Continuous monitoring the vehicle dynamics and driver behavior using navigation systems

Science.gov (United States)

Ene, George

2017-10-01

In all fields cost is very important and the increasing amount of data that are needed for active safety systems, like ADAS, lead to implementation of some complex and powerful unit for processing raw data. In this manner is necessary a cost-effective method to estimate the maximum available tire road friction during acceleration and braking by continuous monitoring the vehicle dynamics and driver behavior. The method is based on the hypothesis that short acceleration and braking periods can indicate vehicle dynamics, and thus the available tire road friction coefficient, and also human behavior and his limits. Support for this hypothesis is found in the literature and is supported by the result of experiments conducted under different conditions and seasons.

State estimation for integrated vehicle dynamics control

NARCIS (Netherlands)

Zuurbier, J.; Bremmer, P.

2002-01-01

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

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.

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.)

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.

Dynamics of braking vehicles: from Coulomb friction to anti-lock braking systems

International Nuclear Information System (INIS)

Tavares, J M

2009-01-01

The dynamics of braking of wheeled vehicles is studied using the Coulomb approximation for the friction between road and wheels. The dependence of the stopping distance on the mass of the vehicle, on the number of its wheels and on the intensity of the braking torque is established. It is shown that there are two regimes of braking, with and without sliding. The advantage of using an anti-lock braking system (ABS) is put in evidence, and a quantitative estimate of its efficiency is proposed and discussed

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.

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.

Dynamic Modeling and Simulation on a Hybrid Power System for Electric Vehicle Applications

Directory of Open Access Journals (Sweden)

Hong-Wen He

2010-11-01

Full Text Available Hybrid power systems, formed by combining high-energy-density batteries and high-power-density ultracapacitors in appropriate ways, provide high-performance and high-efficiency power systems for electric vehicle applications. This paper first establishes dynamic models for the ultracapacitor, the battery and a passive hybrid power system, and then based on the dynamic models a comparative simulation between a battery only power system and the proposed hybrid power system was done under the UDDS (Urban Dynamometer Driving Schedule. The simulation results showed that the hybrid power system could greatly optimize and improve the efficiency of the batteries and their dynamic current was also decreased due to the participation of the ultracapacitors, which would have a good influence on batteries’ cycle life. Finally, the parameter matching for the passive hybrid power system was studied by simulation and comparisons.

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.

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.

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...

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.

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 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.

Solving Algebraic Riccati Equation Real Time for Integrated Vehicle Dynamics Control

NARCIS (Netherlands)

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

2012-01-01

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

Development of Matlab Simulink model for dynamics analysis of passive suspension system for lightweight vehicle

Science.gov (United States)

Jamali, M. S.; Ismail, K. A.; Taha, Z.; Aiman, M. F.

2017-10-01

In designing suitable isolators to reduce unwanted vibration in vehicles, the response from a mathematical model which characterizes the transmissibility ratio of the input and output of the vehicle is required. In this study, a Matlab Simulink model is developed to study the dynamic behaviour performance of passive suspension system for a lightweight electric vehicle. The Simulink model is based on the two degrees of freedom system quarter car model. The model is compared to the theoretical plots of the transmissibility ratios between the amplitudes of the displacements and accelerations of the sprung and unsprung masses to the amplitudes of the ground, against the frequencies at different damping values. It was found that the frequency responses obtained from the theoretical calculations and from the Simulink simulation is comparable to each other. Hence, the model may be extended to a full vehicle model.

Exploration of the Growing Trend of Electric Vehicles in Beijing with System Dynamics method and Vensim model

NARCIS (Netherlands)

Zhang, C.; Qin, C.

2014-01-01

This research is conducted to explore the growing trend of private vehicles in Beijing, China, in the coming 25 years using the system dynamics (SD) method. The vensim software is used to build the SD model and do simulations. First, the paper introduces the background of the private vehicles in

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.

Propulsion System Dynamic Modeling of the NASA Supersonic Concept Vehicle for AeroPropulsoServoElasticity

Science.gov (United States)

Kopasakis, George; Connolly, Joseph W.; Seiel, Jonathan

2016-01-01

A summary of the propulsion system modeling under NASA's High Speed Project (HSP) AeroPropulsoServoElasticity (APSE) task is provided with a focus on the propulsion system for the low-boom supersonic configuration developed by Lockheed Martin and referred to as the N+2 configuration. This summary includes details on the effort to date to develop computational models for the various propulsion system components. The objective of this paper is to summarize the model development effort in this task, while providing more detail in the modeling areas that have not been previously published. The purpose of the propulsion system modeling and the overall APSE effort is to develop an integrated dynamic vehicle model to conduct appropriate unsteady analysis of supersonic vehicle performance. This integrated APSE system model concept includes the propulsion system model, and the vehicle structural aerodynamics model. The development to date of such a preliminary integrated model will also be summarized in this report

A spring-mass-damper system dynamics-based driver-vehicle integrated model for representing heterogeneous traffic

Science.gov (United States)

Munigety, Caleb Ronald

2018-04-01

The traditional traffic microscopic simulation models consider driver and vehicle as a single unit to represent the movements of drivers in a traffic stream. Due to this very fact, the traditional car-following models have the driver behavior related parameters, but ignore the vehicle related aspects. This approach is appropriate for homogeneous traffic conditions where car is the major vehicle type. However, in heterogeneous traffic conditions where multiple vehicle types are present, it becomes important to incorporate the vehicle related parameters exclusively to account for the varying dynamic and static characteristics. Thus, this paper presents a driver-vehicle integrated model hinged on the principles involved in physics-based spring-mass-damper mechanical system. While the spring constant represents the driver’s aggressiveness, the damping constant and the mass component take care of the stability and size/weight related aspects, respectively. The proposed model when tested, behaved pragmatically in representing the vehicle-type dependent longitudinal movements of vehicles.

Usability Analysis of Collision Avoidance System in Vehicle-to-Vehicle Communication Environment

Directory of Open Access Journals (Sweden)

Hong Cho

2014-01-01

Full Text Available Conventional intelligent vehicles have performance limitations owing to the short road and obstacle detection range of the installed sensors. In this study, to overcome this limitation, we tested the usability of a new conceptual autonomous emergency braking (AEB system that employs vehicle-to-vehicle (V2V communication technology in the existing AEB system. To this end, a radar sensor and a driving and communication environment constituting the AEB system were simulated; the simulation was then linked by applying vehicle dynamics and control logic. The simulation results show that the collision avoidance relaxation rate of V2V communication-based AEB system was reduced compared with that of existing vehicle-mounted-sensor-based system. Thus, a method that can lower the collision risk of the existing AEB system, which uses only a sensor cluster installed on the vehicle, is realized.

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

Directory of Open Access Journals (Sweden)

Xin LAI

2016-08-01

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

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.

Development of an end-of-life vehicle recovery model using system dynamics and future research needs

Science.gov (United States)

Mohamad-Ali, N.; Ghazilla, R. A. R.; Abdul-Rashid, S. H.; Sakundarini, N.; Ahmad-Yazid, A.; Stephenie, L.

2017-06-01

The implementation of end-of-life vehicle (ELV) recovery policy in Malaysia has led vehicle manufacturers to look at different ways to improve design and development of vehicles. Nowadays, it is crucial to incorporate end-of-life (EOL) design strategies into the vehicle design in order to enhance the effectiveness of the ELV recovery network. Although recent studies have shown that product design has a significant effect on the product recovery rate, there is a lack of studies on how EOL design strategies affects the effectiveness of ELV recovery, particularly when there are dynamic changes in the behaviour of the product recovery network. Thus, in this study, we developed a preliminary model based on the system dynamics approach in order to predict the effectiveness of ELV recovery in response to dynamic changes of various factors (including EOL design strategies) in the business environment. We developed this model based on preliminary data that we had gathered from unstructured interviews with the key stakeholders of ELV management in Malaysia. We believe that our model will greatly benefit product designers in incorporating the appropriate EOL design strategies in order to boost ELV recovery effectiveness in Malaysia.

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...

Prediction of dynamics of bellows in exhaust system of vehicle using equivalent beam modeling

Energy Technology Data Exchange (ETDEWEB)

Hong, Jin Ho; Kim, Yong Dae; Lee, Nam Young; Lee, Sang Woo [Noise and vibration CAE Team, Hyundai Motor Company, Ulsan (Korea, Republic of)

2015-11-15

The exhaust system is one of the major sources of vibrations, along with the suspension system and engine. When the exhaust system is connected directly to the engine, it transfers vibrations to the vehicle body through the body mounts. Therefore, in order to reduce the vibrations transmitted from the exhaust system, the vibration characteristics of the exhaust system should be predicted. Thus, the dynamic characteristics of the bellows, which form a key component of the exhaust system, must be modeled accurately. However, it is difficult to model the bellows because of the complicated geometry. Though the equivalent beam modeling technique has been applied in the design stage, it is not sufficiently accurate in the case of the bellows which have complicated geometries. In this paper, we present an improved technique for modeling the bellows in a vehicle. The accuracy of the modeling method is verified by comparison with the experimental results.

Multi-Objective Dynamic Economic Dispatch of Microgrid Systems Including Vehicle-to-Grid

Directory of Open Access Journals (Sweden)

Haitao Liu

2015-05-01

Full Text Available Based on the characteristics of electric vehicles (EVs, this paper establishes the load models of EVs under the autonomous charging mode and the coordinated charging and discharging mode. Integrating the EVs into a microgrid system which includes wind turbines (WTs, photovoltaic arrays (PVs, diesel engines (DEs, fuel cells (FCs and a storage battery (BS, this paper establishes multi-objective economic dispatch models of a microgrid, including the lowest operating cost, the least carbon dioxide emissions, and the lowest pollutant treatment cost. After converting the multi-objective functions to a single objective function by using the judgment matrix method, we analyze the dynamic economic dispatch of the microgrid system including vehicle-to-grid (V2G with an improved particle swarm optimization algorithm under different operation control strategies. With the example system, the proposed models and strategies are verified and analyzed. Simulation results show that the microgrid system with EVs under the coordinated charging and discharging mode has better operation economics than the autonomous charging mode. Meanwhile, the greater the load fluctuation is, the higher the operating cost of the microgrid system is.

Robust control and linear parameter varying approaches application to vehicle dynamics

CERN Document Server

Gaspar, Peter; Bokor, József

2013-01-01

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

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.

Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics

Directory of Open Access Journals (Sweden)

C. Huang

2014-01-01

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

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...

Coupling vibration research on Vehicle-bridge system

Science.gov (United States)

Zhou, Jiguo; Wang, Guihua

2018-01-01

The vehicle-bridge coupling system forms when vehicle running on a bridge. It will generate a relatively large influence on the driving comfort and driving safe when the vibration of the vehicle is bigger. A three-dimensional vehicle-bridge system with biaxial seven degrees of freedom has been establish in this paper based on finite numerical simulation. Adopting the finite element transient numerical simulation to realize the numerical simulation of vehicle-bridge system coupling vibration. Then, analyze the dynamic response of vehicle and bridge while different numbers of vehicles running on the bridge. Got the variation rule of vertical vibration of car body and bridge, and that of the contact force between the wheel and bridge deck. The research results have a reference value for the analysis about the vehicle running on a large-span cabled bridge.

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.

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.

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.

Environmentally friendly traffic management system using integrated road-vehicle system

NARCIS (Netherlands)

Mahmod, M.M.; Arem, B. van

2008-01-01

Local habitability is coming under increasing pressure from harmful traffic emissions. This emission is strongly correlated to the characteristics and dynamics of traffic: type of vehicle, speed, acceleration and deceleration. This paper investigates the use of integrated road-vehicle systems for

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

Directory of Open Access Journals (Sweden)

Zhen-Feng Wang

2017-06-01

Full Text Available Considering the importance of increasing driving safety, the study of safety is a popular and critical topic of research in the vehicle industry. Vehicle roll behavior with sudden steering input is a main source of untripped rollover. However, previous research has seldom considered road excitation and its coupled effect on vehicle lateral response when focusing on lateral and vertical dynamics. To address this issue, a novel method was used to evaluate effects of varying road level and steering wheel input on vehicle roll behavior. Then, a 9 degree of freedom (9-DOF full-car roll nonlinear model including vertical and lateral dynamics was developed to study vehicle roll dynamics with or without of road excitation. Based on a 6-DOF half-car roll model and 9-DOF full-car nonlinear model, relationship between three-dimensional (3-D road excitation and various steering wheel inputs on vehicle roll performance was studied. Finally, an E-Class (SUV level car model in CARSIM® was used, as a benchmark, with and without road input conditions. Both half-car and full-car models were analyzed under steering wheel inputs of 5°, 10° and 15°. Simulation results showed that the half-car model considering road input was found to have a maximum accuracy of 65%. Whereas, the full-car model had a minimum accuracy of 85%, which was significantly higher compared to the half-car model under the same scenario.

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

Science.gov (United States)

2011-03-01

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

Cooperative Path-Planning for Multi-Vehicle Systems

Directory of Open Access Journals (Sweden)

Qichen Wang

2014-11-01

Full Text Available In this paper, we propose a collision avoidance algorithm for multi-vehicle systems, which is a common problem in many areas, including navigation and robotics. In dynamic environments, vehicles may become involved in potential collisions with each other, particularly when the vehicle density is high and the direction of travel is unrestricted. Cooperatively planning vehicle movement can effectively reduce and fairly distribute the detour inconvenience before subsequently returning vehicles to their intended paths. We present a novel method of cooperative path planning for multi-vehicle systems based on reinforcement learning to address this problem as a decision process. A dynamic system is described as a multi-dimensional space formed by vectors as states to represent all participating vehicles’ position and orientation, whilst considering the kinematic constraints of the vehicles. Actions are defined for the system to transit from one state to another. In order to select appropriate actions whilst satisfying the constraints of path smoothness, constant speed and complying with a minimum distance between vehicles, an approximate value function is iteratively developed to indicate the desirability of every state-action pair from the continuous state space and action space. The proposed scheme comprises two phases. The convergence of the value function takes place in the former learning phase, and it is then used as a path planning guideline in the subsequent action phase. This paper summarizes the concept and methodologies used to implement this online cooperative collision avoidance algorithm and presents results and analysis regarding how this cooperative scheme improves upon two baseline schemes where vehicles make movement decisions independently.

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.

Modular Estimation Strategy of Vehicle Dynamic Parameters for Motion Control Applications

Directory of Open Access Journals (Sweden)

Rawash Mustafa

2018-01-01

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

Dynamic route guidance strategy in a two-route pedestrian-vehicle mixed traffic flow system

Science.gov (United States)

Liu, Mianfang; Xiong, Shengwu; Li, Bixiang

2016-05-01

With the rapid development of transportation, traffic questions have become the major issue for social, economic and environmental aspects. Especially, during serious emergencies, it is very important to alleviate road traffic congestion and improve the efficiency of evacuation to reduce casualties, and addressing these problems has been a major task for the agencies responsible in recent decades. Advanced road guidance strategies have been developed for homogeneous traffic flows, or to reduce traffic congestion and enhance the road capacity in a symmetric two-route scenario. However, feedback strategies have rarely been considered for pedestrian-vehicle mixed traffic flows with variable velocities and sizes in an asymmetric multi-route traffic system, which is a common phenomenon in many developing countries. In this study, we propose a weighted road occupancy feedback strategy (WROFS) for pedestrian-vehicle mixed traffic flows, which considers the system equilibrium to ease traffic congestion. In order to more realistic simulating the behavior of mixed traffic objects, the paper adopted a refined and dynamic cellular automaton model (RDPV_CA model) as the update mechanism for pedestrian-vehicle mixed traffic flow. Moreover, a bounded rational threshold control was introduced into the feedback strategy to avoid some negative effect of delayed information and reduce. Based on comparisons with the two previously proposed strategies, the simulation results obtained in a pedestrian-vehicle traffic flow scenario demonstrated that the proposed strategy with a bounded rational threshold was more effective and system equilibrium, system stability were reached.

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.

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.

A System for Fast Navigation of Autonomous Vehicles

Science.gov (United States)

1991-09-01

AD-A243 523 4, jj A System for Fast Navigation of Autonomous Vehicles Sanjiv Singh, Dai Feng, Paul Keller, Gary Shaffer, Wen Fan Shi, Dong Hun Shin...FUNDING NUMBERS A System for Fast Navigation of Autonomous Vehicles 6. AUTHOR(S) S. Singh, D. Feng, P. Keller, G. Shaffer, W.F. Shi, D.H. Shin, J. West...common in the control of autonomous vehicles to establish the necessary kinematic models but to ignore an explicit representation of the vehicle dynamics

Dynamics of Braking Vehicles: From Coulomb Friction to Anti-Lock Braking Systems

Science.gov (United States)

Tavares, J. M.

2009-01-01

The dynamics of braking of wheeled vehicles is studied using the Coulomb approximation for the friction between road and wheels. The dependence of the stopping distance on the mass of the vehicle, on the number of its wheels and on the intensity of the braking torque is established. It is shown that there are two regimes of braking, with and…

Integration of Vehicle-to-Grid in Western Danish Power System

DEFF Research Database (Denmark)

Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

2011-01-01

capabilities of large power plants in the future, demands for new balancing solutions like Vehicle-to-Grid systems. In this article, aggregated electric vehicle based battery storage representing a Vehicle-to-Grid system is modelled for the use in long term dynamic power system simulations. Further...... Transmission) control areas are significantly minimized by the faster up and down regulation characteristics of the electric vehicle battery storage....

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.

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.)

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

Science.gov (United States)

Fahimi, Farbod

2013-03-01

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

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

OpenAIRE

Zhen-Feng Wang; Ming-Ming Dong; Liang Gu; Jagat-Jyoti Rath; Ye-Chen Qin; Bin Bai

2017-01-01

Considering the importance of increasing driving safety, the study of safety is a popular and critical topic of research in the vehicle industry. Vehicle roll behavior with sudden steering input is a main source of untripped rollover. However, previous research has seldom considered road excitation and its coupled effect on vehicle lateral response when focusing on lateral and vertical dynamics. To address this issue, a novel method was used to evaluate effects of varying road level and steer...

