knowledge of kinematics and dynamics, as well as numerical methods, is expected. The contents are kept at a theoretical-practical level, with a strong emphasis on application. This third edition has been reduced by 25%, to allow for coverage over one semester, as opposed to the previous edition that needed two semesters for coverage. The textbook is composed of four parts: Vehicle Motion: covers tire dynamics, forward vehicle dynamics, and driveline dynamics Vehicle Kinematics: covers applied kinematics, applied mechanisms, steering dynamics, and suspension mechanisms Vehicle Dynamics: covers applied dynamics, vehicle planar dynam...

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 ...

Dynamic flow control strategies of vehicle SCR Urea Dosing System

Science.gov (United States)

Lin, Wei; Zhang, Youtong; Asif, Malik

2015-03-01

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

Formation Learning Control of Multiple Autonomous Underwater Vehicles With Heterogeneous Nonlinear Uncertain Dynamics.

Science.gov (United States)

Yuan, Chengzhi; Licht, Stephen; He, Haibo

2017-09-26

In this paper, a new concept of formation learning control is introduced to the field of formation control of multiple autonomous underwater vehicles (AUVs), which specifies a joint objective of distributed formation tracking control and learning/identification of nonlinear uncertain AUV dynamics. A novel two-layer distributed formation learning control scheme is proposed, which consists of an upper-layer distributed adaptive observer and a lower-layer decentralized deterministic learning controller. This new formation learning control scheme advances existing techniques in three important ways: 1) the multi-AUV system under consideration has heterogeneous nonlinear uncertain dynamics; 2) the formation learning control protocol can be designed and implemented by each local AUV agent in a fully distributed fashion without using any global information; and 3) in addition to the formation control performance, the distributed control protocol is also capable of accurately identifying the AUVs' heterogeneous nonlinear uncertain dynamics and utilizing experiences to improve formation control performance. Extensive simulations have been conducted to demonstrate the effectiveness of the proposed results.

A Dynamic Behaviour Analysis on the Frequency Control Capability of Electric Vehicles

DEFF Research Database (Denmark)

Zarogiannis, Athanasios; Marinelli, Mattia; Træholt, Chresten

2014-01-01

The paper presents results of a study on the dynamic response of Electric Vehicle’s (EV) when participating in frequency control of an islanded system. The following cases were considered: when there is no EV performing frequency control, when the EV participates in primary frequency control...... and when the EV participates in both primary and secondary frequency control. Different parameters are tested in various combinations, and their influence on frequency deviation as well as power and energy provided by the EV with vehicle-to-grid (V2G) capability is shown....

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.

Dynamic Coordinated Shifting Control of Automated Mechanical Transmissions without a Clutch in a Plug-In Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Xinlei Liu

2012-08-01

Full Text Available On the basis of the shifting process of automated mechanical transmissions (AMTs for traditional hybrid electric vehicles (HEVs, and by combining the features of electric machines with fast response speed, the dynamic model of the hybrid electric AMT vehicle powertrain is built up, the dynamic characteristics of each phase of shifting process are analyzed, and a control strategy in which torque and speed of the engine and electric machine are coordinatively controlled to achieve AMT shifting control for a plug-in hybrid electric vehicle (PHEV without clutch is proposed. In the shifting process, the engine and electric machine are well controlled, and the shift jerk and power interruption and restoration time are reduced. Simulation and real car test results show that the proposed control strategy can more efficiently improve the shift quality for PHEVs equipped with AMTs.

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.

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.

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

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.

Reliable fuzzy H∞ control for active suspension of in-wheel motor driven electric vehicles with dynamic damping

Science.gov (United States)

Shao, Xinxin; Naghdy, Fazel; Du, Haiping

2017-03-01

A fault-tolerant fuzzy H∞ control design approach for active suspension of in-wheel motor driven electric vehicles in the presence of sprung mass variation, actuator faults and control input constraints is proposed. The controller is designed based on the quarter-car active suspension model with a dynamic-damping-in-wheel-motor-driven-system, in which the suspended motor is operated as a dynamic absorber. The Takagi-Sugeno (T-S) fuzzy model is used to model this suspension with possible sprung mass variation. The parallel-distributed compensation (PDC) scheme is deployed to derive a fault-tolerant fuzzy controller for the T-S fuzzy suspension model. In order to reduce the motor wear caused by the dynamic force transmitted to the in-wheel motor, the dynamic force is taken as an additional controlled output besides the traditional optimization objectives such as sprung mass acceleration, suspension deflection and actuator saturation. The H∞ performance of the proposed controller is derived as linear matrix inequalities (LMIs) comprising three equality constraints which are solved efficiently by means of MATLAB LMI Toolbox. The proposed controller is applied to an electric vehicle suspension and its effectiveness is demonstrated through computer simulation.

Dynamic surface tracking controller design for a constrained hypersonic vehicle based on disturbance observer

Directory of Open Access Journals (Sweden)

Fang Wang

2017-05-01

Full Text Available The tracking control problem of a flexible air-breathing hypersonic vehicle subjects to aerodynamic parameter uncertainty and input constraint is investigated by combining nonlinear disturbance observer and dynamic surface control. To design controller simply, a control-oriented model is firstly derived and divided into two subsystems, velocity subsystem and altitude subsystem based on the engineering backgrounds of flexible air-breathing hypersonic vehicle. In every subsystem, compounded disturbances are included to consider aerodynamic uncertainty and the effect of the flexible modes. Then, disturbance observer is not only used to handle the compounded disturbance but also to handle the input constraint, where the estimation error converges to a random small region through appropriately choosing the observer parameters. To sequel, the disturbance observer–based robust control scheme and the disturbance observer-based dynamic surface control scheme are developed for the velocity subsystem and altitude subsystem, respectively. Besides, novel filters are designed to alleviate the problem of “explosion of terms” induced by backstepping method. On the basis of Lyapunov stability theory, the presented control scheme can assure that tracking error converges to an arbitrarily small neighborhood around zero by rigorous theoretical analysis. At last, simulation result shows the effectiveness of the presented control method.

Effect of Space Vehicle Structure Vibration on Control Moment Gyroscope Dynamics

Science.gov (United States)

Dobrinskaya, Tatiana

2008-01-01

Control Moment Gyroscopes (CMGs) are used for non-propulsive attitude control of satellites and space stations, including the International Space Station (ISS). CMGs could be essential for future long duration space missions due to the fact that they help to save propellant. CMGs were successfully tested on the ground for many years, and have been successfully used on satellites. However, operations have shown that the CMG service life on the ISS is significantly shorter than predicted. Since the dynamic environment of the ISS differs greatly from the nominal environment of satellites, it was important to analyze how operations specific to the station (dockings and undockings, huge solar array motion, crew exercising, robotic operations, etc) can affect the CMG performance. This task became even more important since the first CMG failure onboard the ISS. The CMG failure resulted in the limitation of the attitude control capabilities, more propellant consumption, and additional operational issues. Therefore, the goal of this work was to find out how the vibrations of a space vehicle structure, caused by a variety of onboard operations, can affect the CMG dynamics and performance. The equations of CMG motion were derived and analyzed for the case when the gyro foundation can vibrate in any direction. The analysis was performed for unbalanced CMG gimbals to match the CMG configuration on ISS. The analysis showed that vehicle structure vibrations can amplify and significantly change the CMG motion if the gyro gimbals are unbalanced in flight. The resonance frequencies were found. It was shown that the resonance effect depends on the magnitude of gimbal imbalance, on the direction of a structure vibration, and on gimbal bearing friction. Computer modeling results of CMG dynamics affected by the external vibration are presented. The results can explain some of the CMG vibration telemetry observed on ISS. This work shows that balancing the CMG gimbals decreases the effect

Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

Directory of Open Access Journals (Sweden)

Zool H. Ismail

2015-01-01

Full Text Available The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC, gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.

Vehicle lateral dynamics stabilization using active suspension

Directory of Open Access Journals (Sweden)

Drobný V.

2008-12-01

Full Text Available The paper deals with the investigation of active nonlinear suspension control in order to stabilize the lateral vehicle motion in similar way as systems like ESP do. The lateral stabilization of vehicle based on braking forces can be alternatively provided by the different setting of suspension forces. The basis of this control is the nonlinear property of the tyres. The vehicle has at least four wheels and it gives one or more redundant vertical forces that can be used for the different distribution of vertical suspension forces in such a way that resulting lateral and/or longitudinal forces create the required correction moment for lateral dynamic vehicle stabilization.

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.

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...

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.

Nonlinear dynamics modeling and simulation of two-wheeled self-balancing vehicle

Directory of Open Access Journals (Sweden)

Yunping Liu

2016-11-01

Full Text Available Two-wheeled self-balancing vehicle system is a kind of naturally unstable underactuated system with high-rank unstable multivariable strongly coupling complicated dynamic nonlinear property. Nonlinear dynamics modeling and simulation, as a basis of two-wheeled self-balancing vehicle dynamics research, has the guiding effect for system design of the project demonstration and design phase. Dynamics model of the two-wheeled self-balancing vehicle is established by importing a TSi ProPac package to the Mathematica software (version 8.0, which analyzes the stability and calculates the Lyapunov exponents of the system. The relationship between external force and stability of the system is analyzed by the phase trajectory. Proportional–integral–derivative control is added to the system in order to improve the stability of the two-wheeled self-balancing vehicle. From the research, Lyapunov exponent can be used to research the stability of hyperchaos system. The stability of the two-wheeled self-balancing vehicle is better by inputting the proportional–integral–derivative control. The Lyapunov exponent and phase trajectory can help us analyze the stability of a system better and lay the foundation for the analysis and control of the two-wheeled self-balancing vehicle system.

Dynamics of vehicle-road coupled system

CERN Document Server

Yang, Shaopu; Li, Shaohua

2015-01-01

Vehicle dynamics and road dynamics are usually considered to be two largely independent subjects. In vehicle dynamics, road surface roughness is generally regarded as random excitation of the vehicle, while in road dynamics, the vehicle is generally regarded as a moving load acting on the pavement. This book suggests a new research concept to integrate the vehicle and the road system with the help of a tire model, and establishes a cross-subject research framework dubbed vehicle-pavement coupled system dynamics. In this context, the dynamics of the vehicle, road and the vehicle-road coupled system are investigated by means of theoretical analysis, numerical simulations and field tests. This book will be a valuable resource for university professors, graduate students and engineers majoring in automotive design, mechanical engineering, highway engineering and other related areas. Shaopu Yang is a professor and deputy president of Shijiazhuang Tiedao University, China; Liqun Chen is a professor at Shanghai Univ...

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...

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

Science.gov (United States)

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

2014-03-01

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

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.

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.

A semi-active suspension control algorithm for vehicle comprehensive vertical dynamics performance

Science.gov (United States)

Nie, Shida; Zhuang, Ye; Liu, Weiping; Chen, Fan

2017-08-01

Comprehensive performance of the vehicle, including ride qualities and road-holding, is essentially of great value in practice. Many up-to-date semi-active control algorithms improve vehicle dynamics performance effectively. However, it is hard to improve comprehensive performance for the conflict between ride qualities and road-holding around the second-order resonance. Hence, a new control algorithm is proposed to achieve a good trade-off between ride qualities and road-holding. In this paper, the properties of the invariant points are analysed, which gives an insight into the performance conflicting around the second-order resonance. Based on it, a new control algorithm is proposed. The algorithm employs a novel frequency selector to balance suspension ride and handling performance by adopting a medium damping around the second-order resonance. The results of this study show that the proposed control algorithm could improve the performance of ride qualities and suspension working space up to 18.3% and 8.2%, respectively, with little loss of road-holding compared to the passive suspension. Consequently, the comprehensive performance can be improved by 6.6%. Hence, the proposed algorithm is of great potential to be implemented in practice.

Robust control of drag and lateral dynamic response for road vehicles exposed to cross-wind gusts

Science.gov (United States)

Pfeiffer, Jens; King, Rudibert

2018-03-01

A robust closed-loop active flow control strategy for road vehicles under unsteady cross-wind conditions is presented. It is designed based on black-box models identified from experimental data for a 3D bluff body equipped with Coanda actuators along the rear edges. The controller adjusts the blowing rates of the actuators individually, achieving a drag reduction of about 15% while simultaneously improving cross-wind sensitivity. Hereby, the lateral vehicle dynamics and driver behavior are taken into account and replicated in the wind tunnel via a novel model support system. The effectiveness of the control strategy is demonstrated via cross-wind gust experiments.

A Mixed Logical Dynamical-Model Predictive Control (MLD-MPC Energy Management Control Strategy for Plug-in Hybrid Electric Vehicles (PHEVs

Directory of Open Access Journals (Sweden)

Jing Lian

2017-01-01

Full Text Available Plug-in hybrid electric vehicles (PHEVs can be considered as a hybrid system (HS which includes the continuous state variable, discrete event, and operation constraint. Thus, a model predictive control (MPC strategy for PHEVs based on the mixed logical dynamical (MLD model and short-term vehicle speed prediction is proposed in this paper. Firstly, the mathematical model of the controlled PHEV is set-up to evaluate the energy consumption using the linearized models of core power components. Then, based on the recognition of driving intention and the past vehicle speed data, a nonlinear auto-regressive (NAR neural network structure is designed to predict the vehicle speed for known driving profiles of city buses and the predicted vehicle speed is used to calculate the total required torque. Next, a MLD model is established with appropriate constraints for six possible driving modes. By solving the objective function with the Mixed Integer Linear Programming (MILP algorithm, the optimal motor torque and the corresponding driving mode sequence within the speed prediction horizon can be obtained. Finally, the proposed energy control strategy shows substantial improvement in fuel economy in the simulation results.

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

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.

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.

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.

Vehicle Dynamic Prediction Systems with On-Line Identification of Vehicle Parameters and Road Conditions

Science.gov (United States)

Hsu, Ling-Yuan; Chen, Tsung-Lin

2012-01-01

This paper presents a vehicle dynamics prediction system, which consists of a sensor fusion system and a vehicle parameter identification system. This sensor fusion system can obtain the six degree-of-freedom vehicle dynamics and two road angles without using a vehicle model. The vehicle parameter identification system uses the vehicle dynamics from the sensor fusion system to identify ten vehicle parameters in real time, including vehicle mass, moment of inertial, and road friction coefficients. With above two systems, the future vehicle dynamics is predicted by using a vehicle dynamics model, obtained from the parameter identification system, to propagate with time the current vehicle state values, obtained from the sensor fusion system. Comparing with most existing literatures in this field, the proposed approach improves the prediction accuracy both by incorporating more vehicle dynamics to the prediction system and by on-line identification to minimize the vehicle modeling errors. Simulation results show that the proposed method successfully predicts the vehicle dynamics in a left-hand turn event and a rollover event. The prediction inaccuracy is 0.51% in a left-hand turn event and 27.3% in a rollover event. PMID:23202231

Modal and Dynamic Analysis of a Vehicle with Kinetic Dynamic Suspension System

Directory of Open Access Journals (Sweden)

Bangji Zhang

2016-01-01

Full Text Available A novel kinetic dynamic suspension (KDS system is presented for the cooperative control of the roll and warp motion modes of off-road vehicles. The proposed KDS system consists of two hydraulic cylinders acting on the antiroll bars. Hence, the antiroll bars are not completely replaced by the hydraulic system, but both systems are installed. In this paper, the vibration analysis in terms of natural frequencies of different motion modes in frequency domain for an off-road vehicle equipped with different configurable suspension systems is studied by using the modal analysis method. The dynamic responses of the vehicle with different configurable suspension systems are investigated under different road excitations and maneuvers. The results of the modal and dynamic analysis prove that the KDS system can reduce the roll and articulation motions of the off-road vehicle without adding extra bounce stiffness and deteriorating the ride comfort. Furthermore, the roll stiffness is increased and the warp stiffness is decreased by the KDS system, which could significantly enhance handing performance and off-road capability.

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...

Modelling and analysis of the dynamics of a tilting three-wheeled vehicle

International Nuclear Information System (INIS)

Edelmann, Johannes; Plöchl, Manfred; Lugner, Peter

2011-01-01

To understand the handling behaviour of a three-wheeled tilting vehicle, models of the vehicle with different level of detail, corresponding to specific fields of investigation, have been developed. Then the proposed kinematics of the three-wheeler are assessed and optimized with respect to desired dynamic properties by applying a detailed multibody system model. The partially unstable nature of the motion of the vehicle suggests the application of an analytically derived, simplified model, to allow for focusing on stability aspects and steady-state handling properties. These investigations reveal the necessity of employing a steer-by-wire control system to support the driver by stabilizing the motion of the vehicle. Thus, an additional basic vehicle model is derived for control design, and an energy-efficient control strategy is presented. Numerical simulation results demonstrate the dynamic properties of the optimized kinematics and the control system, approved by successful test runs of a prototype.

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.

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

Success Stories in Control: Nonlinear Dynamic Inversion Control

Science.gov (United States)

Bosworth, John T.

2010-01-01

NASA plays an important role in advancing the state of the art in flight control systems. In the case of Nonlinear Dynamic Inversion (NDI) NASA supported initial implementation of the theory in an aircraft and demonstration in a space vehicle. Dr. Dale Enns of Honeywell Aerospace Advanced Technology performed this work in cooperation with NASA and under NASA contract. Honeywell and Lockheed Martin were subsequently contracted by AFRL to create "Design Guidelines for Multivariable Control Theory". This foundational work directly contributed to the advancement of the technology and the credibility of the control law as a design option. As a result Honeywell collaborated with Lockheed Martin to produce a Nonlinear Dynamic Inversion controller for the X-35 and subsequently Lockheed Martin did the same for the production Lockheed Martin F-35 vehicle. The theory behind NDI is to use a systematic generalized approach to controlling a vehicle. Using general aircraft nonlinear equations of motion and onboard aerodynamic, mass properties, and engine models specific to the vehicle, a relationship between control effectors and desired aircraft motion can be formulated. Using this formulation a control combination is used that provides a predictable response to commanded motion. Control loops around this formulation shape the response as desired and provide robustness to modeling errors. Once the control law is designed it can be used on a similar class of vehicle with only an update to the vehicle specific onboard models.

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.

Classification of Dynamic Vehicle Routing Systems

DEFF Research Database (Denmark)

Larsen, Allan; Madsen, Oli B.G.; Solomon, Marius M.

2007-01-01

This chapter discusses important characteristics seen within dynamic vehicle routing problems. We discuss the differences between the traditional static vehicle routing problems and its dynamic counterparts. We give an in-depth introduction to the degree of dynamism measure which can be used to c...

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.

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.

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...

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

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)

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.

Dynamics of Railway Vehicles and Rail/Wheel Contact

DEFF Research Database (Denmark)

True, Hans

2007-01-01

of the most important dynamic effects on vehicle dynamic problems are described. In chapter 7 characteristic features of railway vehicle dynamics are described, and in chapter 8 recommendations are presented for the numerical handling that is necessary for the investigation of vehicle dynamic problems...

Global neural dynamic surface tracking control of strict-feedback systems with application to hypersonic flight vehicle.

Science.gov (United States)

Xu, Bin; Yang, Chenguang; Pan, Yongping

2015-10-01

This paper studies both indirect and direct global neural control of strict-feedback systems in the presence of unknown dynamics, using the dynamic surface control (DSC) technique in a novel manner. A new switching mechanism is designed to combine an adaptive neural controller in the neural approximation domain, together with the robust controller that pulls the transient states back into the neural approximation domain from the outside. In comparison with the conventional control techniques, which could only achieve semiglobally uniformly ultimately bounded stability, the proposed control scheme guarantees all the signals in the closed-loop system are globally uniformly ultimately bounded, such that the conventional constraints on initial conditions of the neural control system can be relaxed. The simulation studies of hypersonic flight vehicle (HFV) are performed to demonstrate the effectiveness of the proposed global neural DSC design.

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.

Advanced vehicle dynamics of heavy trucks with the perspective of road safety

Science.gov (United States)

Trigell, Annika Stensson; Rothhämel, Malte; Pauwelussen, Joop; Kural, Karel

2017-10-01

This paper presents state-of-the art within advanced vehicle dynamics of heavy trucks with the perspective of road safety. The most common accidents with heavy trucks involved are truck against passenger cars. Safety critical situations are for example loss of control (such as rollover and lateral stability) and a majority of these occur during speed when cornering. Other critical situations are avoidance manoeuvre and road edge recovery. The dynamic behaviour of heavy trucks have significant differences compared to passenger cars and as a consequence, successful application of vehicle dynamic functions for enhanced safety of trucks might differ from the functions in passenger cars. Here, the differences between vehicle dynamics of heavy trucks and passenger cars are clarified. Advanced vehicle dynamics solutions with the perspective of road safety of trucks are presented, beginning with the topic vehicle stability, followed by the steering system, the braking system and driver assistance systems that differ in some way from that of passenger cars as well.

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.