Dynamic Surface Control and Its Application to Lateral Vehicle Control

Directory of Open Access Journals (Sweden)

Bongsob Song

2014-01-01

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

Interactive Dynamic-System Simulation

CERN Document Server

Korn, Granino A

2010-01-01

Showing you how to use personal computers for modeling and simulation, Interactive Dynamic-System Simulation, Second Edition provides a practical tutorial on interactive dynamic-system modeling and simulation. It discusses how to effectively simulate dynamical systems, such as aerospace vehicles, power plants, chemical processes, control systems, and physiological systems. Written by a pioneer in simulation, the book introduces dynamic-system models and explains how software for solving differential equations works. After demonstrating real simulation programs with simple examples, the author

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...

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...

Sensor Systems for Vehicle Environment Perception in a Highway Intelligent Space System

Science.gov (United States)

Tang, Xiaofeng; Gao, Feng; Xu, Guoyan; Ding, Nenggen; Cai, Yao; Ma, Mingming; Liu, Jianxing

2014-01-01

A Highway Intelligent Space System (HISS) is proposed to study vehicle environment perception in this paper. The nature of HISS is that a space sensors system using laser, ultrasonic or radar sensors are installed in a highway environment and communication technology is used to realize the information exchange between the HISS server and vehicles, which provides vehicles with the surrounding road information. Considering the high-speed feature of vehicles on highways, when vehicles will be passing a road ahead that is prone to accidents, the vehicle driving state should be predicted to ensure drivers have road environment perception information in advance, thereby ensuring vehicle driving safety and stability. In order to verify the accuracy and feasibility of the HISS, a traditional vehicle-mounted sensor system for environment perception is used to obtain the relative driving state. Furthermore, an inter-vehicle dynamics model is built and model predictive control approach is used to predict the driving state in the following period. Finally, the simulation results shows that using the HISS for environment perception can arrive at the same results detected by a traditional vehicle-mounted sensors system. Meanwhile, we can further draw the conclusion that using HISS to realize vehicle environment perception can ensure system stability, thereby demonstrating the method's feasibility. PMID:24834907

Experimental study on dynamic buckling phenomena for supercavitating underwater vehicle

Directory of Open Access Journals (Sweden)

Minho Chung

2012-09-01

Full Text Available Dynamic buckling, also known as parametric resonance, is one of the dynamic instability phenomena which may lead to catastrophic failure of structures. It occurs when compressive dynamic loading is applied to the structures. Therefore it is essential to establish a reliable procedure to test and evaluate the dynamic buckling behaviors of structures, especially when the structure is designed to be utilized in compressive dynamic loading environment, such as supercavitating underwater vehicle. In the line of thought, a dynamic buckling test system is designed in this work. Using the test system, dynamic buckling tests including beam, plate, and stiffened plate are carried out, and the dynamic buckling characteristics of considered structures are investigated experimentally as well as theoretically and numerically.

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

In-vehicle signing functions of an in-vehicle information system

Energy Technology Data Exchange (ETDEWEB)

Tufano, D.R.; Knee, H.E.; Spelt, P.F.

1996-04-01

The definition of In-Vehicle Signing (IVS) functions was guided by the principles of traffic engineering as they apply to the design and placement of roadway signs. Because of the dynamic and active nature of computing, communications, and display technology, IVS can fulfill the signing principles of traffic engineering in ways that have been impossible with conventional signage. Current signing technology represents a series of compromises of these principles, especially the data and equations contributing to the calculation of required sight distance. A number of conditions relevant to sight distance are quite variable, e.g.: vehicle speed, visibility, weather, and driver reaction time. However, conventional signing requires that there are fixed values of each variable for the determination of (e.g.) legibility distance. IVS, on the other hand, will be able to tailor the timing of sign presentation to the dynamically diverse variable values of all of these conditions. A clear, in-vehicle sign display, adaptive to ambient and driver conditions, will in fact obviate the entire issue of sign legibility. These capabilities, together with information filtering functions, will truly enhance the presentation of sign information to drivers. The development of IVS is a critical step in the development of an integrated In-Vehicle Information System (IVIS).

Near Space Hypersonic Unmanned Aerial Vehicle Dynamic Surface Backstepping Control Design

Directory of Open Access Journals (Sweden)

Jinyong YU

2014-07-01

Full Text Available Compared with traditional aircraft, the near space hypersonic unmanned aerial vehicle control system design must deal with the extra prominent dynamics characters, which are differ from the traditional aircrafts control system design. A new robust adaptive control design method is proposed for one hypersonic unmanned aerial vehicle (HSUAV uncertain MIMO nonaffine block control system by using multilayer neural networks, feedback linearization technology, and dynamic surface backstepping. Multilayer neural networks are used to compensate the influence from the uncertain, which designs the robust terms to solve the problem from approach error. Adaptive backstepping is adopted designed to ensure control law, the dynamic surface control strategy to eliminate “the explosion of terms” by introducing a series of first order filters to obtain the differentiation of the virtual control inputs. Finally, nonlinear six-degree-of-freedom (6-DOF numerical simulation results for a HSUAV model are presented to demonstrate the effectiveness of the proposed method.

Dynamic interaction of monowheel inclined vehicle-vibration platform coupled system with quadratic and cubic nonlinearities

Science.gov (United States)

Zhou, Shihua; Song, Guiqiu; Sun, Maojun; Ren, Zhaohui; Wen, Bangchun

2018-01-01

In order to analyze the nonlinear dynamics and stability of a novel design for the monowheel inclined vehicle-vibration platform coupled system (MIV-VPCS) with intermediate nonlinearity support subjected to a harmonic excitation, a multi-degree of freedom lumped parameter dynamic model taking into account the dynamic interaction of the MIV-VPCS with quadratic and cubic nonlinearities is presented. The dynamical equations of the coupled system are derived by applying the displacement relationship, interaction force relationship at the contact position and Lagrange's equation, which are further discretized into a set of nonlinear ordinary differential equations with coupled terms by Galerkin's truncation. Based on the mathematical model, the coupled multi-body nonlinear dynamics of the vibration system is investigated by numerical method, and the parameters influences of excitation amplitude, mass ratio and inclined angle on the dynamic characteristics are precisely analyzed and discussed by bifurcation diagram, Largest Lyapunov exponent and 3-D frequency spectrum. Depending on different ranges of system parameters, the results show that the different motions and jump discontinuity appear, and the coupled system enters into chaotic behavior through different routes (period-doubling bifurcation, inverse period-doubling bifurcation, saddle-node bifurcation and Hopf bifurcation), which are strongly attributed to the dynamic interaction of the MIV-VPCS. The decreasing excitation amplitude and inclined angle could reduce the higher order bifurcations, and effectively control the complicated nonlinear dynamic behaviors under the perturbation of low rotational speed. The first bifurcation and chaotic motion occur at lower value of inclined angle, and the chaotic behavior lasts for larger intervals with higher rotational speed. The investigation results could provide a better understanding of the nonlinear dynamic behaviors for the dynamic interaction of the MIV-VPCS.

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

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.)

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.

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

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.

Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints

Directory of Open Access Journals (Sweden)

Daehee Won

2015-01-01

Full Text Available A navigation algorithm is proposed to increase the inertial navigation performance of a ground vehicle using magnetic measurements and dynamic constraints. The navigation solutions are estimated based on inertial measurements such as acceleration and angular velocity measurements. To improve the inertial navigation performance, a three-axis magnetometer is used to provide the heading angle, and nonholonomic constraints (NHCs are introduced to increase the correlation between the velocity and the attitude equation. The NHCs provide a velocity feedback to the attitude, which makes the navigation solution more robust. Additionally, an acceleration-based roll and pitch estimation is applied to decrease the drift when the acceleration is within certain boundaries. The magnetometer and NHCs are combined with an extended Kalman filter. An experimental test was conducted to verify the proposed method, and a comprehensive analysis of the performance in terms of the position, velocity, and attitude showed that the navigation performance could be improved by using the magnetometer and NHCs. Moreover, the proposed method could improve the estimation performance for the position, velocity, and attitude without any additional hardware except an inertial sensor and magnetometer. Therefore, this method would be effective for ground vehicles, indoor navigation, mobile robots, vehicle navigation in urban canyons, or navigation in any global navigation satellite system-denied environment.

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.

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.

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.

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

Science.gov (United States)

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

2015-11-01

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

Vehicle barrier systems

International Nuclear Information System (INIS)

Sena, P.A.

1986-01-01

The ground vehicle is one of the most effective tools available to an adversary force. Vehicles can be used to penetrate many types of perimeter barriers, transport equipment and personnel rapidly over long distances, and deliver large amounts of explosives directly to facilities in suicide missions. The function of a vehicle barrier system is to detain or disable a defined threat vehicle at a selected distance from a protected facility. Numerous facilities are installing, or planning to install, vehicle barrier systems and many of these facilities are requesting guidance to do so adequately. Therefore, vehicle barriers are being evaluated to determine their stopping capabilities so that systems can be designed that are both balanced and capable of providing a desired degree of protection. Equally important, many of the considerations that should be taken into account when establishing a vehicle barrier system have been identified. These considerations which pertain to site preparation, barrier selection, system integration and operation, and vehicle/barrier interaction, are discussed in this paper

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...

Vehicle systems design optimization study

Science.gov (United States)

Gilmour, J. L.

1980-01-01

The optimum vehicle configuration and component locations are determined for an electric drive vehicle based on using the basic structure of a current production subcompact vehicle. The optimization of an electric vehicle layout requires a weight distribution in the range of 53/47 to 62/38 in order to assure dynamic handling characteristics comparable to current internal combustion engine vehicles. Necessary modification of the base vehicle can be accomplished without major modification of the structure or running gear. As long as batteries are as heavy and require as much space as they currently do, they must be divided into two packages, one at front under the hood and a second at the rear under the cargo area, in order to achieve the desired weight distribution. The weight distribution criteria requires the placement of batteries at the front of the vehicle even when the central tunnel is used for the location of some batteries. The optimum layout has a front motor and front wheel drive. This configuration provides the optimum vehicle dynamic handling characteristics and the maximum passenger and cargo space for a given size vehicle.

Condition-based dynamic maintenance operations planning and grouping. Application to commercial heavy vehicles

Energy Technology Data Exchange (ETDEWEB)

Bouvard, K., E-mail: keomany.bouvard@volvo.co [Volvo Technology, 99 route de Lyon, 69806 Saint Priest cedex (France); Laboratoire d' Automatique de Genie Informatique et Signal - FRE3303 - Polytech' Lille, 59655 Villeneuve d' Ascq (France); Artus, S., E-mail: samuel.artus@volvo.co [Volvo Technology, 99 route de Lyon, 69806 Saint Priest cedex (France); Berenguer, C., E-mail: christophe.berenguer@utt.f [Universite de technologie de Troyes - Institut Charles Delaunay and UMR CNRS 6279 - 12, rue Marie Curie, BP2060, 10010 Troyes cedex (France); Cocquempot, V., E-mail: vincent.cocquempot@univ-lille1.f [Laboratoire d' Automatique de Genie Informatique et Signal - FRE3303 - Polytech' Lille, 59655 Villeneuve d' Ascq (France)

2011-06-15

This paper aims at presenting a method to optimize the maintenance planning for a commercial heavy vehicle. Such a vehicle may be considered as a multi-components system. Grouping maintenance operations related to each component reduces the global maintenance cost of the system. Classically, the optimization problem is solved using a priori reliability characteristics of components. Two types of methods may be used, i.e. static or dynamic methods. Static methods provide a fixed maintenance planning, whereas dynamic methods redefine the groups of maintenance operations at each decision time. Dynamic procedures can incorporate component information such as component states or detected failures. For deteriorating systems, reliability characteristics of each component may be estimated thanks to deterioration models and may be updated when a degradation measure is available. This additional information on degradation features allows to better follow the real state of each component and to improve the maintenance planning.

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

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.

Parametric Resonance in Dynamical Systems

CERN Document Server

Nijmeijer, Henk

2012-01-01

Parametric Resonance in Dynamical Systems discusses the phenomenon of parametric resonance and its occurrence in mechanical systems,vehicles, motorcycles, aircraft and marine craft, and micro-electro-mechanical systems. The contributors provide an introduction to the root causes of this phenomenon and its mathematical equivalent, the Mathieu-Hill equation. Also included is a discussion of how parametric resonance occurs on ships and offshore systems and its frequency in mechanical and electrical systems. This book also: Presents the theory and principles behind parametric resonance Provides a unique collection of the different fields where parametric resonance appears including ships and offshore structures, automotive vehicles and mechanical systems Discusses ways to combat, cope with and prevent parametric resonance including passive design measures and active control methods Parametric Resonance in Dynamical Systems is ideal for researchers and mechanical engineers working in application fields such as MEM...

Dynamic Stability Experiment of Maglev Systems,

Science.gov (United States)

1995-04-01

This report summarizes the research performed on maglev vehicle dynamic stability at Argonne National Laboratory during the past few years. It also... maglev system, it is important to consider this phenomenon in the development of all maglev systems. This report presents dynamic stability experiments...on maglev systems and compares their numerical simulation with predictions calculated by a nonlinear dynamic computer code. Instabilities of an

Dynamic Modeling and Simulation of a Switched Reluctance Motor in a Series Hybrid Electric Vehicle

OpenAIRE

Siavash Sadeghi; Mojtaba Mirsalim; Arash Hassanpour Isfahani

2010-01-01

Dynamic behavior analysis of electric motors is required in order to accuratelyevaluate the performance, energy consumption and pollution level of hybrid electricvehicles. Simulation tools for hybrid electric vehicles are divided into steady state anddynamic models. Tools with steady-state models are useful for system-level analysiswhereas tools that utilize dynamic models give in-depth information about the behavior ofsublevel components. For the accurate prediction of hybrid electric vehicl...

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...

Reentry Vehicle Flight Controls Design Guidelines: Dynamic Inversion

Science.gov (United States)

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

2002-01-01

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

The dynamics of antilock brake systems

Science.gov (United States)

Denny, Mark

2005-11-01

The nonlinear dynamics of automobile braking are investigated. Nonlinearity arises because of the manner in which the friction coefficient between vehicle tyres and road surface depends upon vehicle speed and wheel angular speed. We show how antilock brake systems approach optimum braking performance.

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.

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

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.

Vehicle systems design optimization study

Energy Technology Data Exchange (ETDEWEB)

Gilmour, J. L.

1980-04-01

The optimization of an electric vehicle layout requires a weight distribution in the range of 53/47 to 62/38 in order to assure dynamic handling characteristics comparable to current production internal combustion engine vehicles. It is possible to achieve this goal and also provide passenger and cargo space comparable to a selected current production sub-compact car either in a unique new design or by utilizing the production vehicle as a base. Necessary modification of the base vehicle can be accomplished without major modification of the structure or running gear. As long as batteries are as heavy and require as much space as they currently do, they must be divided into two packages - one at front under the hood and a second at the rear under the cargo area - in order to achieve the desired weight distribution. The weight distribution criteria requires the placement of batteries at the front of the vehicle even when the central tunnel is used for the location of some batteries. The optimum layout has a front motor and front wheel drive. This configuration provides the optimum vehicle dynamic handling characteristics and the maximum passsenger and cargo space for a given size vehicle.

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.

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.

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

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.

Vehicle dynamics theory and application

CERN Document Server

Jazar, Reza N

2014-01-01

This textbook is appropriate for senior undergraduate and first year graduate students in mechanical and automotive engineering. The contents in this book are presented at a theoretical-practical level. It explains vehicle dynamics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. Students, researchers and practicing engineers alike will appreciate the user-friendly presentation of a wealth of topics, most notably steering, handling, ride, and related components. This book also: Illustrates all key concepts with examples Includes exercises for each chapter Covers front, rear, and four wheel steering systems, as well as the advantages and disadvantages of different steering schemes Includes an emphasis on design throughout the text, which provides a practical, hands-on approach

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.

Use of MBS (ADAMS / CAR software in simulations of vehicle suspension systems

Directory of Open Access Journals (Sweden)

Łukasz KONIECZNY

2014-03-01

Full Text Available The results of the examination of a vehicle suspension system in the plate position are presented in the paper. The model vehicle is a Fiat Seicento with front independent suspension, McPherson type, with the steering system and with the semi-trailing arm in the rear suspension. Identification of the model was made by comparing the simulation results with the results from the test stand. A multibody model of the vehicle will be used in studies of the impact of shock absorber technical conditions on the dynamics of automotive vehicles.

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 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.

Vehicle Tracking System, Vehicle Infrastructure Provided with Vehicle Tracking System and Method for Tracking

NARCIS (Netherlands)

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

2010-01-01

A vehicle tracking system is described comprising - a plurality of sensor nodes (10) that each provide a message (D) indicative for an occupancy status of a detection area of an vehicle infrastructure monitored by said sensor node, said sensor nodes (10) being arranged in the vehicle infrastructure

Design tools for complex dynamic security systems.

Energy Technology Data Exchange (ETDEWEB)

Byrne, Raymond Harry; Rigdon, James Brian; Rohrer, Brandon Robinson; Laguna, Glenn A.; Robinett, Rush D. III (.; ); Groom, Kenneth Neal; Wilson, David Gerald; Bickerstaff, Robert J.; Harrington, John J.

2007-01-01

The development of tools for complex dynamic security systems is not a straight forward engineering task but, rather, a scientific task where discovery of new scientific principles and math is necessary. For years, scientists have observed complex behavior but have had difficulty understanding it. Prominent examples include: insect colony organization, the stock market, molecular interactions, fractals, and emergent behavior. Engineering such systems will be an even greater challenge. This report explores four tools for engineered complex dynamic security systems: Partially Observable Markov Decision Process, Percolation Theory, Graph Theory, and Exergy/Entropy Theory. Additionally, enabling hardware technology for next generation security systems are described: a 100 node wireless sensor network, unmanned ground vehicle and unmanned aerial vehicle.

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....

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.

Uncertainty-embedded dynamic life cycle sustainability assessment framework: An ex-ante perspective on the impacts of alternative vehicle options

International Nuclear Information System (INIS)

Onat, Nuri Cihat; Kucukvar, Murat; Tatari, Omer

2016-01-01

Alternative vehicle technologies have a great potential to minimize the transportation-related environmental impacts, reduce the reliance of the U.S. on imported petroleum, and increase energy security. However, they introduce new uncertainties related to their environmental, economic, and social impacts and certain challenges for widespread adoption. In this study, a novel method, uncertainty-embedded dynamic life cycle sustainability assessment framework, is developed to address both methodological challenges and uncertainties in transportation sustainability research. The proposed approach provides a more comprehensive, system-based sustainability assessment framework by capturing the dynamic relations among the parameters within the U.S. transportation system as a whole with respect to its environmental, social, and economic impacts. Using multivariate uncertainty analysis, likelihood of the impact reduction potentials of different vehicle types, as well as the behavioral limits of the sustainability potentials of each vehicle type are analyzed. Seven sustainability impact categories are dynamically quantified for four different vehicle types (internal combustion, hybrid, plug-in hybrid, and battery electric vehicles) from 2015 to 2050. Although impacts of electric vehicles have the largest uncertainty, they are expected (90% confidence) to be the best alternative in long-term for reducing human health impacts and air pollution from transportation. While results based on deterministic (average) values indicate that electric vehicles have greater potential of reducing greenhouse gas emissions, plug-in hybrid vehicles have the largest potential according to the results with 90% confidence interval. - Highlights: • Uncertainty-embedded dynamic sustainability assessment framework, is developed. • Methodological challenges and uncertainties are addressed. • Seven impact categories are quantified for four different vehicle types.

Hardware-in-loop simulation of electric vehicles automated mechanical transmission system

Energy Technology Data Exchange (ETDEWEB)

Liao, C.; Wu, Y.; Wang, L. [Chinese Academy of Sciences, Beijing (China). Inst. of Electrical Engineering

2009-03-11

Automated mechanical transmission (AMT) can be used to enhance the performance of hybrid electric vehicles. In this study, hardware-in-loop (HIL) simulations were used to develop an AMT control system. HIL was used to simulate the running and fault status of the system as well as to optimize its performance. HIL was combined with a commercial simulation tool and an automatic code generation technology in a real time environment tool to develop the AMT control system. A hybrid vehicle system dynamics model was generated and then simulated in various real time operating vehicle environments. Virtual instrument technology was used to develop real time monitoring, parameter matching calibration, data acquisition and offline analyses for the optimization of the control system. Results of the analyses demonstrated that the AMT control system can be used to optimize the performance of hybrid electric vehicles. 5 refs., 9 figs.

An adaptable, low cost test-bed for unmanned vehicle systems research

Science.gov (United States)

Goppert, James M.

2011-12-01

An unmanned vehicle systems test-bed has been developed. The test-bed has been designed to accommodate hardware changes and various vehicle types and algorithms. The creation of this test-bed allows research teams to focus on algorithm development and employ a common well-tested experimental framework. The ArduPilotOne autopilot was developed to provide the necessary level of abstraction for multiple vehicle types. The autopilot was also designed to be highly integrated with the Mavlink protocol for Micro Air Vehicle (MAV) communication. Mavlink is the native protocol for QGroundControl, a MAV ground control program. Features were added to QGroundControl to accommodate outdoor usage. Next, the Mavsim toolbox was developed for Scicoslab to allow hardware-in-the-loop testing, control design and analysis, and estimation algorithm testing and verification. In order to obtain linear models of aircraft dynamics, the JSBSim flight dynamics engine was extended to use a probabilistic Nelder-Mead simplex method. The JSBSim aircraft dynamics were compared with wind-tunnel data collected. Finally, a structured methodology for successive loop closure control design is proposed. This methodology is demonstrated along with the rest of the test-bed tools on a quadrotor, a fixed wing RC plane, and a ground vehicle. Test results for the ground vehicle are presented.

A study on the role of powertrain system dynamics on vehicle driveability

Science.gov (United States)

Castellazzi, Luca; Tonoli, Andrea; Amati, Nicola; Galliera, Enrico

2017-07-01

Vehicle driveability describes the complex interactions between the driver and the vehicle, mainly related to longitudinal vibrations. Today, a relevant part of the driveability process optimisation is realised by means of track tests, which require a considerable effort due to the number of parameters (such as stiffness and damping components) affecting this behaviour. The drawback of this approach is that it is carried on at a stage when a design iteration becomes very expensive in terms of time and cost. The objective of this work is to propose a light and accurate tool to represent the relevant quantities involved in the driveability analysis, and to understand which are the main vehicle parameters that influence the torsional vibrations transmitted to the driver. Particular attention is devoted to the role of the tyre, the engine mount, the dual mass flywheel and their possible interactions. The presented nonlinear dynamic model has been validated in time and frequency domain and, through linearisation of its nonlinear components, allows to exploit modal and energy analysis. Objective indexes regarding the driving comfort are additionally considered in order to evaluate possible driveability improvements related to the sensitivity of powertrain parameters.

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...

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...

The vertical and the longitudinal dynamic responses of the vehicle-track system to squat-type short wavelength irregularity

Science.gov (United States)

Zhao, Xin; Li, Zili; Dollevoet, Rolf

2013-12-01

The squat, a kind of rolling contact fatigue occurring on the rail top, can excite the high-frequency vehicle-track interaction effectively due to its geometric deviations with a typical wavelength of 20-40 mm, leading to the accelerated deterioration of a track. In this work, a validated 3D transient finite element model is employed to calculate in the time domain the vertical and the longitudinal dynamic contact forces between the wheel and the rail caused by squats. The vehicle-track structure and the wheel-rail continua are both considered in order to include all the important eigencharacteristics of the system related to squats. By introducing the rotational and translational movements of the wheel, the transient wheel-rail rolling contact is solved in detail by a 3D frictional contact model integrated. The contact filter effect is considered automatically in the simulations by the finite size of the contact patch. The present work focuses on the influences of the length, width and depth of a light squat on the resulted dynamic contact forces, for which idealised defect models are used. The growth of a squat is also modelled to a certain extent by a series of defects with different dimensions. The results show that the system is mainly excited at two frequencies separately in the vertical and the longitudinal dynamics. Their superposition explains the typical appearance of mature squats. As a squat grows up, the magnitude of the excited vibration at the lower frequency increases faster than the one at the higher frequency.

Application of theoretical vehicle dynamic results for experimental validation of vehicle characteristics in autonomous vehicle guidance; Aehnlichkeitstheoretische Modelluebertragung zur experimentellen Eigenschaftsabsicherung in der autonomen Fahrzeugfuehrung

Energy Technology Data Exchange (ETDEWEB)

Hilgert, J.; Bertram, T. [Univ. Duisburg (Germany). Fachbereich Maschinenbau

2002-07-01

The validation and verification of theoretical vehicle dynamic results for autonomous driving can be seen as a major challenge. The main reasons are the high cost of driving tests and the risk of damaging or destroying the test vehicle and the involved persons. One possibility for avoiding these problems and simultaneously to ensure good experimental results lies in the use of scaled model vehicles. Of special relevance is the transfer of relevant parameters to the full size vehicle. In this paper a method based on similitude analysis is developed for validation and verification of driving tests for autonomous vehicles. This method is described for a lane change manoeuvre for a 1:5 scaled vehicle belonging to the Institute of Mechatronics and System Dynamics at the Gerhard-Mercator-Universitaet Duisburg. (orig.) [German] In der autonomen Fahrzeugfuehrung stellt die experimentelle Verifikation und Validierung von theoretischen Ergebnissen hinsichtlich fahrdynamischer Eigenschaften eine grosse Herausforderung dar. Die Ursachen hierfuer liegen zum einen in den hohen Kosten, welche bei Fahrversuchen entstehen, und zum anderen im Unfallrisiko fuer den Versuchstraeger und die am Versuch beteiligten Personen. Eine Moeglichkeit diese Nachteile zu umgehen und gleichzeitig experimentelle Ergebnisse zu bekommen, besteht in der Verwendung massstabgetreuer Modellfahrzeuge. Von besonderer Bedeutung ist hier die Uebertragung relevanter Parameter auf das reale Fahrzeug. In diesem Beitrag wird daher mit Hilfe von aehnlichkeitstheoretischen Ueberlegungen ein Konzept zur experimentellen Verifikation und Validierung von Fahrversuchen auf Basis eines am Institut fuer Mechatronik und Systemdynamik der Gerhard-Mercator-Universitaet Duisburg vorhandenen Fahrzeugmodells (Massstab 1:5) anhand eines Spurwechselmanoevers vorgestellt. (orig.)

Experimental investigation on the dynamic performance of a hybrid PEM fuel cell/battery system for lightweight electric vehicle application

International Nuclear Information System (INIS)

Tang, Yong; Yuan, Wei; Pan, Minqiang; Wan, Zhenping

2011-01-01

A hybrid system combining a 2 kW air-blowing proton exchange membrane fuel cell (PEMFC) stack and a lead-acid battery pack is developed for a lightweight cruising vehicle. The dynamic performances of this PEMFC system with and without the assistance of the batteries are systematically investigated in a series of laboratory and road tests. The stack current and voltage have timely dynamic responses to the load variations. Particularly, the current overshoot and voltage undershoot both happen during the step-up load tests. These phenomena are closely related to the charge double-layer effect and the mass transfer mechanisms such as the water and gas transport and distribution in the fuel cell. When the external load is beyond the range of the fuel cell system, the battery immediately participates in power output with a higher transient discharging current especially in the accelerating and climbing processes. The DC-DC converter exhibits a satisfying performance in adaptive modulation. It helps rectify the voltage output in a rigid manner and prevent the fuel cell system from being overloaded. The dynamic responses of other operating parameters such as the anodic operating pressure and the inlet and outlet temperatures are also investigated. The results show that such a hybrid system is able to dynamically satisfy the vehicular power demand.

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.

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

Rail vehicle dynamic response to a nonlinear physical 'in-service' model of its secondary suspension hydraulic dampers

Science.gov (United States)

Wang, W. L.; Zhou, Z. R.; Yu, D. S.; Qin, Q. H.; Iwnicki, S.

2017-10-01

A full nonlinear physical 'in-service' model was built for a rail vehicle secondary suspension hydraulic damper with shim-pack-type valves. In the modelling process, a shim pack deflection theory with an equivalent-pressure correction factor was proposed, and a Finite Element Analysis (FEA) approach was applied. Bench test results validated the damper model over its full velocity range and thus also proved that the proposed shim pack deflection theory and the FEA-based parameter identification approach are effective. The validated full damper model was subsequently incorporated into a detailed vehicle dynamics simulation to study how its key in-service parameter variations influence the secondary-suspension-related vehicle system dynamics. The obtained nonlinear physical in-service damper model and the vehicle dynamic response characteristics in this study could be used in the product design optimization and nonlinear optimal specifications of high-speed rail hydraulic dampers.

Influence of guideway flexibility on maglev vehicle/guideway dynamic forces. Final report, July 1991-July 1992

Energy Technology Data Exchange (ETDEWEB)

Daniels, L E; Ahlbeck, D R; Stekly, Z J; Gregorek, G M

1992-07-01

The report presents the results of a study investigating the dynamic interaction between aerial structures and maglev vehicles. The study includes three dimensional responses for attractive (EMS) maglev vehicle and repulsive (EDS) maglev vehicles and six different guideway structures. The analysis is conducted using original time domain computer models which incorporate up to 52 degrees of freedom for EMS systems and 44 degrees of freedom for the EDS systems, including multiple span guideways, multiple-vehicle trains, aerodynamic inputs with the special relations and structural properties associated with each major system component, and with appropriate maglev suspension characteristics interconnecting vehicle to guideway. The various guideway structure and vehicle combinations are analyzed separately for two representative guideway lengths of 21m and 39m. Results are presented for vehicle accelerations in terms of ride comfort accelerations and for guideway accelerations and bending moments. Comparisons from the analysis include EMS vs. EDS system responses, effects of span length, effects of position in car, effects of multiple-vehicle trains, effects of multiple simple span guideways vs. continuous span guideways, effects of wind gusts, and effects of beam bearing pad stiffness. Costs of each guideway is estimated in 1992 dollars.

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.

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.

Development of Anti-lock Braking System (ABS) for Vehicles Braking

Science.gov (United States)

Minh, Vu Trieu; Oamen, Godwin; Vassiljeva, Kristina; Teder, Leo

2016-11-01

This paper develops a real laboratory of anti-lock braking system (ABS) for vehicle and conducts real experiments to verify the ability of this ABS to prevent the vehicle wheel from being locked while braking. Two controllers of PID and fuzzy logic are tested for analysis and comparison. This ABS laboratory is designed for bachelor and master students to simulate and analyze performances of ABS with different control techniques on various roads and load conditions. This paper provides educational theories and practices on the design of control for system dynamics.

Canadian high speed magnetically levitated vehicle system

Energy Technology Data Exchange (ETDEWEB)

Atherton, D L [Queen' s Univ., Kingston, Ont.; Belanger, P R; Burke, P E; Dawson, G E; Eastham, A R; Hayes, W F; Ooi, B T; Silvester, P; Slemon, G R

1978-04-01

A technically feasible high speed (400 to 480 km/h) guided ground transportation system, based on the use of the vehicle-borne superconducting magnets for electrodynamic suspension and guidance and for linear synchronous motor propulsion was defined as a future modal option for Canadian application. Analysis and design proposals were validated by large-scale tests on a rotating wheel facility and by modelling system components and their interactions. Thirty ton vehicles carrying 100 passengers operate over a flat-topped elevated guideway, which minimizes system down-time due to ice and snow accumulation and facilitates the design of turn-outs. A clearance of up to 15 cm is produced by the electrodynamic interaction between the vehicle-borne superconducting magnets and aluminum guideway strips. Propulsion and automatic system control is provided by the superconducting linear synchronous motor which operates at good efficiency (0.74) and high power factor (0.95). The vehicle is guided primarily by the interaction between the LSM field magnet array and flat null-flux loops overlying the stator windings in the guideway. The linear synchronous motor, electrodynamic suspension as well as levitation strip joints, parasitic LSM winding losses and limitations to the use of ferromagnetic guideway reinforcement were investigated experimentally on the test wheel facility. The use of a secondary suspension assures adequate dynamic stability, and good ride quality is achieved by optimized passive components with respect to lateral modes and by an actively controlled secondary suspension with respect to vertical motion.

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...

Nonlinear Dynamic Characteristics of the Railway Vehicle

Science.gov (United States)

Uyulan, Çağlar; Gokasan, Metin

2017-06-01

The nonlinear dynamic characteristics of a railway vehicle are checked into thoroughly by applying two different wheel-rail contact model: a heuristic nonlinear friction creepage model derived by using Kalker 's theory and Polach model including dead-zone clearance. This two models are matched with the quasi-static form of the LuGre model to obtain more realistic wheel-rail contact model. LuGre model parameters are determined using nonlinear optimization method, which it's objective is to minimize the error between the output of the Polach and Kalker model and quasi-static LuGre model for specific operating conditions. The symmetric/asymmetric bifurcation attitude and stable/unstable motion of the railway vehicle in the presence of nonlinearities which are yaw damping forces in the longitudinal suspension system are analyzed in great detail by changing the vehicle speed. Phase portraits of the lateral displacement of the leading wheelset of the railway vehicle are drawn below and on the critical speeds, where sub-critical Hopf bifurcation take place, for two wheel-rail contact model. Asymmetric periodic motions have been observed during the simulation in the lateral displacement of the wheelset under different vehicle speed range. The coexistence of multiple steady states cause bounces in the amplitude of vibrations, resulting instability problems of the railway vehicle. By using Lyapunov's indirect method, the critical hunting speeds are calculated with respect to the radius of the curved track parameter changes. Hunting, which is defined as the oscillation of the lateral displacement of wheelset with a large domain, is described by a limit cycle-type oscillation nature. The evaluated accuracy of the LuGre model adopted from Kalker's model results for prediction of critical speed is higher than the results of the LuGre model adopted from Polach's model. From the results of the analysis, the critical hunting speed must be resolved by investigating the track tests

Numerical Analysis for Dynamic Instability of Electrodynamic Maglev Systems

Directory of Open Access Journals (Sweden)

Y. Cai

1995-01-01

Full Text Available Suspension instabilities in an electrodynamic maglev system with three- and five-degrees-of-freedom DOF vehicles traveling on a double L-shaped set of guideway conductors were investigated with various experimentally measured magnetic force data incorporated into theoretical models. Divergence and flutter were obtained from both analytical and numerical solutions for coupled vibration of the three-DOF maglev vehicle model. Instabilities of five direction motion (heave, slip, roll, pitch, and yaw were observed for the five-DOF vehicle model. The results demonstrate that system parameters such as system damping, vehicle geometry, and coupling effects among five different motions play very important roles in the occurrence of dynamic instabilities of maglev vehicles.

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.

Central Vehicle Dynamics Control of the Robotic Research Platform ROboMObil

OpenAIRE

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

2014-01-01

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

Cost-Effectiveness Comparison of Coupler Designs of Wireless Power Transfer for Electric Vehicle Dynamic Charging

Directory of Open Access Journals (Sweden)

Weitong Chen

2016-11-01

Full Text Available This paper presents a cost-effectiveness comparison of coupler designs for wireless power transfer (WPT, meant for electric vehicle (EV dynamic charging. The design comparison of three common types of couplers is first based on the raw material cost, output power, transfer efficiency, tolerance of horizontal offset, and flux density. Then, the optimal cost-effectiveness combination is selected for EV dynamic charging. The corresponding performances of the proposed charging system are compared and analyzed by both simulation and experimentation. The results verify the validity of the proposed dynamic charging system for EVs.