Model predictive control-based dynamic coordinate strategy for hydraulic hub-motor auxiliary system of a heavy commercial vehicle

Science.gov (United States)

Zeng, Xiaohua; Li, Guanghan; Yin, Guodong; Song, Dafeng; Li, Sheng; Yang, Nannan

2018-02-01

Equipping a hydraulic hub-motor auxiliary system (HHMAS), which mainly consists of a hydraulic variable pump, a hydraulic hub-motor, a hydraulic valve block and hydraulic accumulators, with part-time all-wheel-drive functions improves the power performance and fuel economy of heavy commercial vehicles. The coordinated control problem that occurs when HHMAS operates in the auxiliary drive mode is addressed in this paper; the solution to this problem is the key to the maximization of HHMAS. To achieve a reasonable distribution of the engine power between mechanical and hydraulic paths, a nonlinear control scheme based on model predictive control (MPC) is investigated. First, a nonlinear model of HHMAS with vehicle dynamics and tire slip characteristics is built, and a controller-design-oriented model is simplified. Then, a steady-state feedforward + dynamic MPC feedback controller (FMPC) is designed to calculate the control input sequence of engine torque and hydraulic variable pump displacement. Finally, the controller is tested in the MATLAB/Simulink and AMESim co-simulation platform and the hardware-in-the-loop experiment platform, and its performance is compared with that of the existing proportional-integral-derivative controller and the feedforward controller under the same conditions. Simulation results show that the designed FMPC has the best performance, and control performance can be guaranteed in a real-time environment. Compared with the tracking control error of the feedforward controller, that of the designed FMPC is decreased by 85% and the traction efficiency performance is improved by 23% under a low-friction-surface condition. Moreover, under common road conditions for heavy commercial vehicles, the traction force can increase up to 13.4-15.6%.

Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-wing Micro Air Vehicles

NARCIS (Netherlands)

Smeur, E.J.J.; Remes, B.D.W.; de Wagter, C.; Chu, Q.; J.-M. Moschetta G. Hattenberger, H. de Plinval

2017-01-01

Maintaining stable flight during high turbulence intensities is challenging for fixed-wing micro air vehicles (MAV). Two methods are proposed
to improve the disturbance rejection performance of the MAV: incremental nonlinear dynamic inversion (INDI) control and phaseadvanced pitch probes. INDI

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.

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

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...

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.

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.

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.

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.

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.

Off-road vehicle dynamics analysis, modelling and optimization

CERN Document Server

Taghavifar, Hamid

2017-01-01

This book deals with the analysis of off-road vehicle dynamics from kinetics and kinematics perspectives and the performance of vehicle traversing over rough and irregular terrain. The authors consider the wheel performance, soil-tire interactions and their interface, tractive performance of the vehicle, ride comfort, stability over maneuvering, transient and steady state conditions of the vehicle traversing, modeling the aforementioned aspects and optimization from energetic and vehicle mobility perspectives. This book brings novel figures for the transient dynamics and original wheel terrain dynamics at on-the-go condition.

Study on the Vehicle Dynamic Load Considering the Vehicle-Pavement Coupled Effect

Science.gov (United States)

Xu, H. L.; He, L.; An, D.

2017-11-01

The vibration of vehicle-pavement interaction system is sophisticated random vibration process and the vehicle-pavement coupled effect was not considered in the previous study. A new linear elastic model of the vehicle-pavement coupled system was established in the paper. The new model was verified with field measurement which could reflect the real vibration between vehicle and pavement. Using the new model, the study on the vehicle dynamic load considering the vehicle-pavement coupled effect showed that random forces (centralization) between vehicle and pavement were influenced largely by vehicle-pavement coupled effect. Numerical calculation indicated that the maximum of random forces in coupled model was 2.4 times than that in uncoupled model. Inquiring the reason, it was found that the main vibration frequency of the vehicle non-suspension system was similar with that of the vehicle suspension system in the coupled model and the resonance vibration lead to vehicle dynamic load increase significantly.

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.

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.

Minimization of Impact from Electric Vehicle Supply Equipment to the Electric Grid Using a Dynamically Controlled Battery Bank for Peak Load Shaving

Energy Technology Data Exchange (ETDEWEB)

Castello, Charles C [ORNL

2013-01-01

This research presents a comparison of two control systems for peak load shaving using local solar power generation (i.e., photovoltaic array) and local energy storage (i.e., battery bank). The purpose is to minimize load demand of electric vehicle supply equipment (EVSE) on the electric grid. A static and dynamic control system is compared to decrease demand from EVSE. Static control of the battery bank is based on charging and discharging to the electric grid at fixed times. Dynamic control, with 15-minute resolution, forecasts EVSE load based on data analysis of collected data. In the proposed dynamic control system, the sigmoid function is used to shave peak loads while limiting scenarios that can quickly drain the battery bank. These control systems are applied to Oak Ridge National Laboratory s (ORNL) solar-assisted electric vehicle (EV) charging stations. This installation is composed of three independently grid-tied sub-systems: (1) 25 EVSE; (2) 47 kW photovoltaic (PV) array; and (3) 60 kWh battery bank. The dynamic control system achieved the greatest peak load shaving, up to 34% on a cloudy day and 38% on a sunny day. The static control system was not ideal; peak load shaving was 14.6% on a cloudy day and 12.7% on a sunny day. Simulations based on ORNL data shows solar-assisted EV charging stations combined with the proposed dynamic battery control system can negate up to 89% of EVSE load demand on sunny days.

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.

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.

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.

An energy management for series hybrid electric vehicle using improved dynamic programming

Science.gov (United States)

Peng, Hao; Yang, Yaoquan; Liu, Chunyu

2018-02-01

With the increasing numbers of hybrid electric vehicle (HEV), management for two energy sources, engine and battery, is more and more important to achieve the minimum fuel consumption. This paper introduces several working modes of series hybrid electric vehicle (SHEV) firstly and then describes the mathematical model of main relative components in SHEV. On the foundation of this model, dynamic programming is applied to distribute energy of engine and battery on the platform of matlab and acquires less fuel consumption compared with traditional control strategy. Besides, control rule recovering energy in brake profiles is added into dynamic programming, so shorter computing time is realized by improved dynamic programming and optimization on algorithm.

Rail vehicle dynamics

CERN Document Server

Knothe, Klaus

2017-01-01

This book on the dynamics of rail vehicles is developed from the manuscripts for a class with the same name at TU Berlin. It is directed mainly to master students with pre-knowledge in mathematics and mechanics and engineers that want to learn more. The important phenomena of the running behaviour of rail vehicles are derived and explained. Also recent research results and experience from the operation of rail vehicles are included. One focus is the description of the complex wheel-rail contact phenomena that are essential to understand the concept of running stability and curving. A reader should in the end be able to understand the background of simulation tools that are used by the railway industry and universities today.

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...

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.)

Extensions to the Dynamic Aerospace Vehicle Exchange Markup Language

Science.gov (United States)

Brian, Geoffrey J.; Jackson, E. Bruce

2011-01-01

The Dynamic Aerospace Vehicle Exchange Markup Language (DAVE-ML) is a syntactical language for exchanging flight vehicle dynamic model data. It provides a framework for encoding entire flight vehicle dynamic model data packages for exchange and/or long-term archiving. Version 2.0.1 of DAVE-ML provides much of the functionality envisioned for exchanging aerospace vehicle data; however, it is limited in only supporting scalar time-independent data. Additional functionality is required to support vector and matrix data, abstracting sub-system models, detailing dynamics system models (both discrete and continuous), and defining a dynamic data format (such as time sequenced data) for validation of dynamics system models and vehicle simulation packages. Extensions to DAVE-ML have been proposed to manage data as vectors and n-dimensional matrices, and record dynamic data in a compatible form. These capabilities will improve the clarity of data being exchanged, simplify the naming of parameters, and permit static and dynamic data to be stored using a common syntax within a single file; thereby enhancing the framework provided by DAVE-ML for exchanging entire flight vehicle dynamic simulation models.

Vertical dynamics of the Maglev vehicle Transrapid

International Nuclear Information System (INIS)

Haegele, Nora; Dignath, Florian

2009-01-01

The Maglev vehicle Transrapid is levitated by magnetic forces which pull the vehicles levitation frames toward the guideway from below. The magnets possess poles with alternating fluxes which are part of the synchronous long stator linear motor. Although the Transrapid glides along its guideway without mechanical contact, this alternation as well as the loading and unloading of the guideway girders excite vibrations of the ground. In order to calculate the time behavior of the vibrational emissions, a simulation of the transfer of a Transrapid vehicle over several guideway girders is proposed. The equations of motion for the vehicle and the girders are calculated separately by the MBS software NEWEUL and assembled and numerically integrated in MATLAB/SIMULINK. The control law for the magnet forces is simplified by the characteristics of linear spring-damper elements. The controlled magnet forces travel along the guideway continuously and include the dynamic component due to the alternating fluxes and the geometry of the poles and stator. Results of a complete vehicle moving along a guideway consisting of several girders can be obtained within a few minutes of computation time. Therefore, the mechanism of excitations can be analyzed by numerical time integration in the full state space. The results are validated by measurements of the forces in the joints of the guideway girders. The vibrational emission along the Transrapid guideway differs from the vibrations of contact-afflicted vehicles as no impacts and fewer stochastic effects occur

Vertical dynamics of the Maglev vehicle Transrapid

Energy Technology Data Exchange (ETDEWEB)

Haegele, Nora [University of Stuttgart, Institute of Engineering and Computational Mechanics (Germany)], E-mail: Nora.Haegele@gmx.de; Dignath, Florian [ThyssenKrupp Transrapid, Basic Technologies (Germany)], E-mail: Florian.Dignath@ThyssenKrupp.com

2009-04-15

The Maglev vehicle Transrapid is levitated by magnetic forces which pull the vehicles levitation frames toward the guideway from below. The magnets possess poles with alternating fluxes which are part of the synchronous long stator linear motor. Although the Transrapid glides along its guideway without mechanical contact, this alternation as well as the loading and unloading of the guideway girders excite vibrations of the ground. In order to calculate the time behavior of the vibrational emissions, a simulation of the transfer of a Transrapid vehicle over several guideway girders is proposed. The equations of motion for the vehicle and the girders are calculated separately by the MBS software NEWEUL and assembled and numerically integrated in MATLAB/SIMULINK. The control law for the magnet forces is simplified by the characteristics of linear spring-damper elements. The controlled magnet forces travel along the guideway continuously and include the dynamic component due to the alternating fluxes and the geometry of the poles and stator. Results of a complete vehicle moving along a guideway consisting of several girders can be obtained within a few minutes of computation time. Therefore, the mechanism of excitations can be analyzed by numerical time integration in the full state space. The results are validated by measurements of the forces in the joints of the guideway girders. The vibrational emission along the Transrapid guideway differs from the vibrations of contact-afflicted vehicles as no impacts and fewer stochastic effects occur.

A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

Science.gov (United States)

Li, Liang; Jia, Gang; Chen, Jie; Zhu, Hongjun; Cao, Dongpu; Song, Jian

2015-08-01

Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment for the vehicle stability in a steering process, is an important part of electric stability control system. In this field, most control methods utilise the active brake pressure with a feedback controller to adjust the braked wheel. However, the method might lead to a control delay or overshoot because of the lack of a quantitative project relationship between target values from the upper stability controller to the lower pressure controller. Meanwhile, the stability controller usually ignores the implementing ability of the tyre forces, which might be restrained by the combined-slip dynamics of the tyre. Therefore, a novel control algorithm of DYC based on the hierarchical control strategy is brought forward in this paper. As for the upper controller, a correctional linear quadratic regulator, which not only contains feedback control but also contains feed forward control, is introduced to deduce the object of the stability yaw moment in order to guarantee the yaw rate and side-slip angle stability. As for the medium and lower controller, the quantitative relationship between the vehicle stability object and the target tyre forces of controlled wheels is proposed to achieve smooth control performance based on a combined-slip tyre model. The simulations with the hardware-in-the-loop platform validate that the proposed algorithm can improve the stability of the vehicle effectively.

Tracking control of air-breathing hypersonic vehicles with non-affine dynamics via improved neural back-stepping design.

Science.gov (United States)

Bu, Xiangwei; He, Guangjun; Wang, Ke

2018-04-01

This study considers the design of a new back-stepping control approach for air-breathing hypersonic vehicle (AHV) non-affine models via neural approximation. The AHV's non-affine dynamics is decomposed into velocity subsystem and altitude subsystem to be controlled separately, and robust adaptive tracking control laws are developed using improved back-stepping designs. Neural networks are applied to estimate the unknown non-affine dynamics, which guarantees the addressed controllers with satisfactory robustness against uncertainties. In comparison with the existing control methodologies, the special contributions are that the non-affine issue is handled by constructing two low-pass filters based on model transformations, and virtual controllers are treated as intermediate variables such that they aren't needed for back-stepping designs any more. Lyapunov techniques are employed to show the uniformly ultimately boundedness of all closed-loop signals. Finally, simulation results are presented to verify the tracking performance and superiorities of the investigated control strategy. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

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.

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...

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.

Electric Vehicle Smart Charging using Dynamic Price Signal

DEFF Research Database (Denmark)

Martinenas, Sergejus; Pedersen, Anders Bro; Marinelli, Mattia

2014-01-01

, however, be resolved by using intelligent EV charging strategies, commonly referred to as ”Smart Charging”. The basic approach involves modifying the default vehicle charging scheme of ”immediate charging”, to a more optimal one that is derived from insight into the current state of the grid. This work......With yearly increases in Electric Vehicle (EV) sales, the future for electric mobility continues to brighten, and with more vehicles hitting the roads every day, the energy requirements on the grid will increase, potentially causing low-voltage distribution grid congestion. This problem can...... proposed in this paper, involves a real-time control strategy for charging the EV using a dynamic price tariff, with the objective of minimizing the charging cost. Two different charging scenario are investigated, and the results are verified by experiments on a real Electric Vehicle. Finally, the costs...

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.

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....

Estimation of light commercial vehicles dynamics by means of HIL-testbench simulation

Science.gov (United States)

Groshev, A.; Tumasov, A.; Toropov, E.; Sereda, P.

2018-02-01

The high level of active safety of vehicles is impossible without driver assistance electronic systems. Electronic stability control (ESC) system is one of them. Nowadays such systems are obligatory for installation on vehicles of different categories. The approval of active safety level of vehicles with ESC is possible by means of high speed road tests. The most frequently implemented tests are “fish hook” and “sine with dwell” tests. Such kind of tests provided by The Global technical regulation No. 8 are published by the United Nations Economic Commission for Europe as well as by ECE 13-11. At the same time, not only road tests could be used for estimation of vehicles dynamics. Modern software and hardware technologies allow imitating real tests with acceptable reliability and good convergence between real test data and simulation results. ECE 13-11 Annex 21 - Appendix 1 “Use Of The Dynamic Stability Simulation” regulates demands for special Simulation Test bench that could be used not only for preliminary estimation of vehicles dynamics, but also for official vehicles homologation. This paper describes the approach, proposed by the researchers from Nizhny Novgorod State Technical University n.a. R.E. Alekseev (NNSTU, Russia) with support of engineers of United Engineering Center GAZ Group, as well as specialists of Gorky Automobile Plant. The idea of approach is to use the special HIL (hardware in the loop) -test bench, that consists of Real Time PC with Real Time Software and braking system components including electronic control unit (ECU) of ESC system. The HIL-test bench allows imitating vehicle dynamics in condition of “fish hook” and “sine with dwell” tests. The paper describes the scheme and structure of HIL-test bench and some peculiarities that should be taken into account during HIL-simulation.

Online Adaptive Optimal Control of Vehicle Active Suspension Systems Using Single-Network Approximate Dynamic Programming

Directory of Open Access Journals (Sweden)

Zhi-Jun Fu

2017-01-01

Full Text Available In view of the performance requirements (e.g., ride comfort, road holding, and suspension space limitation for vehicle suspension systems, this paper proposes an adaptive optimal control method for quarter-car active suspension system by using the approximate dynamic programming approach (ADP. Online optimal control law is obtained by using a single adaptive critic NN to approximate the solution of the Hamilton-Jacobi-Bellman (HJB equation. Stability of the closed-loop system is proved by Lyapunov theory. Compared with the classic linear quadratic regulator (LQR approach, the proposed ADP-based adaptive optimal control method demonstrates improved performance in the presence of parametric uncertainties (e.g., sprung mass and unknown road displacement. Numerical simulation results of a sedan suspension system are presented to verify the effectiveness of the proposed control strategy.

A Near-Hover Adaptive Attitude Control Strategy of a Ducted Fan Micro Aerial Vehicle with Actuator Dynamics

Directory of Open Access Journals (Sweden)

Shouzhao Sheng

2015-09-01

Full Text Available The aerodynamic parameters of ducted fan micro aerial vehicles (MAVs are difficult and expensive to precisely measure and are, therefore, not available in most cases. Furthermore, the actuator dynamics with risks of potentially destabilizing the overall system are important but often neglected consideration factors in the control system design of ducted fan MAVs. This paper presents a near-hover adaptive attitude control strategy of a prototype ducted fan MAV with actuator dynamics and without any prior information about the behavior of the MAV. The proposed strategy consists of an online parameter estimation algorithm and an adaptive gain scheduling algorithm, with the former accommodating parametric uncertainties, and the latter approximately eliminating the coupling among axes and guaranteeing the control quality of the MAV. The effectiveness of the proposed strategy is verified numerically and experimentally.

Drivability Improvement Control for Vehicle Start-Up Applied to an Automated Manual Transmission

Directory of Open Access Journals (Sweden)

Danna Jiang

2017-01-01

Full Text Available Drivability is the key factor for the automated manual transmission. It includes fast response to the driver’s demand and the driving comfort. This paper deals with a control methodology applied to an automated manual transmission vehicle for drivability enhancement during vehicle start-up phase. Based on a piecewise model of powertrain, a multiple-model predictive controller (mMPC is designed with the engine speed, clutch disc speed, and wheel speed as the measurable input variables and the engine torque reference and clutch friction torque reference as the controller’s output variables. The model not only includes the clutch dynamic, the flexible shaft dynamic, but also includes the actuators’ delay character. Considering the driver’s intention, a slipping speed trajectory is generated based on the acceleration pedal dynamically. The designed control strategy is verified on a complete powertrain and longitudinal vehicle dynamic model with different driver’s torque demands.

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

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.

Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

Science.gov (United States)

Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

2016-01-01

This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

Observer-based attitude controller for lifting re-entry vehicle with non-minimum phase property

Directory of Open Access Journals (Sweden)

Wenming Nie

2017-05-01

Full Text Available This article concentrates on the attitude control problem for the lifting re-entry vehicle with non-minimum phase property. A novel attitude control method is proposed for this kind of lifting re-entry vehicle without assuming the internal dynamics to be measurable. First, an internal dynamics extended state observer is developed to deal with the unmeasurable problem of the internal dynamics. And then, the control scheme which adopts output feedback method is proposed by modifying the traditional output redefinition technique with internal dynamics extended state observer. This control scheme only requires the system output to be measurable, and it can still stabilize the unstable internal dynamics and track attitude commands. Besides, because of the inherent property of extended state observer in rejecting uncertainties and disturbances, the control precision of the proposed controller is higher than the controller designed with traditional output redefinition technique. Finally, the effectiveness and robustness of the proposed attitude controller are demonstrated by the simulation results.

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.

Lateral dynamic features of a railway vehicle

DEFF Research Database (Denmark)

Gao, Xue-jun; True, Hans; Li, Ying-hui

2016-01-01

The lateral dynamic features of a railway vehicle are investigated using two similar wheel/rail contact models: the Vermeulen-Johnson and the Shen-Hedrick-Elkins models. The symmetric/asymmetric bifurcation behaviour and chaotic motions of the railway vehicle are investigated in great detail......, resulting in problems for safe operation of the vehicle. Therefore, it should be avoided in everyday operation. Furthermore, the creation of multiple solution branches suggests that the critical speed of a vehicle should be determined from a comprehensive analysis of the various kinds of possible...... by varying the speed and using the resultant bifurcation diagram' method. It is found that multiple solution branches exist and they can lead to more steady states in the dynamic behaviour of the railway vehicle. The coexistence of multiple steady states can lead to jumps in the amplitude of oscillations...

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.

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.

Dynamic motion stabilization for front-wheel drive in-wheel motor electric vehicles

Directory of Open Access Journals (Sweden)

Jia-Sheng Hu

2015-12-01

Full Text Available This article presents a new dynamic motion stabilization approach to front-wheel drive in-wheel motor electric vehicles. The approach includes functions such as traction control system, electronic differential system, and electronic stability control. The presented electric vehicle was endowed with anti-skid performance in longitudinal accelerated start; smooth turning with less tire scrubbing; and safe driving experience in two-dimensional steering. The analysis of the presented system is given in numerical derivations. For practical verifications, this article employed a hands-on electric vehicle named Corsa-electric vehicle to carry out the tests. The presented approach contains an integrated scheme which can achieve the mentioned functions in a single microprocessor. The experimental results demonstrated the effectiveness and feasibility of the presented methodology.

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.

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.

A dynamic approach to vehicle scheduling

NARCIS (Netherlands)

D. Huisman (Dennis); R. Freling (Richard); A.P.M. Wagelmans (Albert)

2001-01-01

textabstractThis paper presents a dynamic approach to the vehicle scheduling problem. We discuss the potential benefit of our approach compared to the traditional one, where the vehicle scheduling problem is solved only once for a whole period and the travel times are assumed to be fixed. In our

Dynamic Vehicle Scheduling for Working Service Network with Dual Demands

Directory of Open Access Journals (Sweden)

Bing Li

2017-01-01

Full Text Available This study aims to develop some models to aid in making decisions on the combined fleet size and vehicle assignment in working service network where the demands include two types (minimum demands and maximum demands, and vehicles themselves can act like a facility to provide services when they are stationary at one location. This type of problem is named as the dynamic working vehicle scheduling with dual demands (DWVS-DD and formulated as a mixed integer programming (MIP. Instead of a large integer program, the problem is decomposed into small local problems that are guided by preset control parameters. The approach for preset control parameters is given. By introducing them into the MIP formulation, the model is reformulated as a piecewise form. Further, a piecewise method by updating preset control parameters is proposed for solving the reformulated model. Numerical experiments show that the proposed method produces better solution within reasonable computing time.

The dynamic behaviour of a railway mine vehicle

Energy Technology Data Exchange (ETDEWEB)

van Manen, P.; Brickle, B.V.

1983-06-01

The paper describes a mathematical model of a railway mine vehicle which is capable of predicting its dynamic behaviour in response to track inputs. The predictions of the model have been compared with the results of tests carried out on a new high speed mine vehicle and the correlation shown is good. The model yields frequency response information for the vehicle and may be used to simulate dynamic behaviour in response to track irregularities. (4 refs.)

An Online Energy Management Control for Hybrid Electric Vehicles Based on Neuro-Dynamic Programming

Directory of Open Access Journals (Sweden)

Feiyan Qin

2018-03-01

Full Text Available Hybrid electric vehicles are a compromise between traditional vehicles and pure electric vehicles and can be part of the solution to the energy shortage problem. Energy management strategies (EMSs are highly related to energy utilization in HEVs’ fuel economy. In this research, we have employed a neuro-dynamic programming (NDP method to simultaneously optimize fuel economy and battery state of charge (SOC. In this NDP method, the critic network is a multi-resolution wavelet neural network based on the Meyer wavelet function, and the action network is a conventional wavelet neural network based on the Morlet function. The weights and parameters of both networks are obtained by an algorithm of backpropagation type. The NDP-based EMS has been applied to a parallel HEV and compared with a previously reported NDP EMS and a stochastic dynamic programing-based method. Simulation results under ADVISOR2002 have shown that the proposed NDP approach achieves better performance than both the methods. These indicate that the proposed NDP EMS, and the CWNN and MRWNN, are effective in approximating a nonlinear system.

FEM-based neural-network approach to nonlinear modeling with application to longitudinal vehicle dynamics control.

Science.gov (United States)

Kalkkuhl, J; Hunt, K J; Fritz, H

1999-01-01

An finite-element methods (FEM)-based neural-network approach to Nonlinear AutoRegressive with eXogenous input (NARX) modeling is presented. The method uses multilinear interpolation functions on C0 rectangular elements. The local and global structure of the resulting model is analyzed. It is shown that the model can be interpreted both as a local model network and a single layer feedforward neural network. The main aim is to use the model for nonlinear control design. The proposed FEM NARX description is easily accessible to feedback linearizing control techniques. Its use with a two-degrees of freedom nonlinear internal model controller is discussed. The approach is applied to modeling of the nonlinear longitudinal dynamics of an experimental lorry, using measured data. The modeling results are compared with local model network and multilayer perceptron approaches. A nonlinear speed controller was designed based on the identified FEM model. The controller was implemented in a test vehicle, and several experimental results are presented.

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.

Hierarchical Control Strategy for Active Hydropneumatic Suspension Vehicles Based on Genetic Algorithms

Directory of Open Access Journals (Sweden)

Jinzhi Feng

2015-02-01

Full Text Available A new hierarchical control strategy for active hydropneumatic suspension systems is proposed. This strategy considers the dynamic characteristics of the actuator. The top hierarchy controller uses a combined control scheme: a genetic algorithm- (GA- based self-tuning proportional-integral-derivative controller and a fuzzy logic controller. For practical implementations of the proposed control scheme, a GA-based self-learning process is initiated only when the defined performance index of vehicle dynamics exceeds a certain debounce time threshold. The designed control algorithm is implemented on a virtual prototype and cosimulations are performed with different road disturbance inputs. Cosimulation results show that the active hydropneumatic suspension system designed in this study significantly improves riding comfort characteristics of vehicles. The robustness and adaptability of the proposed controller are also examined when the control system is subjected to extremely rough road conditions.

Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models.

Science.gov (United States)

Yang, Chenguang; Li, Zhijun; Li, Jing

2013-02-01

In this paper, we investigate optimized adaptive control and trajectory generation for a class of wheeled inverted pendulum (WIP) models of vehicle systems. Aiming at shaping the controlled vehicle dynamics to be of minimized motion tracking errors as well as angular accelerations, we employ the linear quadratic regulation optimization technique to obtain an optimal reference model. Adaptive control has then been developed using variable structure method to ensure the reference model to be exactly matched in a finite-time horizon, even in the presence of various internal and external uncertainties. The minimized yaw and tilt angular accelerations help to enhance the vehicle rider's comfort. In addition, due to the underactuated mechanism of WIP, the vehicle forward velocity dynamics cannot be controlled separately from the pendulum tilt angle dynamics. Inspired by the control strategy of human drivers, who usually manipulate the tilt angle to control the forward velocity, we design a neural-network-based adaptive generator of implicit control trajectory (AGICT) of the tilt angle which indirectly "controls" the forward velocity such that it tracks the desired velocity asymptotically. The stability and optimal tracking performance have been rigorously established by theoretic analysis. In addition, simulation studies have been carried out to demonstrate the efficiency of the developed AGICT and optimized adaptive controller.

Nonlinear dynamics of autonomous vehicles with limits on acceleration

Science.gov (United States)

Davis, L. C.

2014-07-01

The stability of autonomous vehicle platoons with limits on acceleration and deceleration is determined. If the leading-vehicle acceleration remains within the limits, all vehicles in the platoon remain within the limits when the relative-velocity feedback coefficient is equal to the headway time constant [k=1/h]. Furthermore, if the sensitivity α>1/h, no collisions occur. String stability for small perturbations is assumed and the initial condition is taken as the equilibrium state. Other values of k and α that give stability with no collisions are found from simulations. For vehicles with non-negligible mechanical response, simulations indicate that the acceleration-feedback-control gain might have to be dynamically adjusted to obtain optimal performance as the response time changes with engine speed. Stability is demonstrated for some perturbations that cause initial acceleration or deceleration greater than the limits, yet do not cause collisions.

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.

A Dynamic Travel Time Estimation Model Based on Connected Vehicles

Directory of Open Access Journals (Sweden)

Daxin Tian

2015-01-01

Full Text Available With advances in connected vehicle technology, dynamic vehicle route guidance models gradually become indispensable equipment for drivers. Traditional route guidance models are designed to direct a vehicle along the shortest path from the origin to the destination without considering the dynamic traffic information. In this paper a dynamic travel time estimation model is presented which can collect and distribute traffic data based on the connected vehicles. To estimate the real-time travel time more accurately, a road link dynamic dividing algorithm is proposed. The efficiency of the model is confirmed by simulations, and the experiment results prove the effectiveness of the travel time estimation method.

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.

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

Research on Dynamic Optimization for Road-friendly Vehicle Suspension

Directory of Open Access Journals (Sweden)

Lu Yongjie

2014-10-01

Full Text Available The heavy vehicle brings large dynamic loads to the road surface, which would reduce vehicle ride comfort and shorten road service life. The structure characteristic of heavy vehicle suspension has a significant impact on vehicle performance. Based on the D'Alembert principle, the dynamics models of independent and integral balanced suspension are proposed considering mass and inertia of balancing rod. The sprung mass acceleration and the tire dynamic force for two kinds of balanced suspension and the traditional quarter vehicle model are compared in frequency-domain and time-domain respectively. It is concluded that a quarter vehicle model simplified for balanced suspension could be used to evaluate the ride comfort of vehicle well, but it has some limitations in assessing the vehicle road-friendliness. Then, the sprung mass acceleration and the road damage coefficients are also analyzed under different vehicle design and running parameters at detail. Some conclusions are obtained: low suspension stiffness, high suspension damping and low tire stiffness are all favorable to improve vehicle performance; there is a saturation range of suspension damping enhancing vehicle performance; improving the road surface roughness and avoiding the no-load running are two effective methods to accomplish the better ride comfort and road-friendliness. The suspension stiffness and damping parameters are chosen for optimal parameters matching of road friendliness based on the approximation optimization method.

Optimization Method of Intersection Signal Coordinated Control Based on Vehicle Actuated Model

Directory of Open Access Journals (Sweden)

Chen Zhao-Meng

2015-01-01

Full Text Available Traditional timing green wave control with predetermined cycle, split, and offset cannot adapt for dynamic real-time traffic flow. This paper proposes a coordinated control method for variable cycle time green wave bandwidth optimization integrated with traffic-actuated control. In the coordinated control, green split is optimized in real time by the measured presence of arriving and/or standing vehicles in each intersection and simultaneously green waves along arterials are guaranteed. Specifically, the dynamic bound of green wave is firstly determined, and then green early-start and green late-start algorithms are presented respectively to accommodate the fluctuations in vehicle arrival rates in each phase. Numerical examples show that the proposed method improves green time, expands green wave bandwidth, and reduces queuing.

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.

Neural network based adaptive control for nonlinear dynamic regimes

Science.gov (United States)

Shin, Yoonghyun

Adaptive control designs using neural networks (NNs) based on dynamic inversion are investigated for aerospace vehicles which are operated at highly nonlinear dynamic regimes. NNs play a key role as the principal element of adaptation to approximately cancel the effect of inversion error, which subsequently improves robustness to parametric uncertainty and unmodeled dynamics in nonlinear regimes. An adaptive control scheme previously named 'composite model reference adaptive control' is further developed so that it can be applied to multi-input multi-output output feedback dynamic inversion. It can have adaptive elements in both the dynamic compensator (linear controller) part and/or in the conventional adaptive controller part, also utilizing state estimation information for NN adaptation. This methodology has more flexibility and thus hopefully greater potential than conventional adaptive designs for adaptive flight control in highly nonlinear flight regimes. The stability of the control system is proved through Lyapunov theorems, and validated with simulations. The control designs in this thesis also include the use of 'pseudo-control hedging' techniques which are introduced to prevent the NNs from attempting to adapt to various actuation nonlinearities such as actuator position and rate saturations. Control allocation is introduced for the case of redundant control effectors including thrust vectoring nozzles. A thorough comparison study of conventional and NN-based adaptive designs for a system under a limit cycle, wing-rock, is included in this research, and the NN-based adaptive control designs demonstrate their performances for two highly maneuverable aerial vehicles, NASA F-15 ACTIVE and FQM-117B unmanned aerial vehicle (UAV), operated under various nonlinearities and uncertainties.

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...

AirSTAR: A UAV Platform for Flight Dynamics and Control System Testing

Science.gov (United States)

Jordan, Thomas L.; Foster, John V.; Bailey, Roger M.; Belcastro, Christine M.

2006-01-01

As part of the NASA Aviation Safety Program at Langley Research Center, a dynamically scaled unmanned aerial vehicle (UAV) and associated ground based control system are being developed to investigate dynamics modeling and control of large transport vehicles in upset conditions. The UAV is a 5.5% (seven foot wingspan), twin turbine, generic transport aircraft with a sophisticated instrumentation and telemetry package. A ground based, real-time control system is located inside an operations vehicle for the research pilot and associated support personnel. The telemetry system supports over 70 channels of data plus video for the downlink and 30 channels for the control uplink. Data rates are in excess of 200 Hz. Dynamic scaling of the UAV, which includes dimensional, weight, inertial, actuation, and control system scaling, is required so that the sub-scale vehicle will realistically simulate the flight characteristics of the full-scale aircraft. This testbed will be utilized to validate modeling methods, flight dynamics characteristics, and control system designs for large transport aircraft, with the end goal being the development of technologies to reduce the fatal accident rate due to loss-of-control.

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...

Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design.

Science.gov (United States)

Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu

2015-11-01

This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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.

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.

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.

MODELLING OF DYNAMIC SPEED LIMITS USING THE MODEL PREDICTIVE CONTROL

Directory of Open Access Journals (Sweden)

Andrey Borisovich Nikolaev

2017-09-01

Full Text Available The article considers the issues of traffic management using intelligent system “Car-Road” (IVHS, which consist of interacting intelligent vehicles (IV and intelligent roadside controllers. Vehicles are organized in convoy with small distances between them. All vehicles are assumed to be fully automated (throttle control, braking, steering. Proposed approaches for determining speed limits for traffic cars on the motorway using a model predictive control (MPC. The article proposes an approach to dynamic speed limit to minimize the downtime of vehicles in traffic.

Influences of braking system faults on the vehicle dynamics

Energy Technology Data Exchange (ETDEWEB)

Straky, H.; Kochem, M.; Schmitt, J.; Hild, R.; Isermann, R. [Technische Univ., Darmstadt (Germany). Inst. of Automatic Control

2001-07-01

From a safety point of view the braking system is, besides the driver, one of the key subsystems in a car. The driver, as an adaptive control system, might not notice small faults in the hydraulic part of the braking system and sooner or later critical braking situations, e.g. due to a brake-circuit failure, may occur. Most of the drivers are not capable to deal with such critical situations. Therefore this paper investigates the influence of faults in the braking system on the dynamic vehicle behavior and the steering inputs of the driver to keep the vehicle on the desired course. (orig.)

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.

Adaptive Fuzzy Output Regulation for Formation Control of Unmanned Surface Vehicles

DEFF Research Database (Denmark)

Li, Shaobao; Er, Meng Joo; Wang, Ning

2017-01-01

In this paper, the formation control problem of unmanned surface vehicles (USVs) is investigated. Unlike the classical formation control problem where the reference signal is required to be second-order differentiable with respect to time, we consider a more general autonomous dynamic system...

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.

TARDEC Ground Vehicle Robotics: Vehicle Dynamic Characterization and Research

Science.gov (United States)

2015-09-01

subassemblies that would be common on ground vehicles. Powertrain Systems: Gas Powered, Diesel , Turbo Diesel , Gas Turbine, Hybrid: Gas- Electric...PROPULSE (Hybrid Diesel - Electric System with Export Power), Command Zone (integrated vehicle control and diagnostic system), and TerraMax (Unmanned... Diesel -Electric, Series, Parallel. Power Distribution: RWD, FWD, AWD, open diff, LSD, Torsen diff, differential braking (traction control), drive by

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

Optimal control of cooperative multi-vehicle systems; Optimalsteuerung kooperierender Mehrfahrzeugsysteme

Energy Technology Data Exchange (ETDEWEB)

Reinl, Christian; Stryk, Oskar von [Technische Univ. Darmstadt (Germany). FB Informatik; Glocker, Markus [Trimble Terrasat GmbH, Hoehenkirchen (Germany)

2009-07-01

Nonlinear hybrid dynamical systems for modeling optimal cooperative control enable a tight and formal coupling of discrete and continuous state dynamics, i.e. of dynamic role and task assignment with switching dynamics of motions. In the resulting mixed-integer multi-phase optimal control problems constraints on the discrete and continuous state and control variables can be considered, e.g., formation or communication requirements. Two numerical methods are investigated: a decomposition approach using branch-and-bound and direct collocation methods as well as an approximation by large-scale, mixed-integer linear problems. Both methods are applied to example problems: the optimal simultaneous waypoint sequencing and trajectory planning of a team of aerial vehicles and the optimization of role distribution and trajectories in robot soccer. (orig.)

Modelling the influence of sensory dynamics on linear and nonlinear driver steering control

Science.gov (United States)

Nash, C. J.; Cole, D. J.

2018-05-01

A recent review of the literature has indicated that sensory dynamics play an important role in the driver-vehicle steering task, motivating the design of a new driver model incorporating human sensory systems. This paper presents a full derivation of the linear driver model developed in previous work, and extends the model to control a vehicle with nonlinear tyres. Various nonlinear controllers and state estimators are compared with different approximations of the true system dynamics. The model simulation time is found to increase significantly with the complexity of the controller and state estimator. In general the more complex controllers perform best, although with certain vehicle and tyre models linearised controllers perform as well as a full nonlinear optimisation. Various extended Kalman filters give similar results, although the driver's sensory dynamics reduce control performance compared with full state feedback. The new model could be used to design vehicle systems which interact more naturally and safely with a human driver.

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

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.

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.

The TNO Vehicle Dynamics Database (VDD): a tool for comparision of vehicle dynamics behaviour

NARCIS (Netherlands)

Kleuskens, R.J.A.

1996-01-01

TNO has started a database containing data of vehicle dynamics properties of passenger cars, based on the results of eight objective ISO driving tests. From this database, car manufacturers and their suppliers can get the required information for design and marketing purposes in a fast and

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.

Control techniques of tilt rotor unmanned aerial vehicle systems: A review

Directory of Open Access Journals (Sweden)

Zhong Liu

2017-02-01

Full Text Available The tilt rotor unmanned aerial vehicle (TRUAV exhibits special application value due to its unique rotor structure. However, varying dynamics and aerodynamic interference caused by tiltable rotors are great technical challenges and key issues for TRUAV’s high-powered flight controls, which have attracted the attention of many researchers. This paper outlines the concept of TRUAV and some typical TRUAV platforms while focusing on control techniques. TRUAV structural features, dynamics modeling, and flight control methods are discussed, and major challenges and corresponding developmental tendencies associated with TRUAV flight control are summarized.

Vehicle-pedestrian collisions - Aspects regarding pedestrian kinematics, dynamics and biomechanics

Science.gov (United States)

Petrescu, L.; Petrescu, Al

2017-10-01

Vehicle-pedestrian collisions result in a substantial number of pedestrian fatalities and injuries worldwide. Concern continues to limit and reduce the tragic consequences suffered by pedestrians involved in road accidents, caused the vehicle-pedestrian accident reconstruction become an important area and distinctly outlined in the reconstruction of road incidents involving vehicle. This paper analyzes the dynamics of vehicle-pedestrian impact influence over pedestrian biomechanics, which is directly connected with the severity of injury after contact with the vehicle profile and with the place where the pedestrian is projected. The main goal of this paper is to highlight some features of reconstruction of road accidents involving pedestrian, looking at the kinematics and dynamics of pedestrian impact for a better understanding of the phenomena that occur. The study on the dynamics and biomechanics of the pedestrian hit by the vehicle is useful in order to understand how the injuries, including the lethal ones, are generated in the collision, what is essential in road accidents reconstruction.

Space robot simulator vehicle

Science.gov (United States)

Cannon, R. H., Jr.; Alexander, H.

1985-01-01

A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

Heavy vehicle pitch dynamics and suspension tuning

OpenAIRE

Cao, Dongpu; Rakheja, Subhash; Su, Chun-Yi

2008-01-01

The influence of suspension tuning of passenger cars on bounce and pitch ride performance has been explored in a number of studies, while only minimal efforts have been made for establishing similar rules for heavy vehicles. This study aims to explore pitch dynamics and suspension tunings of a two-axle heavy vehicle with unconnected suspension, which could also provide valuable information for heavy vehicles with coupled suspensions. Based on a generalised pitch-plane model of a two-axle heav...

Nonlinear control of linear parameter varying systems with applications to hypersonic vehicles

Science.gov (United States)

Wilcox, Zachary Donald

The focus of this dissertation is to design a controller for linear parameter varying (LPV) systems, apply it specifically to air-breathing hypersonic vehicles, and examine the interplay between control performance and the structural dynamics design. Specifically a Lyapunov-based continuous robust controller is developed that yields exponential tracking of a reference model, despite the presence of bounded, nonvanishing disturbances. The hypersonic vehicle has time varying parameters, specifically temperature profiles, and its dynamics can be reduced to an LPV system with additive disturbances. Since the HSV can be modeled as an LPV system the proposed control design is directly applicable. The control performance is directly examined through simulations. A wide variety of applications exist that can be effectively modeled as LPV systems. In particular, flight systems have historically been modeled as LPV systems and associated control tools have been applied such as gain-scheduling, linear matrix inequalities (LMIs), linear fractional transformations (LFT), and mu-types. However, as the type of flight environments and trajectories become more demanding, the traditional LPV controllers may no longer be sufficient. In particular, hypersonic flight vehicles (HSVs) present an inherently difficult problem because of the nonlinear aerothermoelastic coupling effects in the dynamics. HSV flight conditions produce temperature variations that can alter both the structural dynamics and flight dynamics. Starting with the full nonlinear dynamics, the aerothermoelastic effects are modeled by a temperature dependent, parameter varying state-space representation with added disturbances. The model includes an uncertain parameter varying state matrix, an uncertain parameter varying non-square (column deficient) input matrix, and an additive bounded disturbance. In this dissertation, a robust dynamic controller is formulated for a uncertain and disturbed LPV system. The developed

Navigation of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments

Science.gov (United States)

Jin, Xin; Ray, Asok

2014-04-01

In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information; the objective here is to enable adaptive decision making and online replanning of vehicle paths. The proposed algorithm provides a complete coverage of the search area for clean-up of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity player/stage simulator for oil spill cleaning in a harbour, where the underlying oil weathering process is modelled as 2D random-walk particle tracking. A preliminary version of this paper was presented by X. Jin and A. Ray as 'Coverage Control of Autonomous Vehicles for Oil Spill Cleaning in Dynamic and Uncertain Environments', Proceedings of the American Control Conference, Washington, DC, June 2013, pp. 2600-2605.