An efficient recursive least square-based condition monitoring approach for a rail vehicle suspension system

Science.gov (United States)

Liu, X. Y.; Alfi, S.; Bruni, S.

2016-06-01

A model-based condition monitoring strategy for the railway vehicle suspension is proposed in this paper. This approach is based on recursive least square (RLS) algorithm focusing on the deterministic 'input-output' model. RLS has Kalman filtering feature and is able to identify the unknown parameters from a noisy dynamic system by memorising the correlation properties of variables. The identification of suspension parameter is achieved by machine learning of the relationship between excitation and response in a vehicle dynamic system. A fault detection method for the vertical primary suspension is illustrated as an instance of this condition monitoring scheme. Simulation results from the rail vehicle dynamics software 'ADTreS' are utilised as 'virtual measurements' considering a trailer car of Italian ETR500 high-speed train. The field test data from an E464 locomotive are also employed to validate the feasibility of this strategy for the real application. Results of the parameter identification performed indicate that estimated suspension parameters are consistent or approximate with the reference values. These results provide the supporting evidence that this fault diagnosis technique is capable of paving the way for the future vehicle condition monitoring system.

Evaluating effectiveness of real-time advanced traveler information systems using a small test vehicle fleet

Science.gov (United States)

1997-01-01

ADVANCE was an in-vehicle advanced traveler information system (ATIS) providing route guidance in real time that operated in the northwestern portion and northwest suburbs of Chicago, Illinois. It used probe vehicles to generate dynamically travel ti...

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

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...

Integrating dynamic and distributed compressive sensing techniques to enhance image quality of the compressive line sensing system for unmanned aerial vehicles application

Science.gov (United States)

Ouyang, Bing; Hou, Weilin; Caimi, Frank M.; Dalgleish, Fraser R.; Vuorenkoski, Anni K.; Gong, Cuiling

2017-07-01

The compressive line sensing imaging system adopts distributed compressive sensing (CS) to acquire data and reconstruct images. Dynamic CS uses Bayesian inference to capture the correlated nature of the adjacent lines. An image reconstruction technique that incorporates dynamic CS in the distributed CS framework was developed to improve the quality of reconstructed images. The effectiveness of the technique was validated using experimental data acquired in an underwater imaging test facility. Results that demonstrate contrast and resolution improvements will be presented. The improved efficiency is desirable for unmanned aerial vehicles conducting long-duration missions.

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.

Active and semi-active control of suspension systems for commercial vehicles based on preview

NARCIS (Netherlands)

Kok, J.J.; van Heck, J.G.A.M.; Muijderman, J.H.E.A.; Veldpaus, F.E.

1997-01-01

The performance of a vehicle axle/wheel suspension system is primarily determined by the comfort of the occupants, the required working space, the handling properties and, for commercial vehicles in particular, the dynamic tire forces and the load on the chassis components and on the cargo. General

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.

A Vehicle Steering Recognition System Based on Low-Cost Smartphone Sensors

Directory of Open Access Journals (Sweden)

Xinhua Liu

2017-03-01

Full Text Available Recognizing how a vehicle is steered and then alerting drivers in real time is of utmost importance to the vehicle and driver’s safety, since fatal accidents are often caused by dangerous vehicle maneuvers, such as rapid turns, fast lane-changes, etc. Existing solutions using video or in-vehicle sensors have been employed to identify dangerous vehicle maneuvers, but these methods are subject to the effects of the environmental elements or the hardware is very costly. In the mobile computing era, smartphones have become key tools to develop innovative mobile context-aware systems. In this paper, we present a recognition system for dangerous vehicle steering based on the low-cost sensors found in a smartphone: i.e., the gyroscope and the accelerometer. To identify vehicle steering maneuvers, we focus on the vehicle’s angular velocity, which is characterized by gyroscope data from a smartphone mounted in the vehicle. Three steering maneuvers including turns, lane-changes and U-turns are defined, and a vehicle angular velocity matching algorithm based on Fast Dynamic Time Warping (FastDTW is adopted to recognize the vehicle steering. The results of extensive experiments show that the average accuracy rate of the presented recognition reaches 95%, which implies that the proposed smartphone-based method is suitable for recognizing dangerous vehicle steering maneuvers.

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...

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%.

Electric vehicle data acquisition system

DEFF Research Database (Denmark)

Svendsen, Mathias; Winther-Jensen, Mads; Pedersen, Anders Bro

2014-01-01

and industrial applications, e.g. research in electric vehicle driving patterns, vehicle substitutability analysis and fleet management. The platform is based on a embedded computer running Linux, and features a high level of modularity and flexibility. The system operates independently of the make of the car......, by using the On-board Diagnostic port to identify car model and adapt its software accordingly. By utilizing on-board Global Navigation Satellite System, General Packet Radio Service, accelerometer, gyroscope and magnetometer, the system not only provides valuable data for research in the field of electric......A data acquisition system for electric vehicles is presented. The system connects to the On-board Diagnostic port of newer vehicles, and utilizes the in-vehicle sensor network, as well as auxiliary sensors, to gather data. Data is transmitted continuously to a central database for academic...

Dynamic modelling of a De Nora fuel cell intended for the electric vehicle

International Nuclear Information System (INIS)

Poirot-Crouvezier, J.-P.; Baurens, P.; Levrard, D.

2000-01-01

Recent progress in fuel cells (proton membrane exchange) has gained interest in the electricity generation in particular for electric vehicles. So far the vehicles demonstrate the feasibility of the technique. After a limited number of demonstrations, the energy source will be indispensable. In general, one cannot speak about a single cell, but a stacking of cells. The system must be able to be supplied with reactants, evacuate products, and produce heat and usable electricity. A fuel cell is inevitably a system of many components that interact with one another. The overall operation of the assembly depends on the associated sub-systems. In the case of the application to automobiles, the driving behaviour must be analysed to ensure the system function can be simulated to obtain the correct characteristics. For instance, an essential study would be the dynamic function of successive accelerations and decelerations

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

Science.gov (United States)

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

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

Vehicle usage verification system

NARCIS (Netherlands)

Scanlon, W.G.; McQuiston, Jonathan; Cotton, Simon L.

2012-01-01

EN)A computer-implemented system for verifying vehicle usage comprising a server capable of communication with a plurality of clients across a communications network. Each client is provided in a respective vehicle and with a respective global positioning system (GPS) by which the client can

Systems Challenges for Hypersonic Vehicles

Science.gov (United States)

Hunt, James L.; Laruelle, Gerard; Wagner, Alain

1997-01-01

This paper examines the system challenges posed by fully reusable hypersonic cruise airplanes and access to space vehicles. Hydrocarbon and hydrogen fueled airplanes are considered with cruise speeds of Mach 5 and 10, respectively. The access to space matrix is examined. Airbreathing and rocket powered, single- and two-stage vehicles are considered. Reference vehicle architectures are presented. Major systems/subsystems challenges are described. Advanced, enhancing systems concepts as well as common system technologies are discussed.

Simultaneous Observation of Hybrid States for Cyber-Physical Systems: A Case Study of Electric Vehicle Powertrain.

Science.gov (United States)

Lv, Chen; Liu, Yahui; Hu, Xiaosong; Guo, Hongyan; Cao, Dongpu; Wang, Fei-Yue

2017-08-22

As a typical cyber-physical system (CPS), electrified vehicle becomes a hot research topic due to its high efficiency and low emissions. In order to develop advanced electric powertrains, accurate estimations of the unmeasurable hybrid states, including discrete backlash nonlinearity and continuous half-shaft torque, are of great importance. In this paper, a novel estimation algorithm for simultaneously identifying the backlash position and half-shaft torque of an electric powertrain is proposed using a hybrid system approach. System models, including the electric powertrain and vehicle dynamics models, are established considering the drivetrain backlash and flexibility, and also calibrated and validated using vehicle road testing data. Based on the developed system models, the powertrain behavior is represented using hybrid automata according to the piecewise affine property of the backlash dynamics. A hybrid-state observer, which is comprised of a discrete-state observer and a continuous-state observer, is designed for the simultaneous estimation of the backlash position and half-shaft torque. In order to guarantee the stability and reachability, the convergence property of the proposed observer is investigated. The proposed observer are validated under highly dynamical transitions of vehicle states. The validation results demonstrates the feasibility and effectiveness of the proposed hybrid-state observer.

Estimation of Road Loads and Vibration Transmissibility of Torsion Bar Suspension System in a Tracked Vehicle

Science.gov (United States)

Gagneza, G. P. S.; Chandramohan, Sujatha

2018-05-01

Designing the suspension system of a tracked combat vehicle (CV) is really challenging as it has to satisfy conflicting requirements of good ride comfort, vehicle handling and stability characteristics. Many studies in this field have been reported in literature and it has been found that torsion bars satisfy the designer's conflicting requirements of good ride and handling and thus have reserved a place for themselves as the most widely used suspension system for military track vehicles. Therefore, it is imperative to evaluate the effectiveness of the torsion bar under dynamic conditions of undulating terrain and validating the same by correlating it with computer simulation results. Thus in the present work, the dynamic simulation of a 2N + 4 degrees of freedom (DOF) mathematical model has been carried out using MATLAB Simulink and the vibration levels were also measured experimentally on a 12 wheel stationed high mobility military tracked infantry combat vehicle (ICV BMP-II) traversing different terrain, that is, Aberdeen proving ground (APG) and Sinusoidal, at a constant vehicle speed. The dynamic force transmitted to the hull CG through the 12 torsion bar suspension systems was computed to be around 26,700 N and found to match the measured values. The vibration isolation of the torsion bar in bounce was found to be effective, with a transmissibility from the road wheel to the hull of about 0.6.

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.

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.

Hybrid-Vehicle Transmission System

Science.gov (United States)

Lupo, G.; Dotti, G.

1985-01-01

Continuously-variable transmission system for hybrid vehicles couples internal-combustion engine and electric motor section, either individually or in parallel, to power vehicle wheels during steering and braking.

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.

Design of a Capacitive Flexible Weighing Sensor for Vehicle WIM System

Directory of Open Access Journals (Sweden)

Qing Li

2007-08-01

Full Text Available With the development of the Highway Transportation and Business Trade, vehicle weigh-in-motion (WIM technology has become a key technology and trend of measuring traffic loads. In this paper, a novel capacitive flexible weighing sensor which is light weight, smaller volume and easy to carry was applied in the vehicle WIM system. The dynamic behavior of the sensor is modeled using the Maxwell-Kelvin model because the materials of the sensor are rubbers which belong to viscoelasticity. A signal processing method based on the model is presented to overcome effects of rubber mechanical properties on the dynamic weight signal. The results showed that the measurement error is less than ���±10%. All the theoretic analysis and numerical results demonstrated that appliance of this system to weigh in motion is feasible and convenient for traffic inspection.

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.

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...

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.

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...

Electric Vehicle Based Battery Storages for Future Power System Regulation Services

DEFF Research Database (Denmark)

Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

2009-01-01

supplying the reserve power requirements. This limited regulation services from conventional generators in the future power system calls for other new reserve power solutions like Electric Vehicle (EV) based battery storages. A generic aggregated EV based battery storage for long-term dynamic load frequency...

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.

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 Power Dispatch Considering Electric Vehicles and Wind Power Using Decomposition Based Multi-Objective Evolutionary Algorithm

Directory of Open Access Journals (Sweden)

Boyang Qu

2017-12-01

Full Text Available The intermittency of wind power and the large-scale integration of electric vehicles (EVs bring new challenges to the reliability and economy of power system dispatching. In this paper, a novel multi-objective dynamic economic emission dispatch (DEED model is proposed considering the EVs and uncertainties of wind power. The total fuel cost and pollutant emission are considered as the optimization objectives, and the vehicle to grid (V2G power and the conventional generator output power are set as the decision variables. The stochastic wind power is derived by Weibull probability distribution function. Under the premise of meeting the system energy and user’s travel demand, the charging and discharging behavior of the EVs are dynamically managed. Moreover, we propose a two-step dynamic constraint processing strategy for decision variables based on penalty function, and, on this basis, the Multi-Objective Evolutionary Algorithm Based on Decomposition (MOEA/D algorithm is improved. The proposed model and approach are verified by the 10-generator system. The results demonstrate that the proposed DEED model and the improved MOEA/D algorithm are effective and reasonable.

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.

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...

Vehicle-to-Grid Systems for Frequency Regulation in an Islanded Danish Distribution Network

DEFF Research Database (Denmark)

Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

2010-01-01

vehicles could provide power system ancillary services in the form of power balancing reserves to support the large-scale integration of variable renewable energy sources like wind power. This paper investigates the dynamic frequency response of an islanded Danish distribution system operation with large...

A New Algorithm for ABS/GPS Integration Based on Fuzzy-Logic in Vehicle Navigation System

Directory of Open Access Journals (Sweden)

Ali Amin Zadeh

2011-10-01

Full Text Available GPS based vehicle navigation systems have difficulties in tracking vehicles in urban canyons due to poor satellite availability. ABS (Antilock Brake System Navigation System consists of self-contained optical encoders mounted on vehicle wheels that can continuously provide accurate short-term positioning information. In this paper, a new concept regarding GPS/ABS integration, based on Fuzzy Logic is presented. The proposed algorithm is used to identify GPS position accuracy based on environment and vehicle dynamic knowledge. The GPS is used as reference during the time it is in a good condition and replaced by ABS positioning system when GPS information is unreliable. We compare our proposed algorithm with other common algorithm in real environment. Our results show that the proposed algorithm can significantly improve the stability and reliability of ABS/GPS navigation system.

Lateral dynamic interaction analysis of a train girder pier system

Science.gov (United States)

Xia, H.; Guo, W. W.; Wu, X.; Pi, Y. L.; Bradford, M. A.

2008-12-01

A dynamic model of a coupled train-girder-pier system is developed in this paper. Each vehicle in a train is modeled with 27 degrees-of-freedom for a 4-axle passenger coach or freight car, and 31 for a 6-axle locomotive. The bridge model is applicable to straight and curved bridges. The centrifugal forces of moving vehicles on curved bridges are considered in both the vehicle model and the bridge model. The dynamic interaction between the bridge and train is realized through an assumed wheel-hunting movement. A case study is performed for a test train traversing two straight and two curved multi-span bridges with high piers. The histories of the train traversing the bridges are simulated and the dynamic responses of the piers and the train vehicles are calculated. A field experiment is carried out to verify the results of the analysis, by which the lateral resonant train speed inducing the peak pier-top amplitudes and some other observations are validated.

Regenerative braking strategies, vehicle safety and stability control systems: critical use-case proposals

Science.gov (United States)

Oleksowicz, Selim A.; Burnham, Keith J.; Southgate, Adam; McCoy, Chris; Waite, Gary; Hardwick, Graham; Harrington, Cian; McMurran, Ross

2013-05-01

The sustainable development of vehicle propulsion systems that have mainly focused on reduction of fuel consumption (i.e. CO2 emission) has led, not only to the development of systems connected with combustion processes but also to legislation and testing procedures. In recent years, the low carbon policy has made hybrid vehicles and fully electric vehicles (H/EVs) popular. The main virtue of these propulsion systems is their ability to restore some of the expended energy from kinetic movement, e.g. the braking process. Consequently new research and testing methods for H/EVs are currently being developed. This especially concerns the critical 'use-cases' for functionality tests within dynamic events for both virtual simulations, as well as real-time road tests. The use-case for conventional vehicles for numerical simulations and road tests are well established. However, the wide variety of tests and their great number (close to a thousand) creates a need for selection, in the first place, and the creation of critical use-cases suitable for testing H/EVs in both virtual and real-world environments. It is known that a marginal improvement in the regenerative braking ratio can significantly improve the vehicle range and, therefore, the economic cost of its operation. In modern vehicles, vehicle dynamics control systems play the principal role in safety, comfort and economic operation. Unfortunately, however, the existing standard road test scenarios are insufficient for H/EVs. Sector knowledge suggests that there are currently no agreed tests scenarios to fully investigate the effects of brake blending between conventional and regenerative braking as well as the regenerative braking interaction with active driving safety systems (ADSS). The paper presents seven manoeuvres, which are considered to be suitable and highly informative for the development and examination of H/EVs with regenerative braking capability. The critical manoeuvres presented are considered to be

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

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.

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.

Emergency vehicle traffic signal preemption system

Science.gov (United States)

Bachelder, Aaron D. (Inventor); Foster, Conrad F. (Inventor)

2011-01-01

An emergency vehicle traffic light preemption system for preemption of traffic lights at an intersection to allow safe passage of emergency vehicles. The system includes a real-time status monitor of an intersection which is relayed to a control module for transmission to emergency vehicles as well as to a central dispatch office. The system also provides for audio warnings at an intersection to protect pedestrians who may not be in a position to see visual warnings or for various reasons cannot hear the approach of emergency vehicles. A transponder mounted on an emergency vehicle provides autonomous control so the vehicle operator can attend to getting to an emergency and not be concerned with the operation of the system. Activation of a priority-code (i.e. Code-3) situation provides communications with each intersection being approached by an emergency vehicle and indicates whether the intersection is preempted or if there is any conflict with other approaching emergency vehicles. On-board diagnostics handle various information including heading, speed, and acceleration sent to a control module which is transmitted to an intersection and which also simultaneously receives information regarding the status of an intersection. Real-time communications and operations software allow central and remote monitoring, logging, and command of intersections and vehicles.

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

Vehicle systems and payload requirements evaluation. [computer programs for identifying launch vehicle system requirements

Science.gov (United States)

Rea, F. G.; Pittenger, J. L.; Conlon, R. J.; Allen, J. D.

1975-01-01

Techniques developed for identifying launch vehicle system requirements for NASA automated space missions are discussed. Emphasis is placed on development of computer programs and investigation of astrionics for OSS missions and Scout. The Earth Orbit Mission Program - 1 which performs linear error analysis of launch vehicle dispersions for both vehicle and navigation system factors is described along with the Interactive Graphic Orbit Selection program which allows the user to select orbits which satisfy mission requirements and to evaluate the necessary injection accuracy.