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

Vehicle dynamic effects in the course of passing over turnouts

Directory of Open Access Journals (Sweden)

Zelenka J.

2007-11-01

Full Text Available For the quantification of vehicle dynamic effects at passing over turnouts at a higher speed there was developed a methodology for evaluating of acceleration measured on vehicle axle boxes in the year 2003. The methodology is based on statistical evaluation of lateral and vertical acceleration measured values at passing over both critical parts of a turnout (tongue, frog. The created methodology was used for investigation of vehicle dynamic effects by running at speed up to 230 km/h in the year 2004 in terms of high speed tests of tilting-body unit class 680 CD. There was found relatively high values of dynamic effects already at a speed 160 km/h. In terms of tilting-body unit class 680 tests at a higher speed in curves of chosen track lines of 1st and 2nd corridor of Czech Railways there was carried out also verification of curved turnouts state according to methodology mentioned above with a view to possibility of speed increasing at curved throats of chosen stations. Lateral vehicle dynamic effects at passing over a curved turnout frog area were evaluated. There were carried out simulation calculations of vehicle passing over a turnout based on measured geometric parameters of wheelset as well as chosen turnouts. Results of the calculations were compared with measurements. The increased vehicle dynamic effects found in pulsed beats character influence negatively the turnouts part (not only wheel contacting parts as well as operating life all unsuspended parts of vehicles.

A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver

DEFF Research Database (Denmark)

Jouffroy, Jerome

2009-01-01

Sailing vessels such as sailboats but also landyachts are vehicles representing a real challenge for automation. However, the control aspects of such vehicles were hitherto very little studied. This paper presents a simplied dynamic model of a so-called landyacht allowing to capture the main...

Development and comparison of integrated dynamics control systems with fuzzy logic control and sliding mode control

International Nuclear Information System (INIS)

Song, Jeong Hoon

2013-01-01

In this study, four integrated dynamics control (IDC) systems abbreviated as IDCB, IDCS, IDCF, and IDCR are developed, evaluated and compared. IDC systems were integrated with brake and steer control systems to enhance lateral stability and handling performance. To construct the IDC systems, a vehicle model with fourteen degrees of freedom, a fuzzy logic controller, and a sliding mode ABS controller were used. They were tested with various steering inputs when excessive full brake pressure or no brake pressure was applied on dry asphalt, wet asphalt, a snow-covered paved road, and a split-µ road. The results showed that an IDC-equipped vehicle improved lateral stability and controllability in every driving condition compared to an ABS-equipped vehicle. Under all road conditions, IDC controllers enabled the yaw rate to follow the reference yaw rate almost perfectly and reduced the body slip angle. On a split-µ road, IDCB, IDCS, IDCF, and IDCR vehicles drove straight ahead with only very small deviations.

Tracking performance and global stability guaranteed neural control of uncertain hypersonic flight vehicle

Directory of Open Access Journals (Sweden)

Tao Teng

2016-02-01

Full Text Available In this article, a global adaptive neural dynamic surface control with predefined tracking performance is developed for a class of hypersonic flight vehicles, whose accurate dynamics is hard to obtain. The control scheme developed in this paper overcomes the limitations of neural approximation region by employing a switching mechanism which incorporates an additional robust controller outside the neural approximation region to pull the transient state variables back when they overstep the neural approximation region, such that globally uniformly ultimately bounded stability can be guaranteed. Especially, the developed global adaptive neural control also improves the tracking performance by introducing an error transformation mechanism, such that both transient and steady-state performance can be shaped according to the predefined bounds. Simulation studies on the hypersonic flight vehicle validate that the designed controller has good velocity modulation and velocity stability performance.

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.

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...

Optimal Energy Control Strategy Design for a Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Yuan Zou

2013-01-01

Full Text Available A heavy-duty parallel hybrid electric truck is modeled, and its optimal energy control is studied in this paper. The fundamental architecture of the parallel hybrid electric truck is modeled feed-forwardly, together with necessary dynamic features of subsystem or components. Dynamic programming (DP technique is adopted to find the optimal control strategy including the gear-shifting sequence and the power split between the engine and the motor subject to a battery SOC-sustaining constraint. Improved control rules are extracted from the DP-based control solution, forming near-optimal control strategies. Simulation results demonstrate that a significant improvement on the fuel economy can be achieved in the heavy-duty vehicle cycle from the natural driving statistics.

Dynamics of subway networks based on vehicles operation timetable

Science.gov (United States)

Xiao, Xue-mei; Jia, Li-min; Wang, Yan-hui

2017-05-01

In this paper, a subway network is represented as a dynamic, directed and weighted graph, in which vertices represent subway stations and weights of edges represent the number of vehicles passing through the edges by considering vehicles operation timetable. Meanwhile the definitions of static and dynamic metrics which can represent vertices' and edges' local and global attributes are proposed. Based on the model and metrics, standard deviation is further introduced to study the dynamic properties (heterogeneity and vulnerability) of subway networks. Through a detailed analysis of the Beijing subway network, we conclude that with the existing network structure, the heterogeneity and vulnerability of the Beijing subway network varies over time when the vehicle operation timetable is taken into consideration, and the distribution of edge weights affects the performance of the network. In other words, although the vehicles operation timetable is restrained by the physical structure of the network, it determines the performances and properties of the Beijing subway network.

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.

A polynomial chaos approach to the analysis of vehicle dynamics under uncertainty

Science.gov (United States)

Kewlani, Gaurav; Crawford, Justin; Iagnemma, Karl

2012-05-01

The ability of ground vehicles to quickly and accurately analyse their dynamic response to a given input is critical to their safety and efficient autonomous operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this uncertainty must be considered in the analysis of vehicle motion dynamics. Here, polynomial chaos approaches that explicitly consider parametric uncertainty during modelling of vehicle dynamics are presented. They are shown to be computationally more efficient than the standard Monte Carlo scheme, and experimental results compared with the simulation results performed on ANVEL (a vehicle simulator) indicate that the method can be utilised for efficient and accurate prediction of vehicle motion in realistic scenarios.

NASA Armstrong Flight Research Center Dynamics and Controls Branch

Science.gov (United States)

Jacobson, Steve

2015-01-01

NASA Armstrong continues its legacy of exciting work in the area of Dynamics and Control of advanced vehicle concepts. This presentation describes Armstrongs research in control of flexible structures, peak seeking control and adaptive control in the Spring of 2015.

Designing a Fuzzy Logic Controller to Enhance Directional Stability of Vehicles under Difficult Maneuvers

OpenAIRE

Mehrdad N. Khajavi; Golamhassan Paygane; Ali Hakima

2009-01-01

Vehicle which are turning or maneuvering at high speeds are susceptible to sliding and subsequently deviate from desired path. In this paper the dynamics governing the Yaw/Roll behavior of a vehicle has been simulated. Two different simulations have been used one for the real vehicle, for which a fuzzy controller is designed to increase its directional stability property. The other simulation is for a hypothetical vehicle with much higher tire cornering stiffness which is ca...

TIRE MODELS USED IN VEHICLE DYNAMIC APPLICATIONS AND THEIR USING IN VEHICLE ACCIDENT SIMULATIONS

Directory of Open Access Journals (Sweden)

Osman ELDOĞAN

1995-01-01

Full Text Available Wheel model is very important in vehicle modelling, it is because the contact between vehicle and road is achieved by wheel. Vehicle models can be dynamic models which are used in vehicle design, they can also be models used in accident simulations. Because of the importance of subject, many studies including theoretical, experimental and mixed type have been carried out. In this study, information is given about development of wheel modelling and research studies and also use of these modellings in traffic accident simulations.

A Dynamic Control Strategy for Hybrid Electric Vehicles Based on Parameter Optimization for Multiple Driving Cycles and Driving Pattern Recognition

Directory of Open Access Journals (Sweden)

Zhenzhen Lei

2017-01-01

Full Text Available The driving pattern has an important influence on the parameter optimization of the energy management strategy (EMS for hybrid electric vehicles (HEVs. A new algorithm using simulated annealing particle swarm optimization (SA-PSO is proposed for parameter optimization of both the power system and control strategy of HEVs based on multiple driving cycles in order to realize the minimum fuel consumption without impairing the dynamic performance. Furthermore, taking the unknown of the actual driving cycle into consideration, an optimization method of the dynamic EMS based on driving pattern recognition is proposed in this paper. The simulation verifications for the optimized EMS based on multiple driving cycles and driving pattern recognition are carried out using Matlab/Simulink platform. The results show that compared with the original EMS, the former strategy reduces the fuel consumption by 4.36% and the latter one reduces the fuel consumption by 11.68%. A road test on the prototype vehicle is conducted and the effectiveness of the proposed EMS is validated by the test data.

Robust Adaptive Flight Control Design of Air-breathing Hypersonic Vehicles

Science.gov (United States)

2016-12-07

advantages over rocket - based systems for space access vehicles. The major advantage of using air-breathing engine is that the extra oxidizer is not...sideslip angle (β) is calculated as Vt = p u2 + v2 +w2, α= t an−1 ( wu ), β= si n−1 ( vVt ) The rotational dynamic equations of AHV are given as Ṗ = c1QR...inverse controller for hypersonic vehicle. In 2010 International Conference on Information, Networking and Automation (ICINA), volume 2, pages V2 –240

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.

On the Theory of Nonlinear Dynamics and its Applications in Vehicle Systems Dynamics

DEFF Research Database (Denmark)

True, Hans

1999-01-01

We present a brief outline of nonlinear dynamics and its applications to vehicle systems dynamics problems. The concept of a phase space is introduced in order to illustrate the dynamics of nonlinear systems in a way that is easy to perceive. Various equilibrium states are defined...... of nonlinear dynamics in vehicle simulations is discussed, and it is argued that it is necessary to know the equilibrium states of the full nonlinear system before the simulation calculations are performed......., and the important case of multiple equilibrium states and their dependence on a parameter is discussed. It is argued that the analysis of nonlinear dynamic problems always should start with an analysis of the equilibrium states of the full nonlinear problem whereby great care must be taken in the choice...

Control and design of multiple unmanned air vehicles for persistent surveillance

Science.gov (United States)

Nigam, Nikhil

Control of multiple autonomous aircraft for search and exploration, is a topic of current research interest for applications such as weather monitoring, geographical surveys, search and rescue, tactical reconnaissance, and extra-terrestrial exploration, and the need to distribute sensing is driven by considerations of efficiency, reliability, cost and scalability. Hence, this problem has been extensively studied in the fields of controls and artificial intelligence. The task of persistent surveillance is different from a coverage/exploration problem, in that all areas need to be continuously searched, minimizing the time between visitations to each region in the target space. This distinction does not allow a straightforward application of most exploration techniques to the problem, although ideas from these methods can still be used. The use of aerial vehicles is motivated by their ability to cover larger spaces and their relative insensitivity to terrain. However, the dynamics of Unmanned Air Vehicles (UAVs) adds complexity to the control problem. Most of the work in the literature decouples the vehicle dynamics and control policies, but their interaction is particularly interesting for a surveillance mission. Stochastic environments and UAV failures further enrich the problem by requiring the control policies to be robust, and this aspect is particularly important for hardware implementations. For a persistent mission, it becomes imperative to consider the range/endurance constraints of the vehicles. The coupling of the control policy with the endurance constraints of the vehicles is an aspect that has not been sufficiently explored. Design of UAVs for desirable mission performance is also an issue of considerable significance. The use of a single monolithic optimization for such a problem has practical limitations, and decomposition-based design is a potential alternative. In this research high-level control policies are devised, that are scalable, reliable

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.

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.

Cognitive Models for Learning to Control Dynamic Systems

National Research Council Canada - National Science Library

Eberhart, Russ; Hu, Xiaohui; Chen, Yaobin

2008-01-01

Report developed under STTR contract for topic "Cognitive models for learning to control dynamic systems" demonstrated a swarm intelligence learning algorithm and its application in unmanned aerial vehicle (UAV) mission planning...

Dynamic force profile in hydraulic hybrid vehicles: a numerical investigation

Science.gov (United States)

Mohaghegh-Motlagh, Amin; Elahinia, Mohammad H.

2010-04-01

A hybrid hydraulic vehicle (HHV) combines a hydraulic sub-system with the conventional drivetrain in order to improve fuel economy for heavy vehicles. The added hydraulic module manages the storage and release of fluid power necessary to assist the motion of the vehicle. The power collected by a pump/motor (P/M) from the regenerative braking phase is stored in a high-pressure accumulator and then released by the P/M to the driveshaft during the acceleration phase. This technology is effective in significantly improving fuel-economy for heavy-class vehicles with frequent stop-and-go drive schedules. Despite improved fuel economy and higher vehicle acceleration, noise and vibrations are one of the main problems of these vehicles. The dual function P/Ms are the main source of noise and vibration in a HHV. This study investigates the dynamics of a P/M and particularly the profile and frequency-dependence of the dynamic forces generated by a bent-axis P/M unit. To this end, the fluid dynamics side of the problem has been simplified for investigating the system from a dynamics perspective. A mathematical model of a bent axis P/M has been developed to investigate the cause of vibration and noise in HHVs. The forces are calculated in time and frequency domains. The results of this work can be used to study the vibration response of the chassis and to design effective vibration isolation systems for HHVs.

Analysis of vehicle dynamics under sadden cross wind

Science.gov (United States)

Walczak, S.

2016-09-01

In this paper, the way of calculating aerodynamic forces acting on a vehicle passing in the region of sadden cross wind was presented. The CarDyn, a vehicle dynamics simulation program, developed by the author was used. The effects of the cross wind were studied with a fixed steering wheel simulation. On the base of computer simulations the car cross wind sensitivity were determined, and vehicle responses such as lateral offset, side acceleration and yaw angular velocity are presented.

Nonlinear dynamics of biomimetic micro air vehicles

Energy Technology Data Exchange (ETDEWEB)

Hou, Y; Kong, J [College of Mechanical Automation, Wuhan University of Science and Technology, Wuhan, 430081 (China)], E-mail: fly_houyu@163.com.cn

2008-02-15

Flapping-wing micro air vehicles (FMAV) are new conceptual air vehicles that mimic the flying modes of birds and insects. They surpass the research fields of traditional airplane design and aerodynamics on application technologies, and initiate the applications of MEMS technologies on aviation fields. This paper studies a micro flapping mechanism that based upon insect thorax and actuated by electrostatic force. Because there are strong nonlinear coupling between the two physical domains, electrical and mechanical, the static and dynamic characteristics of this system are very complicated. Firstly, the nonlinear dynamic model of the electromechanical coupling system is set up according to the physical model of the flapping mechanism. The dynamic response of the system in constant voltage is studied by numerical method. Then the effect of damping and initial condition on dynamic characteristics of the system is analyzed in phase space. In addition, the dynamic responses of the system in sine voltage excitation are discussed. The results of research are helpful to the design, fabrication and application of the micro flapping mechanism of FMAV, and also to other micro electromechanical system that actuated by electrostatic force.

The Dynamic Multi-Period Vehicle Routing Problem

DEFF Research Database (Denmark)

Wen, Min; Cordeau, Jean-Francois; Laporte, Gilbert

This paper considers the Dynamic Multi-Period Vehicle Routing Problem which deals with the distribution of orders from a depot to a set of customers over a multi-period time horizon. Customer orders and their feasible service periods are dynamically revealed over time. The objectives are to minim......This paper considers the Dynamic Multi-Period Vehicle Routing Problem which deals with the distribution of orders from a depot to a set of customers over a multi-period time horizon. Customer orders and their feasible service periods are dynamically revealed over time. The objectives...... are to minimize total travel costs and customer waiting, and to balance the daily workload over the planning horizon. This problem originates from a large distributor operating in Sweden. It is modeled as a mixed integer linear program, and solved by means of a three-phase heuristic that works over a rolling...... planning horizon. The multi-objective aspect of the problem is handled through a scalar technique approach. Computational results show that our solutions improve upon those of the Swedish distributor....

Nonlinear Constrained Adaptive Backstepping Tracking Control for a Hypersonic Vehicle with Uncertainty

Directory of Open Access Journals (Sweden)

Qin Zou

2015-01-01

Full Text Available The control problem of a flexible hypersonic vehicle is presented, where input saturation and aerodynamic uncertainty are considered. A control-oriented model including aerodynamic uncertainty is derived for simple controller design due to the nonlinearity and complexity of hypersonic vehicle model. Then it is separated into velocity subsystem and altitude subsystem. On the basis of the integration of robust adaptive control and backstepping technique, respective controller is designed for each subsystem, where an auxiliary signal provided by an additional dynamic system is used to compensate for the control saturation effect. Then to deal with the “explosion of terms” problem inherent in backstepping control, a novel first-order filter is proposed. Simulation results are included to demonstrate the effectiveness of the adaptive backstepping control scheme.

Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems

National Research Council Canada - National Science Library

Dullerud, Geir E; Bullo, Francesco; Feron, Eric; Frazzoli, Emilio; Kumar, P. R; Lall, Sanjay; Liberzon, Daniel; Lynch, Nancy A; Mitchell, John C; Mitter, Sanjoy K

2007-01-01

... and semi-autonomous air vehicles. The research is specifically aimed at the critical reliability and performance issues facing autonomous vehicle systems which operate in highly uncertain environments, and enables the vehicles...

Dynamic vehicle routing problems: Three decades and counting

DEFF Research Database (Denmark)

Psaraftis, Harilaos N.; Wen, Min; Kontovas, Christos A.

2016-01-01

of DVRP papers according to 11 criteria. These are (1) type of problem, (2) logistical context, (3) transportation mode, (4) objective function, (5) fleet size, (6) time constraints, (7) vehicle capacity constraints, (8) the ability to reject customers, (9) the natureof the dynamic element, (10......Since the late 70s, much research activity has taken place on the class of dynamic vehicle routing problems (DVRP), with the time period after year 2000 witnessing areal explosion in related papers. Our paper sheds more light into work in this area over more than 3 decades by developing a taxonomy......) the nature of the stochasticity (if any), and (11) the solution method. We comment on technological vis-à-vis methodological advances for this class of problems and suggest directions for further research. The latter include alternative objective functions, vehicle speed as decision variable, more explicit...

Exponential Stabilization of Underactuated Vehicles

Energy Technology Data Exchange (ETDEWEB)

Pettersen, K.Y.

1996-12-31

Underactuated vehicles are vehicles with fewer independent control actuators than degrees of freedom to be controlled. Such vehicles may be used in inspection of sub-sea cables, inspection and maintenance of offshore oil drilling platforms, and similar. This doctoral thesis discusses feedback stabilization of underactuated vehicles. The main objective has been to further develop methods from stabilization of nonholonomic systems to arrive at methods that are applicable to underactuated vehicles. A nonlinear model including both dynamics and kinematics is used to describe the vehicles, which may be surface vessels, spacecraft or autonomous underwater vehicles (AUVs). It is shown that for a certain class of underactuated vehicles the stabilization problem is not solvable by linear control theory. A new stability result for a class of homogeneous time-varying systems is derived and shown to be an important tool for developing continuous periodic time-varying feedback laws that stabilize underactuated vehicles without involving cancellation of dynamics. For position and orientation control of a surface vessel without side thruster a new continuous periodic feedback law is proposed that does not cancel any dynamics, and that exponentially stabilizes the origin of the underactuated surface vessel. A further issue considered is the stabilization of the attitude of an AUV. Finally, the thesis discusses stabilization of both position and attitude of an underactuated AUV. 55 refs., 28 figs.