A novel dual motor drive system for three wheel electric vehicles

Science.gov (United States)

Panmuang, Piyapat; Thongsan, Taweesak; Suwapaet, Nuchida; Laohavanich, Juckamass; Photong, Chonlatee

2018-03-01

This paper presents a novel dual motor drive system used for three wheel electric vehicles that have one free wheel at the front and two wheels with a drive system at the end of the vehicles. A novel dual motor drive system consists of two identical DC motors that are independently controlled by its speed-torque controller. Under light load conditions, only one of the DC motors will operate around it rated whilst under hard load conditions both of the DC motors will operate. With this drive system, the motors will operate only at its high performance at rated or else no operate to retain longer lifetime. The simulated results for the Skylab three wheel electric vehicle prototype with 8kW at full load (high torque, low speed) and around 4kW at light/normal operating loads (regular speed-torque) showed that the proposed system provides better dynamic responses with faster overshoot current/voltage recovery time, has lower investment costs, has longer lifetime of the motors and allows the motors to always operate at their high performance and thus achieve more cost effective system compared to a single motor drive system with 8kW DC motors.

A Case Study of Dynamic Response Analysis and Safety Assessment for a Suspended Monorail System.

Science.gov (United States)

Bao, Yulong; Li, Yongle; Ding, Jiajie

2016-11-10

A suspended monorail transit system is a category of urban rail transit, which is effective in alleviating traffic pressure and injury prevention. Meanwhile, with the advantages of low cost and short construction time, suspended monorail transit systems show vast potential for future development. However, the suspended monorail has not been systematically studied in China, and there is a lack of relevant knowledge and analytical methods. To ensure the health and reliability of a suspended monorail transit system, the driving safety of vehicles and structure dynamic behaviors when vehicles are running on the bridge should be analyzed and evaluated. Based on the method of vehicle-bridge coupling vibration theory, the finite element method (FEM) software ANSYS and multi-body dynamics software SIMPACK are adopted respectively to establish the finite element model for bridge and the multi-body vehicle. A co-simulation method is employed to investigate the vehicle-bridge coupling vibration for the transit system. The traffic operation factors, including train formation, track irregularity and tire stiffness, are incorporated into the models separately to analyze the bridge and vehicle responses. The results show that the coupling of dynamic effects of the suspended monorail system between vehicle and bridge are significant in the case studied, and it is strongly suggested to take necessary measures for vibration suppression. The simulation of track irregularity is a critical factor for its vibration safety, and the track irregularity of A-level road roughness negatively influences the system vibration safety.

A Case Study of Dynamic Response Analysis and Safety Assessment for a Suspended Monorail System

Directory of Open Access Journals (Sweden)

Yulong Bao

2016-11-01

Full Text Available A suspended monorail transit system is a category of urban rail transit, which is effective in alleviating traffic pressure and injury prevention. Meanwhile, with the advantages of low cost and short construction time, suspended monorail transit systems show vast potential for future development. However, the suspended monorail has not been systematically studied in China, and there is a lack of relevant knowledge and analytical methods. To ensure the health and reliability of a suspended monorail transit system, the driving safety of vehicles and structure dynamic behaviors when vehicles are running on the bridge should be analyzed and evaluated. Based on the method of vehicle-bridge coupling vibration theory, the finite element method (FEM software ANSYS and multi-body dynamics software SIMPACK are adopted respectively to establish the finite element model for bridge and the multi-body vehicle. A co-simulation method is employed to investigate the vehicle-bridge coupling vibration for the transit system. The traffic operation factors, including train formation, track irregularity and tire stiffness, are incorporated into the models separately to analyze the bridge and vehicle responses. The results show that the coupling of dynamic effects of the suspended monorail system between vehicle and bridge are significant in the case studied, and it is strongly suggested to take necessary measures for vibration suppression. The simulation of track irregularity is a critical factor for its vibration safety, and the track irregularity of A-level road roughness negatively influences the system vibration safety.

Sizing Dynamic Wireless Charging for Light-Duty Electric Vehicles in Roadway Applications

Energy Technology Data Exchange (ETDEWEB)

Foote, Andrew P [ORNL; Ozpineci, Burak [ORNL; Chinthavali, Madhu Sudhan [ORNL; Li, Jan-Mou [ORNL

2016-01-01

Dynamic wireless charging is a possible cure for the range limitations seen in electric vehicles (EVs) once implemented in highways or city streets. The contribution of this paper is the use of experimental data to show that the expected energy gain from a dynamic wireless power transfer (WPT) system is largely a function of average speed, which allows the power level and number of coils per mile of a dynamic WPT system to be sized for the sustained operation of an EV. First, data from dynamometer testing is used to determine the instantaneous energy requirements of a light-duty EV. Then, experimental data is applied to determine the theoretical energy gained by passing over a coil as a function of velocity and power level. Related simulations are performed to explore possible methods of placing WPT coils within roadways with comparisons to the constant velocity case. Analyses with these cases demonstrate what system ratings are needed to meet the energy requirements of the EV. The simulations are also used to determine onboard energy storage requirements for each driving cycle.

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.

Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

Directory of Open Access Journals (Sweden)

Yinsong Wang

2012-01-01

Full Text Available This paper presents a lane-level positioning method by trajectory reckoning without Global Positioning System (GPS equipment in the environment of Cooperative Vehicle-Infrastructure System (CVIS. Firstly, the accuracy requirements of vehicle position in CVIS applications and the applicability of GPS positioning methods were analyzed. Then, a trajectory reckoning method based on speed and steering data from vehicle’s Control Area Network (CAN and roadside calibration facilities was proposed, which consists of three critical models, including real-time estimation of steering angle and vehicle direction, vehicle movement reckoning, and wireless calibration. Finally, the proposed method was validated through simulation and field tests under a variety of traffic conditions. Results show that the accuracy of the reckoned vehicle position can reach the lane level and match the requirements of common CVIS applications.

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.

Mobility Systems For Robotic Vehicles

Science.gov (United States)

Chun, Wendell

1987-02-01

The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

Steady-state and dynamic evaluation of the electric propulsion system test bed vehicle on a road load simulator

Science.gov (United States)

Dustin, M. O.

1983-01-01

The propulsion system of the Lewis Research Center's electric propulsion system test bed vehicle was tested on the road load simulator under the DOE Electric and Hybrid Vehicle Program. This propulsion system, consisting of a series-wound dc motor controlled by an infinitely variable SCR chopper and an 84-V battery pack, is typical of those used in electric vehicles made in 1976. Steady-state tests were conducted over a wide range of differential output torques and vehicle speeds. Efficiencies of all of the components were determined. Effects of temperature and voltage variations on the motor and the effect of voltage changes on the controller were examined. Energy consumption and energy efficiency for the system were determined over the B and C driving schedules of the SAE J227a test procedure.

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.

Introducing Dual Suspension System in Road Vehicles

OpenAIRE

Imtiaz Hussain; Jawaid Daudpoto; Ali Asghar Memon

2013-01-01

The main objective of suspension system is to reduce the motions of the vehicle body with respect to road disturbances. The conventional suspension systems in road vehicles use passive elements such as springs and dampers to suppress the vibrations induced by the irregularities in the road. But these conventional suspension systems can suppress vibrations to a certain limit. This paper presents a novel idea to improve the ride quality of roads vehicles without compromising vehicle?s stability...

A dynamic optimization-based architecture for polygeneration microgrids with tri-generation, renewables, storage systems and electrical vehicles

International Nuclear Information System (INIS)

Bracco, Stefano; Delfino, Federico; Pampararo, Fabio; Robba, Michela; Rossi, Mansueto

2015-01-01

Highlights: • We describe two national special projects on smart grid. • We developed dynamic decision model based on a MPC architecture. • We developed an optimization model for microgrids, for a specific case study. - Abstract: An overall architecture, or Energy Management System (EMS), based on a dynamic optimization model to minimize operating costs and CO 2 emissions is formalized and applied to the University of Genova Savona Campus test-bed facilities consisting of a Smart Polygeneration Microgrid (SPM) and a Sustainable Energy Building (SEB) connected to such microgrid. The electric grid is a three phase low voltage distribution system, connecting many different technologies: three cogeneration micro gas turbines fed by natural gas, a photovoltaic field, three cogeneration Concentrating Solar Powered (CSP) systems (equipped with Stirling engines), an absorption chiller equipped with a storage tank, two types of electrical storage based on batteries technology (long term Na–Ni and short term Li-Ion ion), two electric vehicles charging stations, other electrical devices (inverters and smart metering systems), etc. The EMS can be used both for microgrids approximated as single bus bar (or one node) and for microgrids in which all buses are taken into account. The optimal operation of the microgrid is based on a central controller that receives forecasts and data from a SCADA system and that can schedule all dispatchable plants in the day ahead or in real time through an approach based on Model Predictive Control (MPC). The architecture is tested and applied to the case study of the Savona Campus

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.)

Dynamic tensegrity based cooperative control of uninhabited vehicles

Energy Technology Data Exchange (ETDEWEB)

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

2013-07-01

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

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.

World modeling for cooperative intelligent vehicles

NARCIS (Netherlands)

Papp, Z.; Brown, C.; Bartels, C.

2008-01-01

Cooperative intelligent vehicle systems constitute a promising way to improving traffic throughput, safety and comfort. The state-of-the-art intelligent-vehicle applications usually can be described as a collection of interacting, highly autonomous, complex dynamical systems (the individual

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.

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.

The 'neighbor effect'. Simulating dynamics in consumer preferences for new vehicle technologies

International Nuclear Information System (INIS)

Mau, Paulus; Eyzaguirre, Jimena; Jaccard, Mark; Tiedemann, Kenneth; Collins-Dodd, Colleen

2008-01-01

Understanding consumer behaviour is essential in designing policies that efficiently increase the uptake of clean technologies over the long-run. Expert opinion or qualitative market analyses have tended to be the sources of this information. However, greater scrutiny on governments increasingly demands the use of reliable and credible evidence to support policy decisions. While discrete choice research and modeling techniques have been applied to estimate consumer preferences for technologies, these methods often assume static preferences. This study builds on the application of discrete choice research and modeling to capture dynamics in consumer preferences. We estimate Canadians' preferences for new vehicle technologies under different market assumptions, using responses from two national surveys focused on hybrid gas-electric vehicles and hydrogen fuel cell vehicles. The results support the relevance of a range of vehicle attributes beyond the purchase price in shaping consumer preferences towards clean vehicle technologies. They also corroborate our hypothesis that the degree of market penetration of clean vehicle technologies is an influence on people's preferences ('the neighbor effect'). Finally, our results provide behavioural parameters for the energy-economy model CIMS, which we use here to show the importance of including consumer preference dynamics when setting policies to encourage the uptake of clean technologies. (author)

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.

An Autonomous Coil Alignment System for the Dynamic Wireless Charging of Electric Vehicles to Minimize Lateral Misalignment

Directory of Open Access Journals (Sweden)

Karam Hwang

2017-03-01

Full Text Available This paper proposes an autonomous coil alignment system (ACAS for electric vehicles (EVs with dynamic wireless charging (DWC to mitigate the reduction in received power caused by lateral misalignment between the source and load coils. The key component of the ACAS is a novel sensor coil design, which can detect the load coil’s left or right position relative to the source coil by observing the change in voltage phase. This allows the lateral misalignment to be estimated through the wireless power transfer (WPT system alone, which is a novel tracking method for vehicular applications. Once misalignment is detected, the vehicle’s lateral position is self-adjusted by an autonomous steering function. The feasibility of the overall operation of the ACAS was verified through simulation and experiments. In addition, an analysis based on experimental results was conducted, demonstrating that 26% more energy can be transferred during DWC with the ACAS, just by keeping the vehicle’s load coil aligned with the source coil.

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.)

A New Model of Stopping Sight Distance of Curve Braking Based on Vehicle Dynamics

Directory of Open Access Journals (Sweden)

Rong-xia Xia

2016-01-01

Full Text Available Compared with straight-line braking, cornering brake has longer braking distance and poorer stability. Therefore, drivers are more prone to making mistakes. The braking process and the dynamics of vehicles in emergency situations on curves were analyzed. A biaxial four-wheel vehicle was simplified to a single model. Considering the braking process, dynamics, force distribution, and stability, a stopping sight distance of the curve braking calculation model was built. Then a driver-vehicle-road simulation platform was built using multibody dynamic software. The vehicle test of brake-in-turn was realized in this platform. The comparison of experimental and calculated values verified the reliability of the computational model. Eventually, the experimental values and calculated values were compared with the stopping sight distance recommended by the Highway Route Design Specification (JTGD20-2006; the current specification of stopping sight distance does not apply to cornering brake sight distance requirements. In this paper, the general values and limits of the curve stopping sight distance are presented.

Statistical models of petrol engines vehicles dynamics

Science.gov (United States)

Ilie, C. O.; Marinescu, M.; Alexa, O.; Vilău, R.; Grosu, D.

2017-10-01

This paper focuses on studying statistical models of vehicles dynamics. It was design and perform a one year testing program. There were used many same type cars with gasoline engines and different mileage. Experimental data were collected of onboard sensors and those on the engine test stand. A database containing data of 64th tests was created. Several mathematical modelling were developed using database and the system identification method. Each modelling is a SISO or a MISO linear predictive ARMAX (AutoRegressive-Moving-Average with eXogenous inputs) model. It represents a differential equation with constant coefficients. It were made 64th equations for each dependency like engine torque as output and engine’s load and intake manifold pressure, as inputs. There were obtained strings with 64 values for each type of model. The final models were obtained using average values of the coefficients. The accuracy of models was assessed.

An automatic window opening system to prevent drowning in vehicles sinking in water

KAUST Repository

Giesbrecht, Gordon G.; Percher, Michael; Brunet, Pierre; Richard, Yanik; Alexander, Marion; Bellemare, Alixandra; Rawal, Yash; Amassian, Aram; Mcdonald, Gerren

2017-01-01

Objective: Every year about 400 people die in submersed vehicles in North America and this number increases to 2,000–5,000 in all industrialized nations. The best way to survive is to quickly exit through the windows. An Automatic Window Opening System (AWOS; patent protected) was designed to sense when a vehicle is in water and to open the electric windows, but only when the vehicle is upright. Methods: The AWOS consists of a Detection Module (DM), in the engine compartment, and a Power Window Control Module (PWCM) inside the driver’s door. The DM contains a Water Sensor, a Level Sensor and a Microcontroller Unit (MCU). The Level Sensor provides the angular orientation of the car using a 3-axis acceleration sensor and prevents automatic window opening if the car is outside the orientation range (±20° in the roll axis, ±30° in the pitch axis, with a 2 s delay). Systems were installed on two cars and one SUV. A crane lowered vehicles in water either straight down (static tests) or by swinging the vehicles to produce forward movement (dynamic tests). Results: In all tests, when the vehicles landed upright, windows opened immediately and effectively. When vehicles landed inverted, or at a very steep angle, the system did not engage until an upright and level position was attained. Conclusions: This system may help decrease drowning deaths in sinking vehicles. If occupants do not know, or forget, what to do, the open window could hopefully prompt them to exit safely through that window.

An automatic window opening system to prevent drowning in vehicles sinking in water

KAUST Repository

Giesbrecht, Gordon G.

2017-07-12

Objective: Every year about 400 people die in submersed vehicles in North America and this number increases to 2,000–5,000 in all industrialized nations. The best way to survive is to quickly exit through the windows. An Automatic Window Opening System (AWOS; patent protected) was designed to sense when a vehicle is in water and to open the electric windows, but only when the vehicle is upright. Methods: The AWOS consists of a Detection Module (DM), in the engine compartment, and a Power Window Control Module (PWCM) inside the driver’s door. The DM contains a Water Sensor, a Level Sensor and a Microcontroller Unit (MCU). The Level Sensor provides the angular orientation of the car using a 3-axis acceleration sensor and prevents automatic window opening if the car is outside the orientation range (±20° in the roll axis, ±30° in the pitch axis, with a 2 s delay). Systems were installed on two cars and one SUV. A crane lowered vehicles in water either straight down (static tests) or by swinging the vehicles to produce forward movement (dynamic tests). Results: In all tests, when the vehicles landed upright, windows opened immediately and effectively. When vehicles landed inverted, or at a very steep angle, the system did not engage until an upright and level position was attained. Conclusions: This system may help decrease drowning deaths in sinking vehicles. If occupants do not know, or forget, what to do, the open window could hopefully prompt them to exit safely through that window.

Experiential Learning in Vehicle Dynamics Education via Motion Simulation and Interactive Gaming

Directory of Open Access Journals (Sweden)

Kevin Hulme

2009-01-01

Full Text Available Creating active, student-centered learning situations in postsecondary education is an ongoing challenge for engineering educators. Contemporary students familiar with visually engaging and fast-paced games can find traditional classroom methods of lecture and guided laboratory experiments limiting. This paper presents a methodology that incorporates driving simulation, motion simulation, and educational practices into an engaging, gaming-inspired simulation framework for a vehicle dynamics curriculum. The approach is designed to promote active student participation in authentic engineering experiences that enhance learning about road vehicle dynamics. The paper presents the student use of physical simulation and large-scale visualization to discover the impact that design decisions have on vehicle design using a gaming interface. The approach is evaluated using two experiments incorporated into a sequence of two upper level mechanical engineering courses.

Design Multi-Sides System Unmanned Surface Vehicle (USV) Rocket

Science.gov (United States)

Syam, Rafiudin; Sutresman, Onny; Mappaita, Abdullah; Amiruddin; Wiranata, Ardi

2018-02-01

This study aims to design and test USV multislide forms. This system is excellent for maneuvering on the x-y-z coordinates. The disadvantage of a single side USV is that it is very difficult to maneuver to achieve very dynamic targets. While for multi sides system easily maneuvered though x-y-z coordinates. In addition to security defense purposes, multi-side system is also good for maritime intelligence, surveillance. In this case, electric deducted fan with Multi-Side system so that the vehicle can still operate even in reverse condition. Multipleside USV experiments have done with good results. In a USV study designed to use two propulsions.

Analysis of Vehicle Steering and Driving Bifurcation Characteristics

Directory of Open Access Journals (Sweden)

Xianbin Wang

2015-01-01

Full Text Available The typical method of vehicle steering bifurcation analysis is based on the nonlinear autonomous vehicle model deriving from the classic two degrees of freedom (2DOF linear vehicle model. This method usually neglects the driving effect on steering bifurcation characteristics. However, in the steering and driving combined conditions, the tyre under different driving conditions can provide different lateral force. The steering bifurcation mechanism without the driving effect is not able to fully reveal the vehicle steering and driving bifurcation characteristics. Aiming at the aforementioned problem, this paper analyzed the vehicle steering and driving bifurcation characteristics with the consideration of driving effect. Based on the 5DOF vehicle system dynamics model with the consideration of driving effect, the 7DOF autonomous system model was established. The vehicle steering and driving bifurcation dynamic characteristics were analyzed with different driving mode and driving torque. Taking the front-wheel-drive system as an example, the dynamic evolution process of steering and driving bifurcation was analyzed by phase space, system state variables, power spectral density, and Lyapunov index. The numerical recognition results of chaos were also provided. The research results show that the driving mode and driving torque have the obvious effect on steering and driving bifurcation characteristics.

Integrated vehicle dynamics control using State Dependent Riccati Equations

NARCIS (Netherlands)

Bonsen, B.; Mansvelders, R.; Vermeer, E.

2010-01-01

In this paper we discuss a State Dependent Riccati Equations (SDRE) solution for Integrated Vehicle Dynamics Control (IVDC). The SDRE approach is a nonlinear variant of the well known Linear Quadratic Regulator (LQR) and implements a quadratic cost function optimization. A modified version of this

32 CFR 635.27 - Vehicle Registration System.

Science.gov (United States)

2010-07-01

... 32 National Defense 4 2010-07-01 2010-07-01 true Vehicle Registration System. 635.27 Section 635.27 National Defense Department of Defense (Continued) DEPARTMENT OF THE ARMY (CONTINUED) LAW ENFORCEMENT AND CRIMINAL INVESTIGATIONS LAW ENFORCEMENT REPORTING Offense Reporting § 635.27 Vehicle Registration System. The Vehicle Registration System (VR...

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.

Effects of profile wear on wheel–rail contact conditions and dynamic interaction of vehicle and turnout

Directory of Open Access Journals (Sweden)

Jingmang Xu

2016-01-01

Full Text Available Severe wear is a common damage mechanism in railway turnouts, which strongly affects the dynamic performance of railway vehicles and maintenance costs of tracks. This article explores the effects of profile wear on contact behaviors in the wheel–rail/switch contact and dynamic interaction, and nominal and measured worn turnout rail profiles are used as boundary conditions of wheel–rail contact. The calculation of the dynamic loads and the resultant contact stresses and internal stresses makes it possible to rationally design railway turnouts and correctly select the material to be applied for their components. For these reasons, the multi-body system SIMPACK and finite element software ANSYS are used to calculate the features of load and subsequently distributions of contact stresses and internal stresses in the regions of wheel–turnout components. The results show that profile wear disturbs the distribution of wheel–rail contact point pairs, changes the positions of wheel–rail contact points along the longitudinal direction, and affects the dynamic interaction of vehicle and turnout. For the measured profile in this article, profile wear aggravates vertical dynamic responses significantly but improves lateral dynamic responses. Profile wear disturbs the normal contact situations between the wheel and switch rail and worsens the stress state of the switch rail.

Introducing Dual Suspension System in Road Vehicles

Directory of Open Access Journals (Sweden)

Imtiaz Hussain

2013-04-01

Full Text Available The main objective of suspension system is to reduce the motions of the vehicle body with respect to road disturbances. The conventional suspension systems in road vehicles use passive elements such as springs and dampers to suppress the vibrations induced by the irregularities in the road. But these conventional suspension systems can suppress vibrations to a certain limit. This paper presents a novel idea to improve the ride quality of roads vehicles without compromising vehicle?s stability. The paper proposes the use of primary and secondary suspension to suppress the vibrations more effectively.

Developing Computational Fluid Dynamics (CFD Models to Evaluate Available Energy in Exhaust Systems of Diesel Light-Duty Vehicles

Directory of Open Access Journals (Sweden)

Pablo Fernández-Yáñez

2017-06-01

Full Text Available Around a third of the energy input in an automotive engine is wasted through the exhaust system. Since numerous technologies to harvest energy from exhaust gases are accessible, it is of great interest to find time- and cost-efficient methods to evaluate available thermal energy under different engine conditions. Computational fluid dynamics (CFD is becoming a very valuable tool for numerical predictions of exhaust flows. In this work, a methodology to build a simple three-dimensional (3D model of the exhaust system of automotive internal combustion engines (ICE was developed. Experimental data of exhaust gas in the most used part of the engine map in passenger diesel vehicles were employed as input for calculations. Sensitivity analyses of different numeric schemes have been conducted in order to attain accurate results. The model built allows for obtaining details on temperature and pressure fields along the exhaust system, and for complementing the experimental results for a better understanding of the flow phenomena and heat transfer through the system for further energy recovery devices.

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 ...

Numerical Modelling of the Dynamic Response of High-Speed Railway Bridges Considering Vehicle-Structure and Structure-Soil-Structure Interaction

DEFF Research Database (Denmark)

Bucinskas, Paulius; Agapii, L.; Sneideris, J.

2015-01-01

is idealized as a multi-degree-of-freedom system, modelled with two layers of spring-dashpot suspension systems. Coupling the vehicle system and railway track is realized through interaction forces between the wheels and the rail, where the irregularities of the track are implemented as a random stationary......The aim of this paper is the dynamic analysis of a multi-support bridge structure exposed to high-speed railway traffic. The proposed computational model has a unified approach for simultaneously accounting for the bridge structure response, soil response and forces induced by the vehicle....... The bridge structure is modelled in three dimensions based on the finite element method using two-noded three-dimensional beam elements. The track structure is composed of three layers: rail, sleepers and deck which are connected through spring-dashpot systems. The vehicle travelling along a bridge...

Logistic Vehicle System Replacement Cost Estimate

National Research Council Canada - National Science Library

Stinson, Margaret

1998-01-01

The Logistics Vehicle System (LVS) was originally fielded from 1985-1989. Most of the LVS fleet will reach end-of-service life in 2005, therefore the goal of the Logistics Vehicle System Replacement (LVSR...

FY2015 Vehicle Systems Annual Progress Report

Energy Technology Data Exchange (ETDEWEB)

None, None

2016-01-31

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

Hybrid vehicle powertrain system with power take-off driven vehicle accessory

Science.gov (United States)

Beaty, Kevin D.; Bockelmann, Thomas R.; Zou, Zhanijang; Hope, Mark E.; Kang, Xiaosong; Carpenter, Jeffrey L.

2006-09-12

A hybrid vehicle powertrain system includes a first prime mover, a first prime mover driven power transmission mechanism having a power take-off adapted to drive a vehicle accessory, and a second prime mover. The second prime mover is operable to drive the power transmission mechanism alone or in combination with the first prime mover to provide power to the power take-off through the power transmission mechanism. The invention further includes methods for operating a hybrid vehicle powertrain system.

Distributed Hardware-in-the-loop simulator for autonomous continuous dynamical systems with spatially constrained interactions

NARCIS (Netherlands)

Verburg, D.J.; Papp, Z.; Dorrepaal, M.

2003-01-01

The state-of-the-art intelligent vehicle, autonomous guided vehicle and mobile robotics application domains can be described as collection of interacting highly autonomous complex dynamical systems. Extensive formal analysis of these systems – except special cases – is not feasible, consequently the

Comparative Performance of Rear Facing Child Restraint Systems on the CMVSS 213 Bench and Vehicle Seats

Science.gov (United States)

Tylko, Suzanne; Locey, Caitlin M.; Garcia-Espana, J. Felipe; Arbogast, Kristy B.; Maltese, Matthew R.

2013-01-01

The purpose of this study was to compare the dynamic response of rear-facing child restraint systems (RFCRS) installed on the CMVSS 213 sled bench and a selection of vehicle seats. Thirty-six sled tests were conducted: three models of rear facing CRS with an anthropomorphic test device (ATD) representing a 12 month old child (CRABI) were affixed via lower anchors (LATCH), 3 point belt without CRS base, and 3 point belt with CRS base to one of three vehicle seats or the CMVSS 213 bench seat. All CRS were subjected to an identical sled acceleration pulse. Two types of matched pair analysis: “bench-to-vehicle” and “method of attachment” were conducted. Statistically significant differences were observed in the kinematic responses of the ATD and the CRS. This is the first study to quantify differences between the regulatory bench and vehicle seats on a system level and evaluate the influence of attachment method. Our results show that the difference in RFCRS forward excursion between 3-point belt with base and LATCH installations was between 1 and 7 percent on the bench and 22 to 76 percent on the vehicle seats. When evaluating the dynamic performance of RFCRS, the use of real vehicle seats from vehicles that commonly carry children may provide valuable insight. The findings would require further confirmation using a broader selection of RFCRS and vehicle seats, before generalizable conclusions can be drawn. PMID:24406967

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.

Numerical analysis of dynamic response of vehicle–bridge coupled system on long-span continuous girder bridge

OpenAIRE

An, Lipeng; Li, Dejian; Yu, Peng; Yuan, Peng

2016-01-01

To systematically study the vehicle–bridge coupled dynamic response and its change rule with different parameters, a vehicle model with seven degrees of freedom was built and the total potential energy of vehicle space vibration system was deduced. Considering the stimulation of road roughness, the dynamic response equation of vehicle–bridge coupled system was established in accordance with the elastic system principle of total potential energy with stationary value and the “set-in-right-posi...

Hypersonic Vehicle Propulsion System Simplified Model Development

Science.gov (United States)

Stueber, Thomas J.; Raitano, Paul; Le, Dzu K.; Ouzts, Peter

2007-01-01

This document addresses the modeling task plan for the hypersonic GN&C GRC team members. The overall propulsion system modeling task plan is a multi-step process and the task plan identified in this document addresses the first steps (short term modeling goals). The procedures and tools produced from this effort will be useful for creating simplified dynamic models applicable to a hypersonic vehicle propulsion system. The document continues with the GRC short term modeling goal. Next, a general description of the desired simplified model is presented along with simulations that are available to varying degrees. The simulations may be available in electronic form (FORTRAN, CFD, MatLab,...) or in paper form in published documents. Finally, roadmaps outlining possible avenues towards realizing simplified model are presented.

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.

The science of vehicle dynamics handling, braking, and ride of road and race cars

CERN Document Server

Guiggiani, Massimo

2014-01-01

Vehicle dynamics is often perceived as a quite intuitive subject. As a matter of fact, lots of people are able to drive a car. Nevertheless, without a rigorous mathematical formulation it is very difficult to truly understand the physical phenomena involved in the motion of a road vehicle. In this book, mathematical models of vehicles are developed, always paying attention to state the relevant assumptions and to provide explanations for each step. This approach allows for a deep, yet simple, analysis of the dynamics of vehicles, without having to resort to foggy concepts. The reader will soon achieve a clear understanding of the subject, which will be of great help both in dealing with the challenges of designing and testing new vehicles and in tackling new research topics. The book covers handling and performance of both road and race cars. A new approach, called MAP (Map of Achievable Performance), is presented and thoroughly discussed. It provides a global and intuitive picture of the handling features of...

Integrated vehicle control and guidance systems in unmanned ground vehicles for commercial applications

Science.gov (United States)

Kenyon, Chase H.

1995-01-01

While there is a lot of recent development in the entire IVHS field, very few have had the opportunity to combine the many areas of development into a single integrated `intelligent' unmanned vehicle. One of our systems was developed specifically to serve a major automobile manufacturer's need for an automated vehicle chassis durability test facility. Due to the severity of the road surface human drivers could not be used. A totally automated robotic vehicle driver and guidance system was necessary. In order to deliver fixed price commercial projects now, it was apparent system and component costs were of paramount importance. Cyplex has developed a robust, cost effective single wire guidance system. This system has inherent advantages in system simplicity. Multi-signal (per vehicle lane) systems complicate path planning and layout when multiple lanes and lane changes are required, as on actual highways. The system has demonstrated high enough immunity to rain and light snow cover that normal safety reductions in speed are adequate to stay within the required system performance envelope. This system and it's antenna interface have shown the ability to guide the vehicle at slow speeds (10 MPH) with a tracking repeatability of plus or minus 1/8 of an inch. The basic guide and antenna system has been tested at speeds up to 80 mph. The system has inherently superior abilities for lane changes and precision vehicle placement. The operation of this system will be described and the impact of a system that is commercially viable now for highway and off road use will be discussed.

DESIGN OF A REAL TIME REMOTE VEHICLE LOCATION SYSTEM

Directory of Open Access Journals (Sweden)

Ahmet Emir DİRİK

2004-02-01

Full Text Available In this study, a low-cost, real-time vehicle location system is developed. The vehicle location system includes three main modules, i.e. positioning, wireless communication and digital map modules. The positioning module used in location systems computes position of the mobile vehicle. These vehicle location data are transmitted through a wireless communication system to host. The host has a capability to monitor a fleet of vehicles by analyzing data collected from wireless communication system. In this project, mobile vehicle location positions can be computed in a range of 10m position error and by using these position data, its possible to monitor the fleet of mobile vehicles on a digital map in the observation and control center. In this study, vehicle analog mobile radios are used to establish wireless communication system. Thus, there is no need to use satellite or GSM systems for communication and a low-cost and high-performance vehicle location system is realized.

Stress-oriented driver assistance system for electric vehicles.

Science.gov (United States)

Athanasiou, Georgia; Tsotoulidis, Savvas; Mitronikas, Epaminondas; Lymberopoulos, Dimitrios

2014-01-01

Stress is physiological and physical reaction that appears in highly demanding situations and affects human's perception and reaction capability. Occurrence of stress events within highly dynamic road environment could lead to life-threatening situation. With the perspective of safety and comfort driving provision to anxious drivers, in this paper a stress-oriented Driver Assistance System (DAS) is proposed. The DAS deployed on Electric Vehicle. This novel DAS customizes driving command signal in respect to road context, when stress is detected. The effectiveness of this novel DAS is verified by simulation in MATLAB/SIMULINK environment.

Developing a Distributed Consensus-Based Cooperative Adaptive Cruise Control System for Heterogeneous Vehicles with Predecessor Following Topology

Directory of Open Access Journals (Sweden)

Ziran Wang

2017-01-01

Full Text Available Connected and automated vehicle (CAV has become an increasingly popular topic recently. As an application, Cooperative Adaptive Cruise Control (CACC systems are of high interest, allowing CAVs to communicate with each other and coordinating their maneuvers to form platoons, where one vehicle follows another with a constant velocity and/or time headway. In this study, we propose a novel CACC system, where distributed consensus algorithm and protocol are designed for platoon formation, merging maneuvers, and splitting maneuvers. Predecessor following information flow topology is adopted for the system, where each vehicle only communicates with its following vehicle to reach consensus of the whole platoon, making the vehicle-to-vehicle (V2V communication fast and accurate. Moreover, different from most studies assuming the type and dynamics of all the vehicles in a platoon to be homogenous, we take into account the length, location of GPS antenna on vehicle, and braking performance of different vehicles. A simulation study has been conducted under scenarios including normal platoon formation, platoon restoration from disturbances, and merging and splitting maneuvers. We have also carried out a sensitivity analysis on the distributed consensus algorithm, investigating the effect of the damping gain on convergence rate, driving comfort, and driving safety of the system.

Dealing with the Empty Vehicle Movements in Personal Rapid Transit System with Batteries Constraints in a Dynamic Context

Directory of Open Access Journals (Sweden)

Ezzeddine Fatnassi

2017-01-01

Full Text Available The Personal Rapid Transit is a new emergent transportation tool. It relies on using a set of small driverless electric vehicles to transport people on demand. Because of the specific on-demand characteristic of the Personal Rapid Transit system, many Personal Rapid Transit vehicles would move empty which results in a high level of wasted transportation capacity. This is enhanced while using Personal Rapid Transit vehicles with limited electric battery capacity. This paper deals with this problem in a real time context while minimizing the set of empty vehicle movements. First, a mathematical formulation to benchmark waiting time of passengers in Personal Rapid Transit systems is proposed. Then, a simulation model that captures the main features of the Personal Rapid Transit system is developed. A decision support system which integrates several real time solution strategies as well as a simulation module is proposed. Our dispatching strategies are evaluated and compared based on our simulation model. The efficiency of our method is tested through extensive test studies.

Numerical analysis of dynamic response of vehicle–bridge coupled system on long-span continuous girder bridge

Directory of Open Access Journals (Sweden)

Lipeng An

2016-07-01

Full Text Available To systematically study the vehicle–bridge coupled dynamic response and its change rule with different parameters, a vehicle model with seven degrees of freedom was built and the total potential energy of vehicle space vibration system was deduced. Considering the stimulation of road roughness, the dynamic response equation of vehicle–bridge coupled system was established in accordance with the elastic system principle of total potential energy with stationary value and the “set-in-right-position” rule. On the basis of the self-compiled Fortran program and bridge engineering, the dynamic response of long-span continuous girder bridge under vehicle load was studied. This study also included the calculation of vehicle impact coefficient, evaluation of vibration comfort, and analysis of dynamic response parameters. Results show the impact coefficient changes with lane number and is larger than the value calculated by the “general code for design of highway bridges and culverts (China”. The Dieckmann index of bridge vibration is also related to lane number, and the vibration comfort evaluation is good in normal conditions. The relevant conclusions from parametric analyses have practical significance to dynamic design and daily operation of long-span continuous girder bridges in expressways. Safety and comfort are expected to improve significantly with further control of the vibration of vehicle–bridge system.