Total dynamic response of a PSS vehicle negotiating asymmetric road excitations

Science.gov (United States)

Zhu, Jian Jun; Khajepour, Amir; Esmailzadeh, Ebrahim

2012-12-01

A planar suspension system (PSS) is a novel automobile suspension system in which an individual spring-damper strut is implemented in both the vertical and longitudinal directions, respectively. The wheels in a vehicle with such a suspension system can move back and forth relative to the chassis. When a PSS vehicle experiences asymmetric road excitations, the relative longitudinal motion of wheels with respect to the chassis in two sides of the same axle are not identical, and thus the two wheels at one axle will not be aligned in the same axis. The total dynamic responses, including those of the bounce, pitch and the roll of the PSS vehicle, to the asymmetric road excitation may exhibit different characteristics from those of a conventional vehicle. This paper presents an investigation into the comprehensive dynamic behaviour of a vehicle with the PSS, in such a road condition, on both the straight and curved roads. The study was carried out using an 18 DOF full-car model incorporating a radial-spring tyre-ground contact model and a 2D tyre-ground dynamic friction model. Results demonstrate that the total dynamic behaviour of a PSS vehicle is generally comparable with that of the conventional vehicle, while PSS exhibits significant improvement in absorbing the impact forces along the longitudinal direction when compared to the conventional suspension system. The PSS vehicle is found to be more stable than the conventional vehicle in terms of the directional performance against the disturbance of the road potholes on a straight line manoeuvre, while exhibiting a very similar handling performance on a curved line.

Dynamic simulation of a fuel cell hybrid vehicle during the federal test procedure-75 driving cycle

International Nuclear Information System (INIS)

Kang, Sanggyu; Min, Kyoungdoug

2016-01-01

Highlights: • Development of a FCHV dynamic model. • Integration of a PEMFC system dynamic model with the electric vehicle model. • Investigation of the dynamic behavior of the FCEV and PEMFC system during FTP-75. • Capturing the dynamic correlation among components in PEMFC system during FTP-75. - Abstract: The dynamic behavior of a proton exchange membrane fuel cell (PEMFC) system is a crucial factor to ensure the safe and effective operation of fuel cell hybrid vehicles (FCHVs). Specifically, water and thermal management are critical to stabilize the performance of the PEMFC during severe load changes. In the present study, the FCHV dynamic model is developed. The dynamic model of the PEMFC system developed by Matlab–Simulink® is integrated into the electric vehicle model embedded in the Amesim®. The dynamic model of the PEMFC system is composed of a PEMFC stack, an air feeding system, and a thermal management system (TMS). The component models of PEMFC, a shell-and-tube gas-to-gas membrane humidifier, and a heat exchanger are validated via a comparison with the experimental data. The FCHV model is simulated during a federal test procedure (FTP)-75 driving cycle. One system configuration and control strategy is adopted to attain optimal water and thermal management in the PEMFC system. The vehicle speed obtained from the FCHV model aptly tracks the target velocity profile of the FTP-75 cycle within an error of ±0.5%. The dynamic behavior and correlation of each component in the PEMFC system is investigated. The mass and heat transfer in the PEMFC, a humidifier, and a heat exchanger are resolved to determine the species concentration and the temperature more accurately with discretization in the flow’s perpendicular direction. Discretization in the flow parallel direction of humidifier and heat exchanger model makes it possible to capture the distribution of the characteristics. The present model can be used to attain the optimization of the system

Max Launch Abort System (MLAS) Pad Abort Test Vehicle (PATV) II Attitude Control System (ACS) Integration and Pressurization Subsystem Dynamic Random Vibration Analysis

Science.gov (United States)

Ekrami, Yasamin; Cook, Joseph S.

2011-01-01

In order to mitigate catastrophic failures on future generation space vehicles, engineers at the National Aeronautics and Space Administration have begun to integrate a novel crew abort systems that could pull a crew module away in case of an emergency at the launch pad or during ascent. The Max Launch Abort System (MLAS) is a recent test vehicle that was designed as an alternative to the baseline Orion Launch Abort System (LAS) to demonstrate the performance of a "tower-less" LAS configuration under abort conditions. The MLAS II test vehicle will execute a propulsive coast stabilization maneuver during abort to control the vehicles trajectory and thrust. To accomplish this, the spacecraft will integrate an Attitude Control System (ACS) with eight hypergolic monomethyl hydrazine liquid propulsion engines that are capable of operating in a quick pulsing mode. Two main elements of the ACS include a propellant distribution subsystem and a pressurization subsystem to regulate the flow of pressurized gas to the propellant tanks and the engines. The CAD assembly of the Attitude Control System (ACS) was configured and integrated into the Launch Abort Vehicle (LAV) design. A dynamic random vibration analysis was conducted on the Main Propulsion System (MPS) helium pressurization panels to assess the response of the panel and its components under increased gravitational acceleration loads during flight. The results indicated that the panels fundamental and natural frequencies were farther from the maximum Acceleration Spectral Density (ASD) vibrations which were in the range of 150-300 Hz. These values will direct how the components will be packaged in the vehicle to reduce the effects high gravitational loads.

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.

Dynamics of a railway vehicle on a laterally disturbed track

DEFF Research Database (Denmark)

Christiansen, Lasse Engbo; True, Hans

2017-01-01

In this article a theoretical investigation of the dynamics of a railway bogie running on a tangent track with a periodic disturbance of the lateral track geometry is presented. The dynamics is computed for two values of the speed of the vehicle in combination with different values of the wavelen......In this article a theoretical investigation of the dynamics of a railway bogie running on a tangent track with a periodic disturbance of the lateral track geometry is presented. The dynamics is computed for two values of the speed of the vehicle in combination with different values...

Safe Control for Spiral Recovery of Unmanned Aerial Vehicle

Directory of Open Access Journals (Sweden)

Chang-Jian Ru

2014-01-01

Full Text Available With unmanned aerial vehicles (UAVs widely used in both military and civilian fields, many events affecting their safe flying have emerged. That UAV’s entering into the spiral is such a typical safety issue. To solve this safety problem, a novel recovery control approach is proposed. First, the factors of spiral are analyzed. Then, based on control scheduling of state variables and nonlinear dynamic inversion control laws, the spiral recovery controller is designed to accomplish guidance and control of spiral recovery. Finally, the simulation results have illustrated that the proposed control method can ensure the UAV autonomous recovery from spiral effectively.

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

Torque Coordination Control during Braking Mode Switch for a Plug-in Hybrid Electric Vehicle

OpenAIRE

Yang Yang; Chao Wang; Quanrang Zhang; Xiaolong He

2017-01-01

Hybrid vehicles usually have several braking systems, and braking mode switches are significant events during braking. It is difficult to coordinate torque fluctuations caused by mode switches because the dynamic characteristics of braking systems are different. In this study, a new type of plug-in hybrid vehicle is taken as the research object, and braking mode switches are divided into two types. The control strategy of type one is achieved by controlling the change rates of clutch hold-dow...

Efficient direct yaw moment control: tyre slip power loss minimisation for four-independent wheel drive vehicle

Science.gov (United States)

Kobayashi, Takao; Katsuyama, Etsuo; Sugiura, Hideki; Ono, Eiichi; Yamamoto, Masaki

2018-05-01

This paper proposes an efficient direct yaw moment control (DYC) capable of minimising tyre slip power loss on contact patches for a four-independent wheel drive vehicle. Simulations identified a significant power loss reduction with a direct yaw moment due to a change in steer characteristics during acceleration or deceleration while turning. Simultaneously, the vehicle motion can be stabilised. As a result, the proposed control method can ensure compatibility between vehicle dynamics performance and energy efficiency. This paper also describes the results of a full-vehicle simulation that was conducted to examine the effectiveness of the proposed DYC.

Complex motion of a vehicle through a series of signals controlled by power-law phase

Science.gov (United States)

Nagatani, Takashi

2017-07-01

We study the dynamic motion of a vehicle moving through the series of traffic signals controlled by the position-dependent phase of power law. All signals are controlled by both cycle time and position-dependent phase. The dynamic model of the vehicular motion is described in terms of the nonlinear map. The vehicular motion varies in a complex manner by varying cycle time for various values of the power of the position-dependent phase. The vehicle displays the periodic motion with a long cycle for the integer power of the phase, while the vehicular motion exhibits the very complex behavior for the non-integer power of the phase.

A robust H∞ control-based hierarchical mode transition control system for plug-in hybrid electric vehicle

Science.gov (United States)

Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng

2018-01-01

To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.

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.

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.

Terminal Sliding Mode Control with Unidirectional Auxiliary Surfaces for Hypersonic Vehicles Based on Adaptive Disturbance Observer

Directory of Open Access Journals (Sweden)

Naibao He

2015-01-01

Full Text Available A novel flight control scheme is proposed using the terminal sliding mode technique, unidirectional auxiliary surfaces and the disturbance observer model. These proposed dynamic attitude control systems can improve control performance of hypersonic vehicles despite uncertainties and external disturbances. The terminal attractor is employed to improve the convergence rate associated with the critical damping characteristics problem noted in short-period motions of hypersonic vehicles. The proposed robust attitude control scheme uses a dynamic terminal sliding mode with unidirectional auxiliary surfaces. The nonlinear disturbance observer is designed to estimate system uncertainties and external disturbances. The output of the disturbance observer aids the robust adaptive control scheme and improves robust attitude control performance. Finally, simulation results are presented to illustrate the effectiveness of the proposed terminal sliding mode with unidirectional auxiliary surfaces.

Vehicle routing with dynamic travel times : a queueing approach

NARCIS (Netherlands)

Woensel, van T.; Kerbache, L.; Peremans, H.; Vandaele, N.J.

2008-01-01

Transportation is an important component of supply chain competitiveness since it plays a major role in the inbound, inter-facility, and outbound logistics. In this context, assigning and scheduling vehicle routes is a crucial management problem. In this paper, a vehicle routing problem with dynamic

Robust, nonlinear, high angle-of-attack control design for a supermaneuverable vehicle

Science.gov (United States)

Adams, Richard J.

1993-01-01

High angle-of-attack flight control laws are developed for a supermaneuverable fighter aircraft. The methods of dynamic inversion and structured singular value synthesis are combined into an approach which addresses both the nonlinearity and robustness problems of flight at extreme operating conditions. The primary purpose of the dynamic inversion control elements is to linearize the vehicle response across the flight envelope. Structured singular value synthesis is used to design a dynamic controller which provides robust tracking to pilot commands. The resulting control system achieves desired flying qualities and guarantees a large margin of robustness to uncertainties for high angle-of-attack flight conditions. The results of linear simulation and structured singular value stability analysis are presented to demonstrate satisfaction of the design criteria. High fidelity nonlinear simulation results show that the combined dynamics inversion/structured singular value synthesis control law achieves a high level of performance in a realistic environment.

Vehicle Unsteady Dynamics Characteristics Based on Tire and Road Features

Directory of Open Access Journals (Sweden)

Bin Ma

2013-01-01

Full Text Available During automotive related accidents, tire and road play an important role in vehicle unsteady dynamics as they have a significant impact on the sliding friction. The calculation of the rubber viscoelastic energy loss modulus and the true contact area model is improved based on the true contact area and the rubber viscoelastic theory. A 10 DOF full vehicle dynamic model in consideration of the kinetic sliding friction coefficient which has good accuracy and reality is developed. The stability test is carried out to evaluate the effectiveness of the model, and the simulation test is done in MATLAB to analyze the impact of tire feature and road self-affine characteristics on the sport utility vehicle (SUV unsteady dynamics under different weights. The findings show that it is a great significance to analyze the SUV dynamics equipped with different tire on different roads, which may provide useful insights into solving the explicit-implicit features of tire prints in systematically and designing active safety systems.

Control-oriented modeling and adaptive backstepping control for a nonminimum phase hypersonic vehicle.

Science.gov (United States)

Ye, Linqi; Zong, Qun; Tian, Bailing; Zhang, Xiuyun; Wang, Fang

2017-09-01

In this paper, the nonminimum phase problem of a flexible hypersonic vehicle is investigated. The main challenge of nonminimum phase is the prevention of dynamic inversion methods to nonlinear control design. To solve this problem, we make research on the relationship between nonminimum phase and backstepping control, finding that a stable nonlinear controller can be obtained by changing the control loop on the basis of backstepping control. By extending the control loop to cover the internal dynamics in it, the internal states are directly controlled by the inputs and simultaneously serve as virtual control for the external states, making it possible to guarantee output tracking as well as internal stability. Then, based on the extended control loop, a simplified control-oriented model is developed to enable the applicability of adaptive backstepping method. It simplifies the design process and releases some limitations caused by direct use of the no simplified control-oriented model. Next, under proper assumptions, asymptotic stability is proved for constant commands, while bounded stability is proved for varying commands. The proposed method is compared with approximate backstepping control and dynamic surface control and is shown to have superior tracking accuracy as well as robustness from the simulation results. This paper may also provide a beneficial guidance for control design of other complex systems. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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.

CFD based aerodynamic modeling to study flight dynamics of a flapping wing micro air vehicle

Science.gov (United States)

Rege, Alok Ashok

The demand for small unmanned air vehicles, commonly termed micro air vehicles or MAV's, is rapidly increasing. Driven by applications ranging from civil search-and-rescue missions to military surveillance missions, there is a rising level of interest and investment in better vehicle designs, and miniaturized components are enabling many rapid advances. The need to better understand fundamental aspects of flight for small vehicles has spawned a surge in high quality research in the area of micro air vehicles. These aircraft have a set of constraints which are, in many ways, considerably different from that of traditional aircraft and are often best addressed by a multidisciplinary approach. Fast-response non-linear controls, nano-structures, integrated propulsion and lift mechanisms, highly flexible structures, and low Reynolds aerodynamics are just a few of the important considerations which may be combined in the execution of MAV research. The main objective of this thesis is to derive a consistent nonlinear dynamic model to study the flight dynamics of micro air vehicles with a reasonably accurate representation of aerodynamic forces and moments. The research is divided into two sections. In the first section, derivation of the nonlinear dynamics of flapping wing micro air vehicles is presented. The flapping wing micro air vehicle (MAV) used in this research is modeled as a system of three rigid bodies: a body and two wings. The design is based on an insect called Drosophila Melanogaster, commonly known as fruit-fly. The mass and inertial effects of the wing on the body are neglected for the present work. The nonlinear dynamics is simulated with the aerodynamic data published in the open literature. The flapping frequency is used as the control input. Simulations are run for different cases of wing positions and the chosen parameters are studied for boundedness. Results show a qualitative inconsistency in boundedness for some cases, and demand a better

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.

Investigation on dynamical interaction between a heavy vehicle and road pavement

Science.gov (United States)

Yang, Shaopu; Li, Shaohua; Lu, Yongjie

2010-08-01

This paper presents a model for three-dimensional, heavy vehicle-pavement-foundation coupled system, which is modelled as a seven-DOF vehicle moving along a simply supported double-layer rectangular thin plate on a linear viscoelastic foundation. The vertical tyre force is described by a single point-contact model, while the pavement-foundation is modelled as a double-layer plate on a linear viscoelastic foundation. Using the Galerkin method and quick direct integral method, the dynamical behaviour of the vehicle-pavement-foundation coupled system is investigated numerically and compared with that of traditional vehicle system and pavement system. The effects of coupling action on vehicle body vertical acceleration, suspension deformations, tyre forces and pavement displacements are also obtained. The investigation shows that the coupling action could not be neglected even on a smooth road surface, such as highway. Thus, it is necessary to investigate the dynamics of vehicle and pavement simultaneously based on the vehicle-pavement-foundation coupled system.

Observer-based linear parameter varying H∞ tracking control for hypersonic vehicles

Directory of Open Access Journals (Sweden)

Yiqing Huang

2016-11-01

Full Text Available This article aims to develop observer-based linear parameter varying output feedback H∞ tracking controller for hypersonic vehicles. Due to the complexity of an original nonlinear model of the hypersonic vehicle dynamics, a slow–fast loop linear parameter varying polytopic model is introduced for system stability analysis and controller design. Then, a state observer is developed by linear parameter varying technique in order to estimate the unmeasured attitude angular for slow loop system. Also, based on the designed linear parameter varying state observer, a kind of attitude tracking controller is presented to reduce tracking errors for all bounded reference attitude angular inputs. The closed-loop linear parameter varying system is proved to be quadratically stable by Lypapunov function technique. Finally, simulation results show that the developed linear parameter varying H∞ controller has good tracking capability for reference commands.

Development of a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics

Science.gov (United States)

Amin, Osman Md; Karim, Md. Arshadul; Saad, Abdullah His

2017-12-01

At present, research on unmanned underwater vehicle (UUV) has become a significant & familiar topic for researchers from various engineering fields. UUV is of mainly two types - AUV (Autonomous Underwater vehicle) & ROV (Remotely Operated Vehicle). There exist a significant number of published research papers on UUV, where very few researchers emphasize on the ease of maneuvering and control of UUV. Maneuvering is important for underwater vehicle in avoiding obstacles, installing underwater piping system, searching undersea resources, underwater mine disposal operations, oceanographic surveys etc. A team from Dept. of Naval Architecture & Marine Engineering of MIST has taken a project to design a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics. The main objective of the research is to develop a control system for UUV which would be able to maneuver the vehicle in six DOF (Degrees of Freedom) with great ease. For this purpose we are not only focusing on controllability but also designing an efficient hull with minimal drag force & optimized propeller using CFD technique. Motors were selected on the basis of the simulated thrust generated by propellers in ANSYS Fluent software module. Settings for control parameters to carry out different types of maneuvering such as hovering, spiral, one point rotation about its centroid, gliding, rolling, drifting and zigzag motions were explained in short at the end.

Cone Algorithm of Spinning Vehicles under Dynamic Coning Environment

Directory of Open Access Journals (Sweden)

Shuang-biao Zhang

2015-01-01

Full Text Available Due to the fact that attitude error of vehicles has an intense trend of divergence when vehicles undergo worsening coning environment, in this paper, the model of dynamic coning environment is derived firstly. Then, through investigation of the effect on Euler attitude algorithm for the equivalency of traditional attitude algorithm, it is found that attitude error is actually the roll angle error including drifting error and oscillating error, which is induced directly by dynamic coning environment and further affects the pitch angle and yaw angle through transferring. Based on definition of the cone frame and cone attitude, a cone algorithm is proposed by rotation relationship to calculate cone attitude, and the relationship between cone attitude and Euler attitude of spinning vehicle is established. Through numerical simulations with different conditions of dynamic coning environment, it is shown that the induced error of Euler attitude fluctuates by the variation of precession and nutation, especially by that of nutation, and the oscillating frequency of roll angle error is twice that of pitch angle error and yaw angle error. In addition, the rotation angle is more competent to describe the spinning process of vehicles under coning environment than Euler angle gamma, and the real pitch angle and yaw angle are calculated finally.

Dynamic Axle Load of an Automotive Vehicle When Driven on a Mobile Measurement Platform

OpenAIRE

Jagiełowicz-Ryznar C.

2014-01-01

An analysis of the dynamic axle load of an automotive vehicle (AV) when it is driven on a mobile measurement platform is presented in this paper. During the ride, the time characteristic of the dynamic force N(t), acting on the axle, was recorded. The effect of the vehicle axle mass on the maximum dynamic force value and the dynamic coefficient were studied. On this basis it was attempted to calculate the total vehicle’s weight. Conclusions concerning the dynamic loads of the vehicle axles in...

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

International Nuclear Information System (INIS)

Hannan, M.A.; Azidin, F.A.; Mohamed, A.

2012-01-01

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

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.

Adaptive real-time models of vehicle dynamics; Adaptive Echtzeitmodelle fuer die Kraftfahrzeugdynamik

Energy Technology Data Exchange (ETDEWEB)

Halfmann, C.; Holzmann, H.; Isermann, R. [Technische Univ. Darmstadt (Germany). Inst. fuer Automatisierungstechnik; Hamann, C.D.; Simm, N. [Opel (A.) AG, Ruesselsheim (Germany). Gruppe Chassis und Fahrerassistenzsysteme

1999-12-01

The application of modern simulation tools offering additional support during the vehicle development process is accepted to a large extent by most car manufacturers. Just like new model-based control strategies, these simulation investigations require very accurate - and thus very complex - models of vehicle dynamics, which can be processed in real time. As an example of such a vehicle model, this article describes a real-time vehicle simulation model which was developed at the Institute of Automatic Control at Darmstadt University of Technology, in co-operation with the ITDC of the Adam OPEL AG. By applying modern adaptation techniques, this vehicle model is able to calculate onboard the important variables describing the actual driving state even if the environmental conditions change. (orig.) [German] Der Einsatz von Simulationswerkzeugen zur Unterstuetzung der Fahrzeugentwicklung hat sich bei den meisten Automobilherstellern weitgehend durchgesetzt. Ebenso wie neuartige modellbasierte Regelstrategien verlangen diese Simulationsuntersuchungen nach immer exakteren - und damit komplexeren - fahrdynamischen Modellen, die in Echtzeit ausgewertet werden. Als Beispiel fuer ein solches Gesamtfahrzeugmodell beschreibt dieser Beitrag ein echtzeitfaehiges Modell fuer die Bewegung des Fahrzeugs um alle drei Hauptachsen, das am Institut fuer Automatisierungstechnik der TU Darmstadt in Kooperation mit dem Internationalen Technischen Entwicklungszentrum (ITEZ) der Adam Opel AG entwickelt wurde. Es ist durch den Einsatz von Adaptionsmethoden in der Lage, wichtige fahrdynamische Zustandsgroessen im Fahrzeug auch unter veraenderlichen Umgebungsbedingungen zu ermitteln. (orig.)

Torque Coordination Control during Braking Mode Switch for a Plug-in Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Yang Yang

2017-10-01

Full Text Available Hybrid vehicles usually have several braking systems, and braking mode switches are significant events during braking. It is difficult to coordinate torque fluctuations caused by mode switches because the dynamic characteristics of braking systems are different. In this study, a new type of plug-in hybrid vehicle is taken as the research object, and braking mode switches are divided into two types. The control strategy of type one is achieved by controlling the change rates of clutch hold-down and motor braking forces. The control strategy of type two is achieved by simultaneously changing the target braking torque during different mode switch stages and controlling the motor to participate in active coordination control. Finally, the torque coordination control strategy is modeled in MATLAB/Simulink, and the results show that the proposed control strategy has a good effect in reducing the braking torque fluctuation and vehicle shocks during braking mode switches.

Optimal Velocity Control for a Battery Electric Vehicle Driven by Permanent Magnet Synchronous Motors

Directory of Open Access Journals (Sweden)

Dongbin Lu

2014-01-01

Full Text Available The permanent magnet synchronous motor (PMSM has high efficiency and high torque density. Field oriented control (FOC is usually used in the motor to achieve maximum efficiency control. In the electric vehicle (EV application, the PMSM efficiency model, combined with the EV and road load system model, is used to study the optimal energy-saving control strategy, which is significant for the economic operation of EVs. With the help of GPS, IMU, and other information technologies, the road conditions can be measured in advance. Based on this information, the optimal velocity of the EV driven by PMSM can be obtained through the analytical algorithm according to the efficiency model of PMSM and the vehicle dynamic model in simple road conditions. In complex road conditions, considering the dynamic characteristics, the economic operating velocity trajectory of the EV can be obtained through the dynamic programming (DP algorithm. Simulation and experimental results show that the minimum energy consumption and global energy optimization can be achieved when the EV operates in the economic operation area.

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...

Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy

Directory of Open Access Journals (Sweden)

Miguel Velazquez

2016-06-01

Full Text Available This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.

Robust stabilization control based on guardian maps theory for a longitudinal model of hypersonic vehicle.

Science.gov (United States)

Liu, Yanbin; Liu, Mengying; Sun, Peihua

2014-01-01

A typical model of hypersonic vehicle has the complicated dynamics such as the unstable states, the nonminimum phases, and the strong coupling input-output relations. As a result, designing a robust stabilization controller is essential to implement the anticipated tasks. This paper presents a robust stabilization controller based on the guardian maps theory for hypersonic vehicle. First, the guardian maps theories are provided to explain the constraint relations between the open subsets of complex plane and the eigenvalues of the state matrix of closed-loop control system. Then, a general control structure in relation to the guardian maps theories is proposed to achieve the respected design demands. Furthermore, the robust stabilization control law depending on the given general control structure is designed for the longitudinal model of hypersonic vehicle. Finally, a simulation example is provided to verify the effectiveness of the proposed methods.

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.

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.

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

A driver-adaptive stability control strategy for sport utility vehicles

Science.gov (United States)

Zhu, Shenjin; He, Yuping

2017-08-01

Conventional vehicle stability control (VSC) systems are designed for average drivers. For a driver with a good driving skill, the VSC systems may be redundant; for a driver with a poor driving skill, the VSC intervention may be inadequate. To increase safety of sport utility vehicles (SUVs), this paper proposes a novel driver-adaptive VSC (DAVSC) strategy based on scaling the target yaw rate commanded by the driver. The DAVSC system is adaptive to drivers' driving skills. More control effort would be exerted for drivers with poor driving skills, and vice versa. A sliding mode control (SMC)-based differential braking (DB) controller is designed using a three degrees of freedom (DOF) yaw-plane model. An eight DOF nonlinear yaw-roll model is used to simulate the SUV dynamics. Two driver models, namely longitudinal and lateral, are used to 'drive' the virtual SUV. By integrating the virtual SUV, the DB controller, and the driver models, the performance of the DAVSC system is investigated. The simulations demonstrate the effectiveness of the DAVSC strategy.

Kineto-dynamic design optimisation for vehicle-specific seat-suspension systems

Science.gov (United States)

Shangguan, Wen-Bin; Shui, Yijie; Rakheja, Subhash

2017-11-01

Designs and analyses of seat-suspension systems are invariably performed considering effective vertical spring rate and damping properties, while neglecting important contributions due to kinematics of the widely used cross-linkage mechanism. In this study, a kineto-dynamic model of a seat-suspension is formulated to obtain relations for effective vertical suspension stiffness and damping characteristics as functions of those of the air spring and the hydraulic damper, respectively. The proposed relations are verified through simulations of the multi-body dynamic model of the cross-linkage seat-suspension in the ADAMS platform. The validity of the kineto-dynamic model is also demonstrated through comparisons of its vibration transmission response with the experimental data. The model is used to identify optimal air spring coordinates to attain nearly constant natural frequency of the suspension, irrespective of the seated body mass and seated height. A methodology is further proposed to identify optimal damping requirements for vehicle-specific suspension designs to achieve minimal seat effective amplitude transmissibility (SEAT) and vibration dose value (VDV) considering vibration spectra of different classes of earthmoving vehicles. The shock and vibration isolation performance potentials of the optimal designs are evaluated under selected vehicle vibration superimposed with shock motions. Results show that the vehicle-specific optimal designs could provide substantial reductions in the SEAT and VDV values for the vehicle classes considered.

Attitude Dynamics and Tracking Control of Spacecraft in the Presence of Gravity Oblateness Perturbations

Directory of Open Access Journals (Sweden)

Achim IONITA

2016-03-01

Full Text Available The orbital docking represents a problem of great importance in aerospace engineering. The paper aims to perform an analysis of docking maneuvers between a chaser vehicle and a target vehicle in permanent LEO (low earth orbit. The work begins with a study of the attitude dynamics modeling intended to define the strategy that facilitates the chaser movement toward a docking part of the target. An LQR (linear quadratic regulator approach presents an optimal control design that provides linearized closed-loop error dynamics for tracking a desired quaternion. The control law formulation is combined with the control architecture based on SDRE (State Dependent Riccati equation technique for rotational maneuvers, including the Earth oblateness perturbation. The chaser body-fixed frame must coincide with the target body-fixed frame at the docking moment. Then the implementation of the control architecture based on LQR technique using the computational tool MATLAB is carried out. In simulation of the docking strategy V-R bar operations are analyzed and the minimum accelerations needs the control of chaser vehicle. The simulation analysis of those maneuvers considered for a chaser vehicle and a target vehicle in LEO orbit is validated in a case study.

Volume Dynamics Propulsion System Modeling for Supersonics Vehicle Research

Science.gov (United States)

Kopasakis, George; Connolly, Joseph W.; Paxson, Daniel E.; Ma, Peter

2010-01-01

Under the NASA Fundamental Aeronautics Program the Supersonics Project is working to overcome the obstacles to supersonic commercial flight. The proposed vehicles are long slim body aircraft with pronounced aero-servo-elastic modes. These modes can potentially couple with propulsion system dynamics; leading to performance challenges such as aircraft ride quality and stability. Other disturbances upstream of the engine generated from atmospheric wind gusts, angle of attack, and yaw can have similar effects. In addition, for optimal propulsion system performance, normal inlet-engine operations are required to be closer to compressor stall and inlet unstart. To study these phenomena an integrated model is needed that includes both airframe structural dynamics as well as the propulsion system dynamics. This paper covers the propulsion system component volume dynamics modeling of a turbojet engine that will be used for an integrated vehicle Aero-Propulso-Servo-Elastic model and for propulsion efficiency studies.

The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

Directory of Open Access Journals (Sweden)

Dewei Zhang

2014-01-01

Full Text Available A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU. The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

Computer Vision Based Smart Lane Departure Warning System for Vehicle Dynamics Control

Directory of Open Access Journals (Sweden)

Ambarish G. Mohapatra

2011-09-01

Full Text Available Collision Avoidance System solves many problems caused by traffic congestion worldwide and a synergy of new information technologies for simulation, real-time control and communications networks. The above system is characterized as an intelligent vehicle system. Traffic congestion has been increasing world-wide as a result of increased motorization, urbanization, population growth and changes in population density. Congestion reduces utilization of the transportation infrastructure and increases travel time, air pollution, fuel consumption and most importantly traffic accidents. The main objective of this work is to develop a machine vision system for lane departure detection and warning to measure the lane related parameters such as heading angle, lateral deviation, yaw rate and sideslip angle from the road scene image using standard image processing technique that can be used for automation of steering a motor vehicle. The exact position of the steering wheel can be monitored using a steering wheel sensor. This core part of this work is based on Hough transformation based edge detection technique for the detection of lane departure parameters. The prototype designed for this work has been tested in a running vehicle for the monitoring of real-time lane related parameters.

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.

Intelligent Energy Management Control for Extended Range Electric Vehicles Based on Dynamic Programming and Neural Network

Directory of Open Access Journals (Sweden)

Lihe Xi

2017-11-01

Full Text Available The extended range electric vehicle (EREV can store much clean energy from the electric grid when it arrives at the charging station with lower battery energy. Consuming minimum gasoline during the trip is a common goal for most energy management controllers. To achieve these objectives, an intelligent energy management controller for EREV based on dynamic programming and neural networks (IEMC_NN is proposed. The power demand split ratio between the extender and battery are optimized by DP, and the control objectives are presented as a cost function. The online controller is trained by neural networks. Three trained controllers, constructing the controller library in IEMC_NN, are obtained from training three typical lengths of the driving cycle. To determine an appropriate NN controller for different driving distance purposes, the selection module in IEMC_NN is developed based on the remaining battery energy and the driving distance to the charging station. Three simulation conditions are adopted to validate the performance of IEMC_NN. They are target driving distance information, known and unknown, changing the destination during the trip. Simulation results using these simulation conditions show that the IEMC_NN had better fuel economy than the charging deplete/charging sustain (CD/CS algorithm. More significantly, with known driving distance information, the battery SOC controlled by IEMC_NN can just reach the lower bound as the EREV arrives at the charging station, which was also feasible when the driver changed the destination during the trip.

LPV H-infinity Control for the Longitudinal Dynamics of a Flexible Air-Breathing Hypersonic Vehicle

Science.gov (United States)

Hughes, Hunter Douglas

This dissertation establishes the method needed to synthesize and simulate an Hinfinity Linear Parameter-Varying (LPV) controller for a flexible air-breathing hypersonic vehicle model. A study was conducted to gain the understanding of the elastic effects on the open loop system. It was determined that three modes of vibration would be suitable for the hypersonic vehicle model. It was also discovered from the open loop study that there is strong coupling in the hypersonic vehicle states, especially between the angle of attack, pitch rate, pitch attitude, and the exible modes of the vehicle. This dissertation outlines the procedure for synthesizing a full state feedback Hinfinity LPV controller for the hypersonic vehicle. The full state feedback study looked at both velocity and altitude tracking for the exible vehicle. A parametric study was conducted on each of these controllers to see the effects of changing the number of gridding points in the parameter space and changing the parameter variation rate limits in the system on the robust performance of the controller. As a result of the parametric study, a 7 x 7 grid ranging from Mach 7 to Mach 9 in velocity and from 70,000 feet to 90,000 feet in altitude, and a parameter variation rate limit of [.5 200]T was used for both the velocity tracking and altitude tracking cases. The resulting Hinfinity robust performances were gamma = 2.2224 for the velocity tracking case and = 1:7582 for the altitude tracking case. A linear analysis was then conducted on five different selected trim points from the Hinfinity LPV controller. This was conducted for the velocity tracking and altitude tracking cases. The results of linear analysis show that there is a slight difference in the response of the Hinfinity LPV controller and the fixed point H infinity controller. For the tracking task, the Hinfinity controller responds more quickly, and has a lower Hinfinity performance value. Next, the H infinity LPV controller was simulated

Integrated guidance and control design of a flight vehicle with side-window detection

Directory of Open Access Journals (Sweden)

Tianyu ZHENG

2018-04-01

Full Text Available This paper considers the guidance and control problem of a flight vehicle with side-window detection. In order to guarantee the target remaining in the seeker's sight of view, the line of sight and the attitude of the flight vehicle should be under some constraints caused by the side-window, which leads to coupling between the guidance and the attitude dynamics model. To deal with the side-window constraints and the coupling, a novel Integrated Guidance and Control (IGC design approach is proposed. Firstly, the relative motion equations are derived in the body-Line of Sight (LOS coordinate system. And the guidance and control problem of the flight vehicle is formulated into an IGC problem with state constraints. Then, based on the singular perturbation method, the IGC problem is decomposed into the control design of the quasi-steady-state subsystem and the boundary-layer subsystem which can be designed separately. Finally, the receding horizon control is applied to the control design for the two subsystems. Simulation results show the effectiveness of the proposed approach. Keywords: Integrated guidance and control, Receding horizon control, Side-window detection, Singular perturbation, Terminal guidance

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.

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.

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.

Road load simulator tests of the Gould phase 1 functional model silicon controlled rectifier ac motor controller for electric vehicles

Science.gov (United States)

Gourash, F.

1984-01-01

The test results for a functional model ac motor controller for electric vehicles and a three-phase induction motor which were dynamically tested on the Lewis Research Center road load simulator are presented. Results show that the controller has the capability to meet the SAE-J227a D cycle test schedule and to accelerate a 1576-kg (3456-lb) simulated vehicle to a cruise speed of 88.5 km/hr (55 mph). Combined motor controller efficiency is 72 percent and the power inverter efficiency alone is 89 percent for the cruise region of the D cycle. Steady state test results for motoring, regeneration, and thermal data obtained by operating the simulator as a conventional dynamometer are in agreement with the contractor's previously reported data. The regeneration test results indicate that a reduction in energy requirements for urban driving cycles is attainable with regenerative braking. Test results and data in this report serve as a data base for further development of ac motor controllers and propulsion systems for electric vehicles. The controller uses state-of-the-art silicon controlled rectifier (SCR) power semiconductors and microprocessor-based logic and control circuitry. The controller was developed by Gould Laboratories under a Lewis contract for the Department of Energy's Electric and Hybrid Vehicle program.

Road load simulator tests of the Gould phase 1 functional model silicon controlled rectifier ac motor controller for electric vehicles

Science.gov (United States)

Gourash, F.

1984-02-01

The test results for a functional model ac motor controller for electric vehicles and a three-phase induction motor which were dynamically tested on the Lewis Research Center road load simulator are presented. Results show that the controller has the capability to meet the SAE-J227a D cycle test schedule and to accelerate a 1576-kg (3456-lb) simulated vehicle to a cruise speed of 88.5 km/hr (55 mph). Combined motor controller efficiency is 72 percent and the power inverter efficiency alone is 89 percent for the cruise region of the D cycle. Steady state test results for motoring, regeneration, and thermal data obtained by operating the simulator as a conventional dynamometer are in agreement with the contractor's previously reported data. The regeneration test results indicate that a reduction in energy requirements for urban driving cycles is attainable with regenerative braking. Test results and data in this report serve as a data base for further development of ac motor controllers and propulsion systems for electric vehicles. The controller uses state-of-the-art silicon controlled rectifier (SCR) power semiconductors and microprocessor-based logic and control circuitry. The controller was developed by Gould Laboratories under a Lewis contract for the Department of Energy's Electric and Hybrid Vehicle program.

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.

CFD Based Added Mass Prediction in Cruise Condition of Underwater Vehicle Dynamic

Science.gov (United States)

Agoes Moelyadi, Mochammad; Bambang Riswandi, Bagus

2018-04-01

One of the unsteady flow behavior on the hydrodynamic characteristics of underwater vehicle is the presence of added mass. In cruising conditions, the underwater vehicle may require the addition of speed or experience the disturbance in the form of unsteady flow so that cause the hydrodynamic interaction between the surface of the vehicle with the surrounding fluid. This leads to the rise of local velocity of flow and the great changes of hydrodynamic forces which are very influential on the stability of the underwater vehicle. One of the result is an additional force called added mass. It is very useful parameter to control underwater vehicle dynamic.This paper reports the research on the added mass coefficient of underwater vehicles obtained through the Computational Fluid Dynmaic (CFD) simulation method using CFX software. Added mass coefficient is calculated by performing an unsteady simulation or known as transient simulation. Computational simulations are based on the Reynold Average Navier- Stokes (RANS) equation solution. The simulated vehicle moves forward and backward according to the sinus function, with a frequency of 0.25 Hz, a 2 m amplitude, a cruising depth of 10 m below sea level, and Vcruise 1.54 m / s (Re = 9.000.000). Simulation result data includes velocity contour, variation of force and acceleration to frequency, and added mass coefficient.

Cooperative vehicle control, feature tracking and ocean sampling

Science.gov (United States)

Fiorelli, Edward A.

This dissertation concerns the development of a feedback control framework for coordinating multiple, sensor-equipped, autonomous vehicles into mobile sensing arrays to perform adaptive sampling of observed fields. The use of feedback is central; it maintains the array, i.e. regulates formation position, orientation, and shape, and directs the array to perform its sampling mission in response to measurements taken by each vehicle. Specifically, we address how to perform autonomous gradient tracking and feature detection in an unknown field such as temperature or salinity in the ocean. Artificial potentials and virtual bodies are used to coordinate the autonomous vehicles, modelled as point masses (with unit mass). The virtual bodies consist of linked, moving reference points called virtual leaders. Artificial potentials couple the dynamics of the vehicles and the virtual bodies. The dynamics of the virtual body are then prescribed allowing the virtual body, and thus the vehicle group, to perform maneuvers that include translation, rotation and contraction/expansion, while ensuring that the formation error remains bounded. This methodology is called the Virtual Body and Artificial Potential (VBAP) methodology. We then propose how to utilize these arrays to perform autonomous gradient climbing and front tracking in the presence of both correlated and uncorrelated noise. We implement various techniques for estimation of gradients (first-order and higher), including finite differencing, least squares error minimization, averaging, and Kalman filtering. Furthermore, we illustrate how the estimation error can be used to optimally choose the formation size. To complement our theoretical work, we present an account of sea trials performed with a fleet of autonomous underwater gliders in Monterey Bay during the Autonomous Ocean Sampling Network (AOSN) II project in August 2003. During these trials, Slocum autonomous underwater gliders were coordinated into triangle

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...

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.

Influence of wheel-rail contact modelling on vehicle dynamic simulation

Science.gov (United States)

Burgelman, Nico; Sichani, Matin Sh.; Enblom, Roger; Berg, Mats; Li, Zili; Dollevoet, Rolf

2015-08-01

This paper presents a comparison of four models of rolling contact used for online contact force evaluation in rail vehicle dynamics. Until now only a few wheel-rail contact models have been used for online simulation in multibody software (MBS). Many more models exist and their behaviour has been studied offline, but a comparative study of the mutual influence between the calculation of the creep forces and the simulated vehicle dynamics seems to be missing. Such a comparison would help researchers with the assessment of accuracy and calculation time. The contact methods investigated in this paper are FASTSIM, Linder, Kik-Piotrowski and Stripes. They are compared through a coupling between an MBS for the vehicle simulation and Matlab for the contact models. This way the influence of the creep force calculation on the vehicle simulation is investigated. More specifically this study focuses on the influence of the contact model on the simulation of the hunting motion and on the curving behaviour.

Estimation of Road Friction Coefficient in Different Road Conditions Based on Vehicle Braking Dynamics

Science.gov (United States)

Zhao, You-Qun; Li, Hai-Qing; Lin, Fen; Wang, Jian; Ji, Xue-Wu

2017-07-01

The accurate estimation of road friction coefficient in the active safety control system has become increasingly prominent. Most previous studies on road friction estimation have only used vehicle longitudinal or lateral dynamics and often ignored the load transfer, which tends to cause inaccurate of the actual road friction coefficient. A novel method considering load transfer of front and rear axles is proposed to estimate road friction coefficient based on braking dynamic model of two-wheeled vehicle. Sliding mode control technique is used to build the ideal braking torque controller, which control target is to control the actual wheel slip ratio of front and rear wheels tracking the ideal wheel slip ratio. In order to eliminate the chattering problem of the sliding mode controller, integral switching surface is used to design the sliding mode surface. A second order linear extended state observer is designed to observe road friction coefficient based on wheel speed and braking torque of front and rear wheels. The proposed road friction coefficient estimation schemes are evaluated by simulation in ADAMS/Car. The results show that the estimated values can well agree with the actual values in different road conditions. The observer can estimate road friction coefficient exactly in real-time and resist external disturbance. The proposed research provides a novel method to estimate road friction coefficient with strong robustness and more accurate.

Predictive display design for the vehicles with time delay in dynamic response

Science.gov (United States)

Efremov, A. V.; Tiaglik, M. S.; Irgaleev, I. H.; Efremov, E. V.

2018-02-01

The two ways for the improvement of flying qualities are considered: the predictive display (PD) and the predictive display integrated with the flight control system (FCS). The both ways allow to transforming the controlled element dynamics in the crossover frequency range, to improve the accuracy of tracking and to suppress the effect of time delay in the vehicle response too. The technique for optimization of the predictive law is applied to the landing task. The results of the mathematical modeling and experimental investigations carried out for this task are considered in the paper.