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.

Research on Dynamic Coupled Characteristics of A Tracked Vehicle Gearbox

Directory of Open Access Journals (Sweden)

Hui Liu

2011-12-01

Full Text Available A tracked vehicle gearbox is divided into two subsystems-housing and gear train. Dynamic behaviors of the two subsystems are coupled practically. And the coupled characteristics describe the integrative dynamic behaviors of gearbox. This study proposes a coupled simulation model to investigate the interrelationship between dynamics of two subsystems. Multi-source excitations are numerically calculated to provide boundary conditions. The flexibility of transmission shafts and housing is mathematically described based on mode superposition. The coupled dynamic characteristics are analyzed with dynamics simulation computation. The flexibility of housing is one of the main causes to induce the fluctuation of dynamic responses of transmission shafts. The experimental results show that the proposed method is accurate through comparison of simulation results and test data.

Vehicle/Guideway Interaction in Maglev Systems

Science.gov (United States)

1992-03-01

Technology Division Materials and Components in Maglev Systems Technology Division Materials and Components Technology Division byY. Cai, S. S. Chen, and D. M...Transportation Systems Reports (UC-330, Vehicle/Guideway Interaction in Maglev Systems by Y. Cai and S. S. Chen Materials and Components Technology Division D. M...Surface Irregularities ...................................... 32 4 Vehicle/Guideway Interaction in Transrapid Maglev System .................. 34 4.1

System analysis of vehicle active safety problem

Science.gov (United States)

Buznikov, S. E.

2018-02-01

The problem of the road transport safety affects the vital interests of the most of the population and is characterized by a global level of significance. The system analysis of problem of creation of competitive active vehicle safety systems is presented as an interrelated complex of tasks of multi-criterion optimization and dynamic stabilization of the state variables of a controlled object. Solving them requires generation of all possible variants of technical solutions within the software and hardware domains and synthesis of the control, which is close to optimum. For implementing the task of the system analysis the Zwicky “morphological box” method is used. Creation of comprehensive active safety systems involves solution of the problem of preventing typical collisions. For solving it, a structured set of collisions is introduced with its elements being generated also using the Zwicky “morphological box” method. The obstacle speed, the longitudinal acceleration of the controlled object and the unpredictable changes in its movement direction due to certain faults, the road surface condition and the control errors are taken as structure variables that characterize the conditions of collisions. The conditions for preventing typical collisions are presented as inequalities for physical variables that define the state vector of the object and its dynamic limits.

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.

Study on the Dynamics of Laser Gyro Strapdown Inertial Measurement Unit System Based on Transfer Matrix Method for Multibody System

Directory of Open Access Journals (Sweden)

Gangli Chen

2013-01-01

Full Text Available The dynamic test precision of the strapdown inertial measurement unit (SIMU is the basis of estimating accurate motion of various vehicles such as warships, airplanes, spacecrafts, and missiles. So, it is paid great attention in the above fields to increase the dynamic precision of SIMU by decreasing the vibration of the vehicles acting on the SIMU. In this paper, based on the transfer matrix method for multibody system (MSTMM, the multibody system dynamics model of laser gyro strapdown inertial measurement unit (LGSIMU is developed; the overall transfer equation of the system is deduced automatically. The computational results show that the frequency response function of the LGSIMU got by the proposed method and Newton-Euler method have good agreements. Further, the vibration reduction performance and the attitude error responses under harmonic and random excitations are analyzed. The proposed method provides a powerful technique for studying dynamics of LGSIMU because of using MSTMM and its following features: without the global dynamics equations of the system, high programming, low order of system matrix, and high computational speed.

Space Vehicle Valve System

Science.gov (United States)

Kelley, Anthony R. (Inventor); Lindner, Jeffrey L. (Inventor)

2014-01-01

The present invention is a space vehicle valve system which controls the internal pressure of a space vehicle and the flow rate of purged gases at a given internal pressure and aperture site. A plurality of quasi-unique variable dimension peaked valve structures cover the purge apertures on a space vehicle. Interchangeable sheet guards configured to cover valve apertures on the peaked valve structure contain a pressure-activated surface on the inner surface. Sheet guards move outwardly from the peaked valve structure when in structural contact with a purge gas stream flowing through the apertures on the space vehicle. Changing the properties of the sheet guards changes the response of the sheet guards at a given internal pressure, providing control of the flow rate at a given aperture site.

Dynamics of Nonlinear Time-Delay Systems

CERN Document Server

Lakshmanan, Muthusamy

2010-01-01

Synchronization of chaotic systems, a patently nonlinear phenomenon, has emerged as a highly active interdisciplinary research topic at the interface of physics, biology, applied mathematics and engineering sciences. In this connection, time-delay systems described by delay differential equations have developed as particularly suitable tools for modeling specific dynamical systems. Indeed, time-delay is ubiquitous in many physical systems, for example due to finite switching speeds of amplifiers in electronic circuits, finite lengths of vehicles in traffic flows, finite signal propagation times in biological networks and circuits, and quite generally whenever memory effects are relevant. This monograph presents the basics of chaotic time-delay systems and their synchronization with an emphasis on the effects of time-delay feedback which give rise to new collective dynamics. Special attention is devoted to scalar chaotic/hyperchaotic time-delay systems, and some higher order models, occurring in different bran...

Smart mobile in-vehicle systems next generation advancements

CERN Document Server

Abut, Huseyin; Takeda, Kazuya; Hansen, John

2014-01-01

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

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.

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....

Vehicle Signal Analysis Using Artificial Neural Networks for a Bridge Weigh-in-Motion System

Directory of Open Access Journals (Sweden)

Min-Seok Park

2009-10-01

Full Text Available This paper describes the procedures for development of signal analysis algorithms using artificial neural networks for Bridge Weigh-in-Motion (B-WIM systems. Through the analysis procedure, the extraction of information concerning heavy traffic vehicles such as weight, speed, and number of axles from the time domain strain data of the B-WIM system was attempted. As one of the several possible pattern recognition techniques, an Artificial Neural Network (ANN was employed since it could effectively include dynamic effects and bridge-vehicle interactions. A number of vehicle traveling experiments with sufficient load cases were executed on two different types of bridges, a simply supported pre-stressed concrete girder bridge and a cable-stayed bridge. Different types of WIM systems such as high-speed WIM or low-speed WIM were also utilized during the experiments for cross-checking and to validate the performance of the developed algorithms.

Vehicle Signal Analysis Using Artificial Neural Networks for a Bridge Weigh-in-Motion System.

Science.gov (United States)

Kim, Sungkon; Lee, Jungwhee; Park, Min-Seok; Jo, Byung-Wan

2009-01-01

This paper describes the procedures for development of signal analysis algorithms using artificial neural networks for Bridge Weigh-in-Motion (B-WIM) systems. Through the analysis procedure, the extraction of information concerning heavy traffic vehicles such as weight, speed, and number of axles from the time domain strain data of the B-WIM system was attempted. As one of the several possible pattern recognition techniques, an Artificial Neural Network (ANN) was employed since it could effectively include dynamic effects and bridge-vehicle interactions. A number of vehicle traveling experiments with sufficient load cases were executed on two different types of bridges, a simply supported pre-stressed concrete girder bridge and a cable-stayed bridge. Different types of WIM systems such as high-speed WIM or low-speed WIM were also utilized during the experiments for cross-checking and to validate the performance of the developed algorithms.

Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle

Directory of Open Access Journals (Sweden)

Linhui Zhao

2014-01-01

Full Text Available Vehicle velocity and roll angle are important information for active safety control systems of four-wheel independent drive electric vehicle. In order to obtain robustness estimation of vehicle velocity and roll angle, a novel method is proposed based on vehicle dynamics and the measurement information provided by the sensors equipped in modern cars. The method is robust with respect to different road and friction conditions. Firstly, the dynamic characteristics of four-wheel independent drive electric vehicle are analyzed, and a four-degree-of-freedom nonlinear dynamic model of vehicle and a tire longitudinal dynamic equation are established. The relationship between the longitudinal and lateral friction forces is derived based on Dugoff tire model. The unknown input reconstruction technique of sliding mode observer is used to achieve longitudinal tire friction force estimation. A simple observer is designed for the estimation of the roll angle of the vehicle. And then using the relationship, the estimated longitudinal friction forces and roll angle, a sliding mode observer for vehicle velocity estimation is provided, which does not need to know the tire-road friction coefficient and road angles. Finally, the proposed method is evaluated experimentally under a variety of maneuvers and road conditions.

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.

A Monarch Butterfly Optimization for the Dynamic Vehicle Routing Problem

Directory of Open Access Journals (Sweden)

Shifeng Chen

2017-09-01

Full Text Available The dynamic vehicle routing problem (DVRP is a variant of the Vehicle Routing Problem (VRP in which customers appear dynamically. The objective is to determine a set of routes that minimizes the total travel distance. In this paper, we propose a monarch butterfly optimization (MBO algorithm to solve DVRPs, utilizing a greedy strategy. Both migration operation and the butterfly adjusting operator only accept the offspring of butterfly individuals that have better fitness than their parents. To improve performance, a later perturbation procedure is implemented, to maintain a balance between global diversification and local intensification. The computational results indicate that the proposed technique outperforms the existing approaches in the literature for average performance by at least 9.38%. In addition, 12 new best solutions were found. This shows that this proposed technique consistently produces high-quality solutions and outperforms other published heuristics for the DVRP.

Advanced propulsion system for hybrid vehicles

Science.gov (United States)

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

1980-01-01

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

Design and Implementation of an Emergency Vehicle Signal Preemption System Based on Cooperative Vehicle-Infrastructure Technology

OpenAIRE

Yinsong Wang; Zhizhou Wu; Xiaoguang Yang; Luoyi Huang

2013-01-01

Emergency vehicle is an important part of traffic flow. The efficiency, reliability, and safety of emergency vehicle operations dropped due to increasing traffic congestion. With the advancement of the wireless communication technologies and the development of the vehicle-to-vehicle (v2v) and vehicle-to-infrastructure (v2i) systems, called Cooperative Vehicle-Infrastructure System (CVIS), there is an opportunity to provide appropriate traffic signal preemption for emergency vehicle based on r...

Precise Analysis on Mutual Inductance Variation in Dynamic Wireless Charging of Electric Vehicle

Directory of Open Access Journals (Sweden)

Ainur Rakhymbay

2018-03-01

Full Text Available Wireless power transfer provides an opportunity to charge electric vehicles (EVs without electrical cables. Two categories of this technique are distinguished: Stationary Wireless Charging (SWC and Dynamic Wireless Charging (DWC systems. Implementation of DWC is more desirable than SWC as it can potentially eliminate challenges associated with heavy weight batteries and time-consuming charging processes. However, power transfer efficiency and range, lateral misalignment of coils as well as implementation cost are issues affecting DWC. These issues need to be addressed through developing coil architectures and topologies as well as operating novel semiconductor switches at higher frequencies. This study presents a small-scale dynamic wireless power transfer system for EV. It specifically concentrates on analyzing the dynamic mutual inductance between the coils due to the misalignment as it has significant influence on the EV charging process, particularly, over the output power and overall efficiency. A simulation study is carried out to explore dynamic mutual inductance profile between the transmitter and receiver coils. Mutual inductance simulation results are then verified through practical measurements on fabricated coils. Integrating the practical results into the model, an EV DWC power transfer simulation is conducted and the relation between dynamic mutual inductance and output power are discussed technically.

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.

Establishment and verification of three-dimensional dynamic model for heavy-haul train-track coupled system

Science.gov (United States)

Liu, Pengfei; Zhai, Wanming; Wang, Kaiyun

2016-11-01

For the long heavy-haul train, the basic principles of the inter-vehicle interaction and train-track dynamic interaction are analysed firstly. Based on the theories of train longitudinal dynamics and vehicle-track coupled dynamics, a three-dimensional (3-D) dynamic model of the heavy-haul train-track coupled system is established through a modularised method. Specifically, this model includes the subsystems such as the train control, the vehicle, the wheel-rail relation and the line geometries. And for the calculation of the wheel-rail interaction force under the driving or braking conditions, the large creep phenomenon that may occur within the wheel-rail contact patch is considered. For the coupler and draft gear system, the coupler forces in three directions and the coupler lateral tilt angles in curves are calculated. Then, according to the characteristics of the long heavy-haul train, an efficient solving method is developed to improve the computational efficiency for such a large system. Some basic principles which should be followed in order to meet the requirement of calculation accuracy are determined. Finally, the 3-D train-track coupled model is verified by comparing the calculated results with the running test results. It is indicated that the proposed dynamic model could simulate the dynamic performance of the heavy-haul train well.

Vehicle Systems Analysis Technical Team Roadmap

Energy Technology Data Exchange (ETDEWEB)

None

2013-06-01

The mission of the Vehicle Systems Analysis Technical Team (VSATT) is to evaluate the performance and interactions of proposed advanced automotive powertrain components and subsystems, in a vehicle systems context, to inform ongoing research and development activities and maximize the potential for fuel efficiency improvements and emission reduction.

Integration of passive driver-assistance systems with on-board vehicle systems

Science.gov (United States)

Savchenko, V. V.; Poddubko, S. N.

2018-02-01

Implementation in OIAS such functions as driver’s state monitoring and high-precision calculation of the current navigation coordinates of the vehicle, modularity of the OIAS construction and the possible increase in the functionality through integration with other onboard systems has a promising development future. The development of intelligent transport systems and their components allows setting and solving fundamentally new tasks for the safety of human-to-machine transport systems, and the automatic analysis of heterogeneous information flows provides a synergistic effect. The analysis of cross-modal information exchange in human-machine transport systems, from uniform methodological points of view, will allow us, with an accuracy acceptable for solving applied problems, to form in real time an integrated assessment of the state of the basic components of the human-to-machine system and the dynamics in changing situation-centered environment, including the external environment, in their interrelations.

Parameter Estimation and Verification of Unmanned Air Cushion Vehicle (UACV System

Directory of Open Access Journals (Sweden)

Ab Rashid Mohd Zamzuri

2017-01-01

Full Text Available This project is mainly about the dynamic modelling and parameter estimation of Unmanned Air Cushion Vehicle (UACV. The purpose of developing mathematical model of the Unmanned Air Cushion Vehicle (UACV is due to its under actuated nonlinearities where it has less input compared to the output required. This system able to maneuver over land, water and other surfaces either at certain speed or maintain at a stationary position. In order to model the UACV, the system is set to have two propellers which are responsible to lift the vehicle by forcing high pressure air under the system. The air inflates the “skirt” under the vehicle, causing it to rise above the surface while another two propellers are used to steer the UACV forward. UACV system can be considered as under actuated since it possess fewer controller inputs that its degree of freedom. The system’s motions are defined by the six degrees of freedom which are; heaved, sway and surge. Another three components are rotational motions which can be elaborated as roll, pitch and yaw. The problem related to UACV is normally related to obtaining accurate parameters of the system to be included into the mathematical model of the system. This is due to the body inertia of the system during the static and moving condition. Besides, the air that flows into the UACV skirt to create the cushion causes imbalance and will affect the system stability and controllability. In this research, UACV need to be mathematically modelled using Euler-Lagrange method. Then, parameters of the system can be obtained through direct calculation and Solidworks software. The parameters acquired are compared and verified using simulation and experimental studies.

[Dynamic road vehicle emission inventory simulation study based on real time traffic information].

Science.gov (United States)

Huang, Cheng; Liu, Juan; Chen, Chang-Hong; Zhang, Jian; Liu, Deng-Guo; Zhu, Jing-Yu; Huang, Wei-Ming; Chao, Yuan

2012-11-01

The vehicle activity survey, including traffic flow distribution, driving condition, and vehicle technologies, were conducted in Shanghai. The databases of vehicle flow, VSP distribution and vehicle categories were established according to the surveyed data. Based on this, a dynamic vehicle emission inventory simulation method was designed by using the real time traffic information data, such as traffic flow and average speed. Some roads in Shanghai city were selected to conduct the hourly vehicle emission simulation as a case study. The survey results show that light duty passenger car and taxi are major vehicles on the roads of Shanghai city, accounting for 48% - 72% and 15% - 43% of the total flow in each hour, respectively. VSP distribution has a good relationship with the average speed. The peak of VSP distribution tends to move to high load section and become lower with the increase of average speed. Vehicles achieved Euro 2 and Euro 3 standards are majorities of current vehicle population in Shanghai. Based on the calibration of vehicle travel mileage data, the proportions of Euro 2 and Euro 3 standard vehicles take up 11% - 70% and 17% - 51% in the real-world situation, respectively. The emission simulation results indicate that the ratios of emission peak and valley for the pollutants of CO, VOC, NO(x) and PM are 3.7, 4.6, 9.6 and 19.8, respectively. CO and VOC emissions mainly come from light-duty passenger car and taxi, which has a good relationship with the traffic flow. NO(x) and PM emissions are mainly from heavy-duty bus and public buses and mainly concentrate in the morning and evening peak hours. The established dynamic vehicle emission simulation method can reflect the change of actual road emission and output high emission road sectors and hours in real time. The method can provide an important technical means and decision-making basis for transportation environment management.