Modeling and Analysis of Static and Dynamic Characteristics of Nonlinear Seat Suspension for Off-Road Vehicles

OpenAIRE

Yan, Zhenhua; Zhu, Bing; Li, Xuefei; Wang, Guoqiang

2015-01-01

Low-frequency vibrations (0.5–5 Hz) that harm drivers occur in off-road vehicles. Thus, researchers have focused on finding methods to effectively isolate or control low-frequency vibrations. A novel nonlinear seat suspension structure for off-road vehicles is designed, whose static characteristics and seat-human system dynamic response are modeled and analyzed, and experiments are conducted to verify the theoretical solutions. Results show that the stiffness of this nonlinear seat suspension...

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

Directory of Open Access Journals (Sweden)

2011-09-01

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

Concise Neural Nonaffine Control of Air-Breathing Hypersonic Vehicles Subject to Parametric Uncertainties

Directory of Open Access Journals (Sweden)

Xiangwei Bu

2017-01-01

Full Text Available In this paper, a novel simplified neural control strategy is proposed for the longitudinal dynamics of an air-breathing hypersonic vehicle (AHV directly using nonaffine models instead of affine ones. For the velocity dynamics, an adaptive neural controller is devised based on a minimal-learning parameter (MLP technique for the sake of decreasing computational loads. The altitude dynamics is rewritten as a pure feedback nonaffine formulation, for which a novel concise neural control approach is achieved without backstepping. The special contributions are that the control architecture is concise and the computational cost is low. Moreover, the exploited controller possesses good practicability since there is no need for affine models. The semiglobally uniformly ultimate boundedness of all the closed-loop system signals is guaranteed via Lyapunov stability theory. Finally, simulation results are presented to validate the effectiveness of the investigated control methodology in the presence of parametric uncertainties.

Comparative Study of Dynamic Programming and Pontryagin’s Minimum Principle on Energy Management for a Parallel Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Huei Peng

2013-04-01

Full Text Available This paper compares two optimal energy management methods for parallel hybrid electric vehicles using an Automatic Manual Transmission (AMT. A control-oriented model of the powertrain and vehicle dynamics is built first. The energy management is formulated as a typical optimal control problem to trade off the fuel consumption and gear shifting frequency under admissible constraints. The Dynamic Programming (DP and Pontryagin’s Minimum Principle (PMP are applied to obtain the optimal solutions. Tuning with the appropriate co-states, the PMP solution is found to be very close to that from DP. The solution for the gear shifting in PMP has an algebraic expression associated with the vehicular velocity and can be implemented more efficiently in the control algorithm. The computation time of PMP is significantly less than DP.

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.

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.

Modeling, Analysis, and Control of a Hypersonic Vehicle with Significant Aero-Thermo-Elastic-Propulsion Interactions: Elastic, Thermal and Mass Uncertainty

Science.gov (United States)

Khatri, Jaidev

This thesis examines themodeling, analysis, and control system design issues for scramjet powered hypersonic vehicles. A nonlinear three degrees of freedom longitudinal model which includes aero-propulsion-elasticity effects was used for all analyses. This model is based upon classical compressible flow and Euler-Bernouli structural concepts. Higher fidelity computational fluid dynamics and finite element methods are needed for more precise intermediate and final evaluations. The methods presented within this thesis were shown to be useful for guiding initial control relevant design. The model was used to examine the vehicle's static and dynamic characteristics over the vehicle's trimmable region. The vehicle has significant longitudinal coupling between the fuel equivalency ratio (FER) and the flight path angle (FPA). For control system design, a two-input two-output plant (FER - elevator to speed-FPA) with 11 states (including 3 flexible modes) was used. Velocity, FPA, and pitch were assumed to be available for feedback. Aerodynamic heat modeling and design for the assumed TPS was incorporated to original Bolender's model to study the change in static and dynamic properties. De-centralized control stability, feasibility and limitations issues were dealt with the change in TPS elasticity, mass and physical dimension. The impact of elasticity due to TPS mass, TPS physical dimension as well as prolonged heating was also analyzed to understand performance limitations of de-centralized control designed for nominal model.

A Lateral Control Method of Intelligent Vehicle Based on Fuzzy Neural Network

Directory of Open Access Journals (Sweden)

Linhui Li

2015-01-01

Full Text Available A lateral control method is proposed for intelligent vehicle to track the desired trajectory. Firstly, a lateral control model is established based on the visual preview and dynamic characteristics of intelligent vehicle. Then, the lateral error and orientation error are melded into an integrated error. Considering the system parameter perturbation and the external interference, a sliding model control is introduced in this paper. In order to design a sliding surface, the integrated error is chosen as the parameter of the sliding mode switching function. The sliding mode switching function and its derivative are selected as two inputs of the controller, and the front wheel angle is selected as the output. Next, a fuzzy neural network is established, and the self-learning functions of neural network is utilized to construct the fuzzy rules. Finally, the simulation results demonstrate the effectiveness and robustness of the proposed method.

Nonlinear Robust Control of a Hypersonic Flight Vehicle Using Fuzzy Disturbance Observer

Directory of Open Access Journals (Sweden)

Lei Zhengdong

2013-01-01

Full Text Available This paper is concerned with a novel tracking controller design for a hypersonic flight vehicle in complex and volatile environment. The attitude control model is challengingly constructed with multivariate uncertainties and external disturbances, such as structure dynamic and stochastic wind disturbance. In order to resist the influence of uncertainties and disturbances on the flight control system, nonlinear disturbance observer is introduced to estimate them. Moreover, for the sake of high accuracy and sensitivity, fuzzy theory is adopted to improve the performance of the nonlinear disturbance observer. After the total disturbance is eliminated by dynamic inversion method, a cascade system is obtained and then stabilized by a sliding-mode controller. Finally, simulation results show that the strong robust controller achieves excellent performance when the closed-loop control system is influenced by mass uncertainties and external disturbances.

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.

Structural Analysis of a Vehicle Dynamics Model for Fault Detection and Isolation on the ROboMObil

OpenAIRE

Ho, Lok Man

2013-01-01

The ROboMObil, a mobility prototype under development at the DLR, differs from most current road vehicles with its high degree of overactuation with regards to the vehicle dynamics. This is due to the independent traction motor drives and steering actuators in each wheel, as well as one brake-by-wire actuator for each axle. Together with the large number of sensors, these provide opportunities for control and also lead to challenges for fault detection and isolation. In this study, the ROboMO...

A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles

Science.gov (United States)

Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

2016-11-01

This paper investigates the level of model fidelity needed in order for a model predictive control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid obstacles even when the vehicle is close to its dynamic limits. The context of this work is large autonomous ground vehicles that manoeuvre at high speed within unknown, unstructured, flat environments and have significant vehicle dynamics-related constraints. Five different representations of vehicle dynamics models are considered: four variations of the two degrees-of-freedom (DoF) representation as lower fidelity models and a fourteen DoF representation with combined-slip Magic Formula tyre model as a higher fidelity model. It is concluded that the two DoF representation that accounts for tyre nonlinearities and longitudinal load transfer is necessary for the MPC-based obstacle avoidance algorithm in order to operate the vehicle at its limits within an environment that includes large obstacles. For less challenging environments, however, the two DoF representation with linear tyre model and constant axle loads is sufficient.

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.

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.

Neural-Network-Based Fuzzy Logic Navigation Control for Intelligent Vehicles

Directory of Open Access Journals (Sweden)

Ahcene Farah

2002-06-01

Full Text Available This paper proposes a Neural-Network-Based Fuzzy logic system for navigation control of intelligent vehicles. First, the use of Neural Networks and Fuzzy Logic to provide intelligent vehicles  with more autonomy and intelligence is discussed. Second, the system  for the obstacle avoidance behavior is developed. Fuzzy Logic improves Neural Networks (NN obstacle avoidance approach by handling imprecision and rule-based approximate reasoning. This system must make the vehicle able, after supervised learning, to achieve two tasks: 1- to make one’s way towards its target by a NN, and 2- to avoid static or dynamic obstacles by a Fuzzy NN capturing the behavior of a human expert. Afterwards, two association phases between each task and the appropriate actions are carried out by Trial and Error learning and their coordination allows to decide the appropriate action. Finally, the simulation results display the generalization and adaptation abilities of the system by testing it in new unexplored environments.

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

CERN Document Server

Unger, Johannes; Jakubek, Stefan

2016-01-01

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

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

Modeling and control of a hybrid-electric vehicle for drivability and fuel economy improvements

Science.gov (United States)

Koprubasi, Kerem

The gradual decline of oil reserves and the increasing demand for energy over the past decades has resulted in automotive manufacturers seeking alternative solutions to reduce the dependency on fossil-based fuels for transportation. A viable technology that enables significant improvements in the overall tank-to-wheel vehicle energy conversion efficiencies is the hybridization of electrical and conventional drive systems. Sophisticated hybrid powertrain configurations require careful coordination of the actuators and the onboard energy sources for optimum use of the energy saving benefits. The term optimality is often associated with fuel economy, although other measures such as drivability and exhaust emissions are also equally important. This dissertation focuses on the design of hybrid-electric vehicle (HEV) control strategies that aim to minimize fuel consumption while maintaining good vehicle drivability. In order to facilitate the design of controllers based on mathematical models of the HEV system, a dynamic model that is capable of predicting longitudinal vehicle responses in the low-to-mid frequency region (up to 10 Hz) is developed for a parallel HEV configuration. The model is validated using experimental data from various driving modes including electric only, engine only and hybrid. The high fidelity of the model makes it possible to accurately identify critical drivability issues such as time lags, shunt, shuffle, torque holes and hesitation. Using the information derived from the vehicle model, an energy management strategy is developed and implemented on a test vehicle. The resulting control strategy has a hybrid structure in the sense that the main mode of operation (the hybrid mode) is occasionally interrupted by event-based rules to enable the use of the engine start-stop function. The changes in the driveline dynamics during this transition further contribute to the hybrid nature of the system. To address the unique characteristics of the HEV

Frequency and time domain characteristics of digital control of electric vehicle in-wheel drives

Directory of Open Access Journals (Sweden)

Jarzebowicz Leszek

2017-12-01

Full Text Available In-wheel electric drives are promising as actuators in active safety systems of electric and hybrid vehicles. This new function requires dedicated control algorithms, making it essential to deliver models that reflect better the wheel-torque control dynamics of electric drives. The timing of digital control events, whose importance is stressed in current research, still lacks an analytical description allowing for modeling its influence on control system dynamics. In this paper, authors investigate and compare approaches to the analog and discrete analytical modeling of torque control loop in digitally controlled electric drive. Five different analytical models of stator current torque component control are compared to judge their accuracy in representing drive control dynamics related to the timing of digital control events. The Bode characteristics and stepresponse characteristics of the analytical models are then compared with those of a reference model for three commonly used cases of motor discrete control schemes. Finally, the applicability of the presented models is discussed.

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.

An empirical study of the effectiveness of electronic stability control system in reducing loss of vehicle control.

Science.gov (United States)

Papelis, Yiannis E; Watson, Ginger S; Brown, Timothy L

2010-05-01

A significant percentage of fatal vehicle crashes involve loss of control (LOC). Electronic stability control (ESC) is an active safety system that detects impending LOC and activates counter-measures that help the driver maintain or re-gain control. To assess the effectiveness of ESC in preventing LOC, an empirical study was conducted on a high-fidelity driving simulator. The ESC systems for two vehicles were incorporated into the simulator's dynamics code which was calibrated to ensure engineering validation. The study utilized three scenarios designed to recreate typical LOC situations, and was designed to assess the effects of ESC presence, vehicle type, scenario, age and gender. A total of 120 research participants completed the study. Results showed a statistically significant reduction in LOC with ESC compared to without ESC (F=52.72, p<0.0001). The study findings of 5% LOC with ESC and 30% without ESC match several epidemiological studies that have analyzed ESC effectiveness on real-world crashes, providing strong support to the use of driving simulation for studying driver behavior. Study conclusions suggest that wide-spread utilization of ESC is likely to reduce traffic fatalities. Copyright (c) 2009 Elsevier Ltd. All rights reserved.

Integrated Traction Control Strategy for Distributed Drive Electric Vehicles with Improvement of Economy and Longitudinal Driving Stability

Directory of Open Access Journals (Sweden)

Xudong Zhang

2017-01-01

Full Text Available This paper presents an integrated traction control strategy (ITCS for distributed drive electric vehicles. The purpose of the proposed strategy is to improve vehicle economy and longitudinal driving stability. On high adhesion roads, economy optimization algorithm is applied to maximize motors efficiency by means of the optimized torque distribution. On low adhesion roads, a sliding mode control (SMC algorithm is implemented to guarantee the wheel slip ratio around the optimal slip ratio point to make full use of road adhesion capacity. In order to avoid the disturbance on slip ratio calculation due to the low vehicle speed, wheel rotational speed is taken as the control variable. Since the optimal slip ratio varies according to different road conditions, Bayesian hypothesis selection is utilized to estimate the road friction coefficient. Additionally, the ITCS is designed for combining the vehicle economy and stability control through three traction allocation cases: economy-based traction allocation, pedal self-correcting traction allocation and inter-axles traction allocation. Finally, simulations are conducted in CarSim and Matlab/Simulink environment. The results show that the proposed strategy effectively reduces vehicle energy consumption, suppresses wheels-skid and enhances the vehicle longitudinal stability and dynamic performance.

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.

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

The Optimal Steering Control System using Imperialist Competitive Algorithm on Vehicles with Steer-by-Wire System

Directory of Open Access Journals (Sweden)

F. Hunaini

2015-03-01

Full Text Available Steer-by-wire is the electrical steering systems on vehicles that are expected with the development of an optimal control system can improve the dynamic performance of the vehicle. This paper aims to optimize the control systems, namely Fuzzy Logic Control (FLC and the Proportional, Integral and Derivative (PID control on the vehicle steering system using Imperialist Competitive Algorithm (ICA. The control systems are built in a cascade, FLC to suppress errors in the lateral motion and the PID control to minimize the error in the yaw motion of the vehicle. FLC is built has two inputs (error and delta error and single output. Each input and output consists of three Membership Function (MF in the form of a triangular for language term "zero" and two trapezoidal for language term "negative" and "positive". In order to work optimally, each MF optimized using ICA to get the position and width of the most appropriate. Likewise, in the PID control, the constant at each Proportional, Integral and Derivative control also optimized using ICA, so there are six parameters of the control system are simultaneously optimized by ICA. Simulations performed on vehicle models with 10 Degree Of Freedom (DOF, the plant input using the variables of steering that expressed in the desired trajectory, and the plant outputs are lateral and yaw motion. The simulation results showed that the FLC-PID control system optimized by using ICA can maintain the movement of vehicle according to the desired trajectory with lower error and higher speed limits than optimized with Particle Swarm Optimization (PSO.

Flex-fuel vehicle adoption and dynamics of ethanol prices: lessons from Brazil

International Nuclear Information System (INIS)

Du, Xiaodong; Carriquiry, Miguel A.

2013-01-01

Focusing on dynamics of the relative prices of substitute fuels, namely ethanol and gasoline, this study quantifies the impact of the increase in shares of flex-fuel vehicles (FFVs) in the vehicle fleet on the domestic ethanol prices in Brazil. A modified partial adjustment model is employed. Estimation results provide strong support for our research hypotheses: (i) when consumers can choose between the fuels the relative ethanol and gasoline prices converge to a long-run equilibrium level, which is determined by the fuel economy, and (ii) price dynamics are largely determined by market supply and demand factors including the price of sugar, ethanol exports, and composition of vehicle fleet. Furthermore, the impacts of demand factors such as ethanol exports are strengthened by the increasing proportion of FFVs in the vehicle fleet. - Highlights: • The relative prices of ethanol and gasoline in Brazil exhibit strong mean-reversion. • The fuel price dynamics are mainly influenced by supply and demand factors. • The impacts of demand factors are strengthened by the increasing proportion of FFVs

Modelling the Aggregated Dynamic Response of Electric Vehicles

DEFF Research Database (Denmark)

Ziras, Charalampos; Hu, Junjie; You, Shi

2017-01-01

There is an increasing interest in the use of electric vehicles (EVs) for providing fast frequency reserves due to their large installed capacity and their very fast response. Most works focus on scheduling and optimization and usually neglect their aggregated dynamic response, which...

Recent advances in the fundamental understanding of railway vehicle dynamics

DEFF Research Database (Denmark)

True, Hans

2006-01-01

The topic of this article is the calculation of the critical speed for railway vehicles. It is emphasised that it is misleading to formulate the mathematical problem as a stability problem. It must correctly be formulated as a problem of existence of coexisting solutions to the full non-linear dy......The topic of this article is the calculation of the critical speed for railway vehicles. It is emphasised that it is misleading to formulate the mathematical problem as a stability problem. It must correctly be formulated as a problem of existence of coexisting solutions to the full non......-linear dynamical problem. The lowest speed at which there exist more critical speed in road tests. A couple of examples show applications of the method to various dynamical models of railway vehicles. Freight wagons are treated in the end of the article because the dry friction damping with stick-slip and end...

A new robust control for minirotorcraft unmanned aerial vehicles.

Science.gov (United States)

Mokhtari, M Rida; Cherki, Brahim

2015-05-01

This paper presents a new robust control based on finite-time Lyapunov stability controller and proved with backstepping method for the position and the attitude of a small rotorcraft unmanned aerial vehicle subjected to bounded uncertainties and disturbances. The dynamical motion equations are obtained by the Newton-Euler formalism. The proposed controller combines the advantage of the backstepping approach with finite-time convergence techniques to generate a control laws to guarantee the faster convergence of the state variables to their desired values in short time and compensate for the bounded disturbances. A formal proof of the closed-loop stability and finite-time convergence of tracking errors is derived using the Lyapunov function technique. Simulation results are presented to corroborate the effectiveness and the robustness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

A dynamic simulation tool for the battery-hybrid hydrogen fuel cell vehicle

Energy Technology Data Exchange (ETDEWEB)

Moore, R.M. [Hawaii Natural Energy Institute, University of Hawaii, Manoa (United States); Ramaswamy, S.; Cunningham, J.M. [California Univ., Berkeley, CA (United States); Hauer, K.H. [xcellvision, Major-Hirst-Strasse 11, 38422 Wolfsburg (Germany)

2006-10-15

This paper describes a dynamic fuel cell vehicle simulation tool for the battery-hybrid direct-hydrogen fuel cell vehicle. The emphasis is on simulation of the hybridized hydrogen fuel cell system within an existing fuel cell vehicle simulation tool. The discussion is focused on the simulation of the sub-systems that are unique to the hybridized direct-hydrogen vehicle, and builds on a previous paper that described a simulation tool for the load-following direct-hydrogen vehicle. The configuration of the general fuel cell vehicle simulation tool has been previously presented in detail, and is only briefly reviewed in the introduction to this paper. Strictly speaking, the results provided in this paper only serve as an example that is valid for the specific fuel cell vehicle design configuration analyzed. Different design choices may lead to different results, depending strongly on the parameters used and choices taken during the detailed design process required for this highly non-linear and n-dimensional system. The primary purpose of this paper is not to provide a dynamic simulation tool that is the ''final word'' for the ''optimal'' hybrid fuel cell vehicle design. The primary purpose is to provide an explanation of a simulation method for analyzing the energetic aspects of a hybrid fuel cell vehicle. (Abstract Copyright [2006], Wiley Periodicals, Inc.)

Cooperative Control of Regenerative Braking and Antilock Braking for a Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Guodong Yin

2013-01-01

Full Text Available A new cooperative braking control strategy (CBCS is proposed for a parallel hybrid electric vehicle (HEV with both a regenerative braking system and an antilock braking system (ABS to achieve improved braking performance and energy regeneration. The braking system of the vehicle is based on a new method of HEV braking torque distribution that makes the antilock braking system work together with the regenerative braking system harmoniously. In the cooperative braking control strategy, a sliding mode controller (SMC for ABS is designed to maintain the wheel slip within an optimal range by adjusting the hydraulic braking torque continuously; to reduce the chattering in SMC, a boundary-layer method with moderate tuning of a saturation function is also investigated; based on the wheel slip ratio, battery state of charge (SOC, and the motor speed, a fuzzy logic control strategy (FLC is applied to adjust the regenerative braking torque dynamically. In order to evaluate the performance of the cooperative braking control strategy, the braking system model of a hybrid electric vehicle is built in MATLAB/SIMULINK. It is found from the simulation that the cooperative braking control strategy suggested in this paper provides satisfactory braking performance, passenger comfort, and high regenerative efficiency.

Synthesis of the unmanned aerial vehicle remote control augmentation system

International Nuclear Information System (INIS)

Tomczyk, Andrzej

2014-01-01

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

Synthesis of the unmanned aerial vehicle remote control augmentation system

Energy Technology Data Exchange (ETDEWEB)

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

2014-12-10

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

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.

Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

Science.gov (United States)

Li, Zhaoying; Zhou, Wenjie; Liu, Hao

2016-09-01

This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

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.

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.

Robust D-Stability Controller Design for a Ducted Fan Unmanned Aerial Vehicle

Directory of Open Access Journals (Sweden)

Xiao-lu Ren

2014-01-01

Full Text Available This paper deals with the aerodynamic modeling of a small ducted fan UAV and the problem of attitude stabilization when the parameter of the vehicle is varied. The main aerodynamic model of the hovering flight UAV is first presented. Then, an attitude control is designed from a linearization of the dynamic model around the hovering flight, which is based on the H∞ output feedback control theory with D-stability. Simulation results show that such method has good robustness to the attitude system. They can meet the requirements of attitude control and verify further the feasibility of such a control strategy.

Nonlinear Dynamic Modeling of a Fixed-Wing Unmanned Aerial Vehicle: a Case Study of Wulung

Directory of Open Access Journals (Sweden)

Fadjar Rahino Triputra

2015-07-01

Full Text Available Developing a nonlinear adaptive control system for a fixed-wing unmanned aerial vehicle (UAV requires a mathematical representation of the system dynamics analytically as a set of differential equations in the form of a strict-feedback systems. This paper presents a method for modeling a nonlinear flight dynamics of the fixed-wing UAV of BPPT Wulung in any conditions of the flight altitude and airspeed for the first step into designing a nonlinear adaptive controller. The model was formed into 10-DOF differential equations in the form of strict-feedback systems which separates the terms of elevator, aileron, rudder and throttle from the model. The model simulation results show the behavior of the flight dynamics of the Wulung UAV and also prove the compliance with the actual flight test results.

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.

Modern techniques for condition monitoring of railway vehicle dynamics

International Nuclear Information System (INIS)

Ngigi, R W; Pislaru, C; Ball, A; Gu, F

2012-01-01

A modern railway system relies on sophisticated monitoring systems for maintenance and renewal activities. Some of the existing conditions monitoring techniques perform fault detection using advanced filtering, system identification and signal analysis methods. These theoretical approaches do not require complex mathematical models of the system and can overcome potential difficulties associated with nonlinearities and parameter variations in the system. Practical applications of condition monitoring tools use sensors which are mounted either on the track or rolling stock. For instance, monitoring wheelset dynamics could be done through the use of track-mounted sensors, while vehicle-based sensors are preferred for monitoring the train infrastructure. This paper attempts to collate and critically appraise the modern techniques used for condition monitoring of railway vehicle dynamics by analysing the advantages and shortcomings of these methods.

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.

Evaluation of Electric Vehicle Charging Controllability for Provision of Time Critical Grid Services

DEFF Research Database (Denmark)

Martinenas, Sergejus; Marinelli, Mattia; Andersen, Peter Bach

2016-01-01

Replacement of conventional generation by more stochastic renewable generation sources leads to reduction of inertia and controllability in the power system. This introduces the need for more dynamic regulation services. These faster services could potentially be provided by the growing number...... of electric vehicles. EVs are a fast responding energy resource with high availability. This work evaluates and experimentally shows the limits of EV charging controllability with the focus on its suitability for providing ancillary grid services. Three different series produced EVs are tested....... The experimental testing is done by using charging current controllability of built-in AC charger to provide a primary frequency regulation service with very dynamic input frequency. The results show that most the controllability of most EVs is more than suitable for providing time critical grid services...

Vehicle navigation in populated areas using predictive control with environmental uncertainty handling

Directory of Open Access Journals (Sweden)

Skrzypczyk Krzysztof

2017-06-01

Full Text Available This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.

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....

Development and demonstration of a validation methodology for vehicle lateral dynamics simulation models

Energy Technology Data Exchange (ETDEWEB)

Kutluay, Emir

2013-02-01

In this thesis a validation methodology to be used in the assessment of the vehicle dynamics simulation models is presented. Simulation of vehicle dynamics is used to estimate the dynamic responses of existing or proposed vehicles and has a wide array of applications in the development of vehicle technologies. Although simulation environments, measurement tools and mathematical theories on vehicle dynamics are well established, the methodical link between the experimental test data and validity analysis of the simulation model is still lacking. The developed validation paradigm has a top-down approach to the problem. It is ascertained that vehicle dynamics simulation models can only be validated using test maneuvers although they are aimed for real world maneuvers. Test maneuvers are determined according to the requirements of the real event at the start of the model development project and data handling techniques, validation metrics and criteria are declared for each of the selected maneuvers. If the simulation results satisfy these criteria, then the simulation is deemed ''not invalid''. If the simulation model fails to meet the criteria, the model is deemed invalid, and model iteration should be performed. The results are analyzed to determine if the results indicate a modeling error or a modeling inadequacy; and if a conditional validity in terms of system variables can be defined. Three test cases are used to demonstrate the application of the methodology. The developed methodology successfully identified the shortcomings of the tested simulation model, and defined the limits of application. The tested simulation model is found to be acceptable but valid only in a certain dynamical range. Several insights for the deficiencies of the model are reported in the analysis but the iteration step of the methodology is not demonstrated. Utilizing the proposed methodology will help to achieve more time and cost efficient simulation projects with

Analysis of the Dynamic Response in the Railway Vehicles to the Track Vertical Irregularities. Part I: The Theoretical Model and the Vehicle Response Functions

Directory of Open Access Journals (Sweden)

M. Dumitriu

2015-11-01

Full Text Available The paper herein focuses on the dynamic response of a two-bogie vehicle to the excitations derived from the track vertical irregularities. The symmetrical and antisymmetrical modes due from the bounce and pitch motions of the axles’ planes in the two bogies are being considered. The analysis of the dynamic response in the vehicle relies on the response functions in three reference points of the carbody, composed by means of these response functions to the symmetrical and antisymmetrical excitation modes. Similarly, the dynamic response of the vehicle to the track stochastic irregularities is examined and expressed as a power spectral density of the carbody vertical acceleration and the root mean square of the acceleration and the index of the partial comfort to the vertical vibrations is calculated. The paper is structured into two parts. The Part I includes all the theoretical elements required for the analysis of the dynamic response in the vehicle, while Part II introduces the results of the numerical analysis.

Dynamic Response of Railway Bridges Subjected to Passing Vehicles

Directory of Open Access Journals (Sweden)

Moravčík Milan

2017-12-01

Full Text Available This paper discusses some issues related to dynamic effects in railway bridges focussed on the dynamic behaviour of the small and medium span simply supported railway bridges subjected to a series of moving vehicle. Presented parametric study is focused on the dynamic deflection of the simply supported railway bridge of the span Lb = 38 m, due to the series moving loads representing a conventional train with the IC-coaches, with the impact to the speed up to 160 km/h applied in Slovakia.

Dynamic electricity pricing for electric vehicles using stochastic programming

International Nuclear Information System (INIS)

Soares, João; Ghazvini, Mohammad Ali Fotouhi; Borges, Nuno; Vale, Zita

2017-01-01

Electric Vehicles (EVs) are an important source of uncertainty, due to their variable demand, departure time and location. In smart grids, the electricity demand can be controlled via Demand Response (DR) programs. Smart charging and vehicle-to-grid seem highly promising methods for EVs control. However, high capital costs remain a barrier to implementation. Meanwhile, incentive and price-based schemes that do not require high level of control can be implemented to influence the EVs' demand. Having effective tools to deal with the increasing level of uncertainty is increasingly important for players, such as energy aggregators. This paper formulates a stochastic model for day-ahead energy resource scheduling, integrated with the dynamic electricity pricing for EVs, to address the challenges brought by the demand and renewable sources uncertainty. The two-stage stochastic programming approach is used to obtain the optimal electricity pricing for EVs. A realistic case study projected for 2030 is presented based on Zaragoza network. The results demonstrate that it is more effective than the deterministic model and that the optimal pricing is preferable. This study indicates that adequate DR schemes like the proposed one are promising to increase the customers' satisfaction in addition to improve the profitability of the energy aggregation business. - Highlights: • A stochastic model for energy scheduling tackling several uncertainty sources. • A two-stage stochastic programming is used to tackle the developed model. • Optimal EV electricity pricing seems to improve the profits. • The propose results suggest to increase the customers' satisfaction.

New TA Index-Based Rollover Prevention System for Electric Vehicles

Directory of Open Access Journals (Sweden)

Xiang Liu

2015-03-01

Full Text Available In addition to clean transportation and energy savings, electric vehicles can inherently offer better performance in the field of active safety and dynamic stability control, thanks to the superior fast and accurate control characteristics of electric motors. With the novel wheel status parameter TA for electric vehicles proposed by the authors in an earlier publication, a new TA index (TAI-based rollover prevention method is presented in this paper to improve the driving performance of EVs equipped with in-wheel motors. A three-level electric vehicle control structure is used to analyze the effective control steps for rollover prevention with the newly proposed TAI method. The simulation is conducted using an in-house developed electric vehicle dynamic model. The simulation results prove the feasibility of using TAI to detect rollover. The experiment uses an electric vehicle equipped with four in-wheel motors in the authors’ research lab. The vehicle parameter and performance data are imported to CarSim, which is industrial standard vehicle dynamic analysis software to run the rollover test. The experimental results also demonstrate that TAI is an effective method of rollover prevention.

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

Mathematical modelling of active safety system functions as tools for development of driverless vehicles

Science.gov (United States)

Ryazantsev, V.; Mezentsev, N.; Zakharov, A.

2018-02-01

This paper is dedicated to a solution of the issue of synthesis of the vehicle longitudinal dynamics control functions (acceleration and deceleration control) based on the element base of the vehicle active safety system (ESP) - driverless vehicle development tool. This strategy helps to reduce time and complexity of integration of autonomous motion control systems (AMCS) into the vehicle architecture and allows direct control of actuators ensuring the longitudinal dynamics control, as well as reduction of time for calibration works. The “vehicle+wheel+road” longitudinal dynamics control is complicated due to the absence of the required prior information about the control object. Therefore, the control loop becomes an adaptive system, i.e. a self-adjusting monitoring system. Another difficulty is the driver’s perception of the longitudinal dynamics control process in terms of comfort. Traditionally, one doesn’t pay a lot of attention to this issue within active safety systems, and retention of vehicle steerability, controllability and stability in emergency situations are considered to be the quality criteria. This is mainly connected to its operational limits, since it is activated only in critical situations. However, implementation of the longitudinal dynamics control in the AMCS poses another challenge for the developers - providing the driver with comfortable vehicle movement during acceleration and deceleration - while the possible highest safety level in terms of the road grip is provided by the active safety system (ESP). The results of this research are: universal active safety system - AMCS interaction interface; block diagram for the vehicle longitudinal acceleration and deceleration control as one of the active safety system’s integrated functions; ideology of adaptive longitudinal dynamics control, which enables to realize the deceleration and acceleration requested by the AMCS; algorithms synthesised; analytical experiments proving the

Sliding mode disturbance observer-enhanced adaptive control for the air-breathing hypersonic flight vehicle

Science.gov (United States)

An, Hao; Wang, Changhong; Fidan, Baris

2017-10-01

This paper presents a backstepping procedure to design an adaptive controller for the air-breathing hypersonic flight vehicle (AHFV) subject to external disturbances and actuator saturations. In each step, a sliding mode exact disturbance observer (SMEDO) is exploited to exactly estimate the lumped disturbance in finite time. Specific dynamics are introduced to handle the possible actuator saturations. Based on SMEDO and introduced dynamics, an adaptive control law is designed, along with the consideration on ;explosion of complexity; in backstepping design. The developed controller is equipped with fast disturbance rejection and great capability to accommodate the saturated actuators, which also lead to a wider application scope. A simulation study is provided to show the effectiveness and superiority of the proposed controller.

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

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.

RFID-based vehicle positioning and its applications in connected vehicles.

Science.gov (United States)

Wang, Jianqiang; Ni, Daiheng; Li, Keqiang

2014-03-04

This paper proposed an RFID-based vehicle positioning approach to facilitate connected vehicles applications. When a vehicle passes over an RFID tag, the vehicle position is given by the accurate position stored in the tag. At locations without RFID coverage, the vehicle position is estimated from the most recent tag location using a kinematics integration algorithm till updates from the next tag. The accuracy of RFID positioning is verified empirically in two independent ways with one using radar and the other a photoelectric switch. The former is designed to verify whether the dynamic position obtained from RFID tags matches the position measured by radar that is regarded as accurate. The latter aims to verify whether the position estimated from the kinematics integration matches the position obtained from RFID tags. Both means supports the accuracy of RFID-based positioning. As a supplement to GPS which suffers from issues such as inaccuracy and loss of signal, RFID positioning is promising in facilitating connected vehicles applications. Two conceptual applications are provided here with one in vehicle operational control and the other in Level IV intersection control.

Efficient adaptive constrained control with time-varying predefined performance for a hypersonic flight vehicle

Directory of Open Access Journals (Sweden)

Caisheng Wei

2017-03-01

Full Text Available A novel low-complexity adaptive control method, capable of guaranteeing the transient and steady-state tracking performance in the presence of unknown nonlinearities and actuator saturation, is investigated for the longitudinal dynamics of a generic hypersonic flight vehicle. In order to attenuate the negative effects of classical predefined performance function for unknown initial tracking errors, a modified predefined performance function with time-varying design parameters is presented. Under the newly developed predefined performance function, two novel adaptive controllers with low-complexity computation are proposed for velocity and altitude subsystems of the hypersonic flight vehicle, respectively. Wherein, different from neural network-based approximation, a least square support vector machine with only two design parameters is utilized to approximate the unknown hypersonic dynamics. And the relevant ideal weights are obtained by solving a linear system without resorting to specialized optimization algorithms. Based on the approximation by least square support vector machine, only two adaptive scalars are required to be updated online in the parameter projection method. Besides, a new finite-time-convergent differentiator, with a quite simple structure, is proposed to estimate the unknown generated state variables in the newly established normal output-feedback formulation of altitude subsystem. Moreover, it is also employed to obtain accurate estimations for the derivatives of virtual controllers in a recursive design. This avoids the inherent drawback of backstepping — “explosion of terms” and makes the proposed control method achievable for the hypersonic flight vehicle. Further, the compensation design is employed when the saturations of the actuator occur. Finally, the numerical simulations validate the efficiency of the proposed finite-time-convergent differentiator and control method.

Dynamic simulation of urban hybrid electric vehicles; Dynamische Simulation von Stadthybridfahrzeugen

Energy Technology Data Exchange (ETDEWEB)

Winke, Florian; Bargende, Michael [Stuttgart Univ. (Germany). Inst. fuer Verbrennungsmotoren und Kraftfahrwesen (IVK)

2013-09-15

As a result of the rising requirements on the development process of modern vehicles, simulation models for the prediction of fuel efficiency have become an irreplaceable tool in the automotive industry. Especially for the design of hybrid electric drivetrains, the increasingly short development cycles can only be met by the use of efficient simulation models. At the IVK of the University of Stuttgart, different approaches to simulating the longitudinal dynamics of hybrid electric vehicles were analysed and compared within the presented project. The focus of the investigations was on urban operation. The objective was to develop a hybrid vehicle concept that allows an equitable comparison with pure battery electric vehicles. (orig.)

Special Aspects of Dynamic Properties of Combination Jet Effectors for Flying Vehicle Control

Directory of Open Access Journals (Sweden)

Val. V. Zelencov

2015-01-01

Full Text Available The paper considers an experimental study of special aspects of disturbed flow region dynamics that is formed when an injected high-pressure gas jet interacts with a supersonic crossflow of gas nearby a surface of a nozzle or a plate. The study objective was to determine a difference of the pressure distribution in the region and its sizes under dynamic action from stationary flow characteristics.The experiment involved measuring pressure distribution on the surface of a nozzle or a plate along with high-speed filming of the flow.The study has revealed that the difference in size of the disturbed flow region and the flow distribution is observed only in transition segments: under injected jet stagnation pressure increase or decrease. The region is formed with a time lag close to zero under pulsation frequencies used. The disturbed flow region size and boundary shape and pressure distribution in constant pressure segment are independent of jet pulsation.It was determined that the dynamic properties (i.e. time of formation of disturbed flow region depend of induced force and crossflow properties.Disturbed flow region size behavior in time domain can be represented by an aperiodic element with a time constant significantly smaller than that of the gas-feed circuit.The results gained make it possible to state that in assessing dynamic properties of combination jet effectors it is sufficient to take into account gas generator and gas-feed circuit which response is significantly slower than that of the disturbed flow region.The recommendations based on the study results can be used for supersonic and hypersonic flying vehicle design.

Dynamic Characteristics Analysis of Power Shift Control Valve

Directory of Open Access Journals (Sweden)

Feng Ren

2014-07-01

Full Text Available In order to study the influence that dynamic performance of shift control valve has on shifting process of construction machinery, the paper introduces working principle of the shift control valve and sets up the dynamically mathematical model and corresponding simulation model with simulation software LMS Imagine. Lab AMESim. Based on simulation, the paper analyzes the influence of pressure variation characteristics and buffering characteristics acting on vehicle performance during the process of shifting, meanwhile conducting experiments to verify the simulation. The results indicate that the simulation model is accurate and credible; the performance of the valve is satisfactory, which indeed reduces impact during shifting. Furthermore, the valve can meet the demand of other construction machineries in better degree by suitable matching between control spring stiffness and damping holes diameter.

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.

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.

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.

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.

Jerk analysis in rail vehicle dynamics

Directory of Open Access Journals (Sweden)

Sunil Kumar Sharma

2016-09-01

Full Text Available The acceleration and deceleration of trains are essential for satisfactory performance of train services and for effective utilisation of line capacity by railways for a given network. However, it increases the risk of unbalancing the passengers. Therefore, in this paper, the jerk was analysed in the vehicle in order to examine its effect on safety and comfort to the passengers. For the purpose of this analysis, a rake with 24 ICF coaches fitted with CBC (H type tight lock and low preload draft gear hauled by WDP4 locomotive was considered. It was modelled using Universal Mechanism – a multibody dynamic software. Also, in addition, the vehicle is considered to be subjected to external forces such as rolling resistance, longitudinal wheel resistance, and gravitational force. The tractive and braking efforts for the locomotives are also considered with realistic track conditions between Lucknow and Kanpur of India. The presented results suggest that the CBC with balanced type draft gear reduces the jerk in the train.

Nonlinear Dynamic Modeling and Controls Development for Supersonic Propulsion System Research

Science.gov (United States)

Connolly, Joseph W.; Kopasakis, George; Paxson, Daniel E.; Stuber, Eric; Woolwine, Kyle

2012-01-01

This paper covers the propulsion system component modeling and controls development of an integrated nonlinear dynamic simulation for an inlet and engine that can be used for an overall vehicle (APSE) model. The focus here is on developing a methodology for the propulsion model integration, which allows for controls design that prevents inlet instabilities and minimizes the thrust oscillation experienced by the vehicle. Limiting thrust oscillations will be critical to avoid exciting vehicle aeroelastic modes. Model development includes both inlet normal shock position control and engine rotor speed control for a potential supersonic commercial transport. A loop shaping control design process is used that has previously been developed for the engine and verified on linear models, while a simpler approach is used for the inlet control design. Verification of the modeling approach is conducted by simulating a two-dimensional bifurcated inlet and a representative J-85 jet engine previously used in a NASA supersonics project. Preliminary results are presented for the current supersonics project concept variable cycle turbofan engine design.

Effect of gear shift and engine start losses on control strategies for hybrid electric vehicles

NARCIS (Netherlands)

Ngo, V.; Hofman, T.; Steinbuch, M.; Serrarens, A.

2012-01-01

In this paper, energetic loss models in the events of shifting gear and starting engine in a parallel Hybrid Electric Vehicle equipped with an Automated Manual Transmission (AMT) will be introduced. The optimal control algorithm for the start-stop, power split and gear shift problem based on Dynamic

Disturbance observer-based L1 robust tracking control for hypersonic vehicles with T-S disturbance modeling

Directory of Open Access Journals (Sweden)

Yang Yi

2016-11-01

Full Text Available This article concerns a disturbance observer-based L1 robust anti-disturbance tracking algorithm for the longitudinal models of hypersonic flight vehicles with different kinds of unknown disturbances. On one hand, by applying T-S fuzzy models to represent those modeled disturbances, a disturbance observer relying on T-S disturbance models can be constructed to track the dynamics of exogenous disturbances. On the other hand, L1 index is introduced to analyze the attenuation performance of disturbance for those unmodeled disturbances. By utilizing the existing convex optimization algorithm, a disturbance observer-based proportional-integral-controlled input is proposed such that the stability of hypersonic flight vehicles can be ensured and the tracking error for velocity and altitude in hypersonic flight vehicle models can converge to equilibrium point. Furthermore, the satisfactory disturbance rejection and attenuation with L1 index can be obtained simultaneously. Simulation results on hypersonic flight vehicle models can reflect the feasibility and effectiveness of the proposed control algorithm.

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.