Thermodynamic model of a thermal storage air conditioning system with dynamic behavior

Energy Technology Data Exchange (ETDEWEB)

Fleming, E; Wen, SY; Shi, L; da Silva, AK

2013-12-01

A thermodynamic model was developed to predict transient behavior of a thermal storage system, using phase change materials (PCMs), for a novel electric vehicle climate conditioning application. The main objectives of the paper are to consider the system's dynamic behavior, such as a dynamic air flow rate into the vehicle's cabin, and to characterize the transient heat transfer process between the thermal storage unit and the vehicle's cabin, while still maintaining accurate solution to the complex phase change heat transfer. The system studied consists of a heat transfer fluid circulating between either of the on-board hot and cold thermal storage units, which we refer to as thermal batteries, and a liquid-air heat exchanger that provides heat exchange with the incoming air to the vehicle cabin. Each thermal battery is a shell-and-tube configuration where a heat transfer fluid flows through parallel tubes, which are surrounded by PCM within a larger shell. The system model incorporates computationally inexpensive semianalytic solution to the conjugated laminar forced convection and phase change problem within the battery and accounts for airside heat exchange using the Number of Transfer Units (NTUs) method for the liquid-air heat exchanger. Using this approach, we are able to obtain an accurate solution to the complex heat transfer problem within the battery while also incorporating the impact of the airside heat transfer on the overall system performance. The implemented model was benchmarked against a numerical study for a melting process and against full system experimental data for solidification using paraffin wax as the PCM. Through modeling, we demonstrate the importance of capturing the airside heat exchange impact on system performance, and we investigate system response to dynamic operating conditions, e.g., air recirculation. (C) 2013 Elsevier Ltd. All rights reserved.

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.

Experimental study of the vehicle dynamics behavior during lane changing in different speeds

Science.gov (United States)

Heerwan, P. M.; Asyraf, S. M.; Efistein, A. N.; Seah, C. H.; Zikri, J. M.; Syawahieda, J. N.

2017-10-01

During lane changing, the speed of the vehicle is related to the stability of the vehicle. If the driver changes the lane at a high speed, the vehicle will lose its stability and it can increase the possibility of an accident. In this study, the experiment has been developed to analyse how the speed of the vehicle can affect the vehicle dynamics behavior. To achieve this objective, the UMP Test Car which employed with global positioning system (GPS), steering torque and angle sensor, displacement sensor and gyro sensor is used in the experiment. The experiment is run at the UMP test track and the track has 2 lanes which can allows the vehicle to change the position from the left to the right. In the experiment, when the GPS monitor shows 30 km/h, the driver will maintain the speed and start to turn the steering just after the test car reaches to the first skittle. Then, the driver will turn again the steering when the test car reaches to the second skittle. This method is repeated two times and the same methods is used for the speed 50 km/h. The data from the sensors is recorded in the Dewetron software and the graph is plotted. From the experimental results, the steering angle, steering torque, yaw rate and displacement for the speed 30 km/h is smaller than 50 km/h. It means that during lane changing, the speed 30 km/h is more stable compared with 50 km/h.

Advanced Range Safety System for High Energy Vehicles

Science.gov (United States)

Claxton, Jeffrey S.; Linton, Donald F.

2002-01-01

The advanced range safety system project is a collaboration between the National Aeronautics and Space Administration and the United States Air Force to develop systems that would reduce costs and schedule for safety approval for new classes of unmanned high-energy vehicles. The mission-planning feature for this system would yield flight profiles that satisfy the mission requirements for the user while providing an increased quality of risk assessment, enhancing public safety. By improving the speed and accuracy of predicting risks to the public, mission planners would be able to expand flight envelopes significantly. Once in place, this system is expected to offer the flexibility of handling real-time risk management for the high-energy capabilities of hypersonic vehicles including autonomous return-from-orbit vehicles and extended flight profiles over land. Users of this system would include mission planners of Space Launch Initiative vehicles, space planes, and other high-energy vehicles. The real-time features of the system could make extended flight of a malfunctioning vehicle possible, in lieu of an immediate terminate decision. With this improved capability, the user would have more time for anomaly resolution and potential recovery of a malfunctioning vehicle.

Integration of regenerative shock absorber into vehicle electric system

Science.gov (United States)

Zhang, Chongxiao; Li, Peng; Xing, Shaoxu; Kim, Junyoung; Yu, Liangyao; Zuo, Lei

2014-03-01

Regenerative/Energy harvesting shock absorbers have a great potential to increase fuel efficiency and provide suspension damping simultaneously. In recent years there's intensive work on this topic, but most researches focus on electricity extraction from vibration and harvesting efficiency improvement. The integration of electricity generated from regenerative shock absorbers into vehicle electric system, which is very important to realize the fuel efficiency benefit, has not been investigated. This paper is to study and demonstrate the integration of regenerative shock absorber with vehicle alternator, battery and in-vehicle electrical load together. In the presented system, the shock absorber is excited by a shaker and it converts kinetic energy into electricity. The harvested electricity flows into a DC/DC converter which realizes two functions: controlling the shock absorber's damping and regulating the output voltage. The damping is tuned by controlling shock absorber's output current, which is also the input current of DC/DC converter. By adjusting the duty cycles of switches in the converter, its input impedance together with input current can be adjusted according to dynamic damping requirements. An automotive lead-acid battery is charged by the DC/DC converter's output. To simulate the working condition of combustion engine, an AC motor is used to drive a truck alternator, which also charges the battery. Power resistors are used as battery's electrical load to simulate in-vehicle electrical devices. Experimental results show that the proposed integration strategy can effectively utilize the harvested electricity and power consumption of the AC motor is decreased accordingly. This proves the combustion engine's load reduction and fuel efficiency improvement.

Electric Vehicle Integration into Modern Power Networks

DEFF Research Database (Denmark)

software tools to assess the impacts resulting from the electric vehicles deployment on the steady state and dynamic operation of electricity grids, identifies strategies to mitigate them and the possibility to support simultaneously large-scale integration of renewable energy sources. New business models......Electric Vehicle Integration into Modern Power Networks provides coverage of the challenges and opportunities posed by the progressive integration of electric drive vehicles. Starting with a thorough overview of the current electric vehicle and battery state-of-the-art, this work describes dynamic...... and control management architectures, as well as the communication infrastructure required to integrate electric vehicles as active demand are presented. Finally, regulatory issues of integrating electric vehicles into modern power systems are addressed. Inspired by two courses held under the EES...

Electric Vehicle Integration into Modern Power Networks

DEFF Research Database (Denmark)

Electric Vehicle Integration into Modern Power Networks provides coverage of the challenges and opportunities posed by the progressive integration of electric drive vehicles. Starting with a thorough overview of the current electric vehicle and battery state-of-the-art, this work describes dynamic...... software tools to assess the impacts resulting from the electric vehicles deployment on the steady state and dynamic operation of electricity grids, identifies strategies to mitigate them and the possibility to support simultaneously large-scale integration of renewable energy sources. New business models...... and control management architectures, as well as the communication infrastructure required to integrate electric vehicles as active demand are presented. Finally, regulatory issues of integrating electric vehicles into modern power systems are addressed. Inspired by two courses held under the EES...

Launch vehicle tracking enhancement through Global Positioning System Metric Tracking

Science.gov (United States)

Moore, T. C.; Li, Hanchu; Gray, T.; Doran, A.

United Launch Alliance (ULA) initiated operational flights of both the Atlas V and Delta IV launch vehicle families in 2002. The Atlas V and Delta IV launch vehicles were developed jointly with the US Air Force (USAF) as part of the Evolved Expendable Launch Vehicle (EELV) program. Both Launch Vehicle (LV) families have provided 100% mission success since their respective inaugural launches and demonstrated launch capability from both Vandenberg Air Force Base (VAFB) on the Western Test Range and Cape Canaveral Air Force Station (CCAFS) on the Eastern Test Range. However, the current EELV fleet communications, tracking, & control architecture & technology, which date back to the origins of the space launch business, require support by a large and high cost ground footprint. The USAF has embarked on an initiative known as Future Flight Safety System (FFSS) that will significantly reduce Test Range Operations and Maintenance (O& M) cost by closing facilities and decommissioning ground assets. In support of the FFSS, a Global Positioning System Metric Tracking (GPS MT) System based on the Global Positioning System (GPS) satellite constellation has been developed for EELV which will allow both Ranges to divest some of their radar assets. The Air Force, ULA and Space Vector have flown the first 2 Atlas Certification vehicles demonstrating the successful operation of the GPS MT System. The first Atlas V certification flight was completed in February 2012 from CCAFS, the second Atlas V certification flight from VAFB was completed in September 2012 and the third certification flight on a Delta IV was completed October 2012 from CCAFS. The GPS MT System will provide precise LV position, velocity and timing information that can replace ground radar tracking resource functionality. The GPS MT system will provide an independent position/velocity S-Band telemetry downlink to support the current man-in-the-loop ground-based commanded destruct of an anomalous flight- The system

Light armoured reconnaissance vehicle system S-LOV-CBRN

International Nuclear Information System (INIS)

Tomek, M.; Kare, J.; Cuda, P.; Fisera, O.; Res, B

2014-01-01

Light armoured reconnaissance vehicle system S-LOV-CBRN is intended mainly for CBRN reconnaissance and CBRN monitoring of areas of interest. The vehicle is designed to fulfil the missions according to military CBRN scenarios and to support effectively the first responders' teams during their response to the extent CBRN incident.The vehicle is equipped with a chemical (C) and a biological (B) detection system, as well as with a radiation and nuclear (RN) detection system consisting of the control unit with an internal dosimetric probe and of two external ones which are mounted on the right and left side of the vehicle. In this abstract the vehicle system S-LOV-CBRN is shortly described. (authors)

NET in-vessel vehicle system

International Nuclear Information System (INIS)

Jones, H.

1991-02-01

The CFFTP/Spar In-vessel Vehicle System concept for in-vessel remote maintenance of the NET/ITER machine is described. It comprises a curved deployable boom, a vehicle which can travel on the boom and an end effector or work unit mounted on the vehicle. The stowed boom, vehicle, and work unit are inserted via the equatorial access port of the torus. Following insertion the boom is deployed and locked in place. The vehicle may then travel along the boom to transport the work unit to any desired location. A novel feature of the concept is the deployable boom. When fully deployed, it closely resembles a conventional curved truss structure in configuration and characteristics. However, the joints of the truss structure are hinged so that it can fold into a compact package, of less than 20% of deployed volume for storage, transportation and insertion into the torus. A full-scale 2-metre long section of this boom was produced for demonstration purposes. As part of the concept definition the work unit for divertor handling was studied to demonstrate that large payloads could be manipulated within the confines of the torus using the in-vessel vehicle system. Principal advantages of the IVVS are its high load capacity and rigidity, low weight and stowed volume, simplicity of control and operation, and its relatively high speed of transportation

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 mechanical brake hardware-in-the-loop simulation of a railway vehicle that accounts for hysteresis and pneumatic cylinder dynamics

Directory of Open Access Journals (Sweden)

Dong-Chan Lee

2015-11-01

Full Text Available A brake hardware-in-the-loop simulation system for a railway vehicle provides an effective platform for testing the braking performance under various dangerous braking conditions. However, in general, four-brake calipers are required to implement a mechanical brake system for one car. In this article, we implement a brake hardware-in-the-loop simulation system only with one brake caliper and three air tanks accounting for hysteresis and pneumatic cylinder dynamics, ultimately saving installation space and reducing financial budget costs. Since the brake caliper has a high nonlinearity, such as hysteresis resulting from friction and from the precompressed spring of the brake cylinder, we measured the hysteresis of the brake caliper clamping force for a mechanical brake system using loadcells, based on which a mathematical model was constructed for the hysteresis of the clamping force between the brake pad and the disk. Moreover, the pneumatic cylinder dynamics are identified and are implemented in three air tanks, together with hysteresis nonlinearity. The proposed brake hardware-in-the-loop simulation system is applied to the wheel-slide protection simulation of a railway vehicle with an initial speed of 80 km/h and demonstrated experimentally accounting for the hysteresis and brake cylinder dynamics.

Development of the heavy manipulator vehicle system

International Nuclear Information System (INIS)

Herbst, C.; Paustian, P.; Kruger, W.

1993-01-01

After the severe reactor accident of Tschernobyl in 1986 MaK System started to develop a Heavy Manipulator Vehicle System under contract from German nuclear technology assistance company ''KHG'' (Kerntechnische Hilfsdienst GmbH). The system comprises a remote controlled manipulator vehicle, a mobile mission control stand as well as a transport/service unit. In order to fulfill the high demands of this complex system a couple of new developments had to be started. The paper describes some of these developments and gives an overview about the main features of the Heavy Manipulator Vehicle System (HMV). (author)

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.

An Improved Shuffled Frog Leaping Algorithm and Its Application in Dynamic Emergency Vehicle Dispatching

Directory of Open Access Journals (Sweden)

Xiaohong Duan

2018-01-01

Full Text Available The traditional method for solving the dynamic emergency vehicle dispatching problem can only get a local optimal strategy in each horizon. In order to obtain the dispatching strategy that can better respond to changes in road conditions during the whole dispatching process, the real-time and time-dependent link travel speeds are fused, and a time-dependent polygonal-shaped link travel speed function is set up to simulate the predictable changes in road conditions. Response times, accident severity, and accident time windows are taken as key factors to build an emergency vehicle dispatching model integrating dynamic emergency vehicle routing and selection. For the unpredictable changes in road conditions caused by accidents, the dispatching strategy is adjusted based on the real-time link travel speed. In order to solve the dynamic emergency vehicle dispatching model, an improved shuffled frog leaping algorithm (ISFLA is proposed. The global search of the improved algorithm uses the probability model of estimation of distribution algorithm to avoid the partial optimal solution. Based on the Beijing expressway network, the efficacy of the model and the improved algorithm were tested from three aspects. The results have shown the following: (1 Compared with SFLA, the optimization performance of ISFLA is getting better and better with the increase of the number of decision variables. When the possible emergency vehicle selection strategies are 815, the objective function value of optimal selection strategies obtained by the base algorithm is 210.10% larger than that of ISFLA. (2 The prediction error of the travel speed affects the accuracy of the initial emergency vehicle dispatching. The prediction error of ±10 can basically meet the requirements of the initial dispatching. (3 The adjustment of emergency vehicle dispatching strategy can successfully bypassed road sections affected by accidents and shorten the response time.

Vehicle brake testing system

Science.gov (United States)

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

2002-11-19

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

New insights into the short pitch corrugation development enigma based on 3D-FE dynamic vehicle-track coupled modelling in frictional rolling contact

NARCIS (Netherlands)

Li, S.; Li, Z.; Nunez Vicencio, Alfredo; Dollevoet, R.P.B.J.

2017-01-01

A three-dimensional (3D) finite element (FE) dynamic frictional rolling contact model is presented for the study of short pitch corrugation that considers direct and instantaneous coupling between the contact mechanics and the structural dynamics in a vehicle-track system. In this study, we examine

Safety of railroad passenger vehicle dynamics : OMNISIM simulation and test correlations for passenger rail cars

Science.gov (United States)

2002-07-01

The purpose of the work is to validate the safety assessment methodology previously developed for passenger rail vehicle dynamics, which requires the application of simulation tools as well as testing of vehicles under different track scenarios. This...

Digital Signal Processing for In-Vehicle Systems and Safety

CERN Document Server

Boyraz, Pinar; Takeda, Kazuya; Abut, Hüseyin

2012-01-01

Compiled from papers of the 4th Biennial Workshop on DSP (Digital Signal Processing) for In-Vehicle Systems and Safety this edited collection features world-class experts from diverse fields focusing on integrating smart in-vehicle systems with human factors to enhance safety in automobiles. Digital Signal Processing for In-Vehicle Systems and Safety presents new approaches on how to reduce driver inattention and prevent road accidents. The material addresses DSP technologies in adaptive automobiles, in-vehicle dialogue systems, human machine interfaces, video and audio processing, and in-vehicle speech systems. The volume also features: Recent advances in Smart-Car technology – vehicles that take into account and conform to the driver Driver-vehicle interfaces that take into account the driving task and cognitive load of the driver Best practices for In-Vehicle Corpus Development and distribution Information on multi-sensor analysis and fusion techniques for robust driver monitoring and driver recognition ...

Impacts of Electric Vehicle Loads on Power Distribution Systems

DEFF Research Database (Denmark)

Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

2010-01-01

operation. This paper investigates the effects on the key power distribution system parameters like voltages, line drops, system losses etc. by integrating electric vehicles in the range of 0-50% of the cars with different charging capacities. The dump as well as smart charging modes of electric vehicles......Electric vehicles (EVs) are the most promising alternative to replace a significant amount of gasoline vehicles to provide cleaner, CO2 free and climate friendly transportation. On integrating more electric vehicles, the electric utilities must analyse the related impacts on the electricity system...... is applied in this analysis. A typical Danish primary power distribution system is used as a test case for the studies. From the simulation results, not more than 10% of electric vehicles could be integrated in the test system for the dump charging mode. About 40% of electric vehicle loads could...

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.

Hybrid and Electric Advanced Vehicle Systems Simulation

Science.gov (United States)

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

1985-01-01

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

Vibration mitigation for in-wheel switched reluctance motor driven electric vehicle with dynamic vibration absorbing structures

Science.gov (United States)

Qin, Yechen; He, Chenchen; Shao, Xinxin; Du, Haiping; Xiang, Changle; Dong, Mingming

2018-04-01

This paper presents a new approach for vibration mitigation based on a dynamic vibration absorbing structure (DVAS) for electric vehicles (EVs) that use in-wheel switched reluctance motors (SRMs). The proposed approach aims to alleviate the negative effects of vibration caused by the unbalanced electromagnetic force (UMEF) that arises from road excitations. The analytical model of SRMs is first formulated using Fourier series, and then a model of the coupled longitudinal-vertical dynamics is developed taking into consideration the external excitations consisting of the aerodynamic drag force and road unevenness. In addition, numerical simulations for a conventional SRM-suspension system and two novel DVASs are carried out for varying road levels specified by ISO standards and vehicle velocities. The results of the comparison reveal that a 35% improvement in ride comfort, 30% improvement of road handling, and 68% improvement in air gap between rotor and stator can be achieved by adopting the novel DVAS compared to the conventional SRM-suspension system. Finally, multi-body simulation (MBS) is performed using LMS Motion to validate the feasibility of the proposed DVAS. Analysis of the results shows that the proposed method can augment the effective application of SRMs in EVs.

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.

36 CFR 1192.173 - Automated guideway transit vehicles and systems.

Science.gov (United States)

2010-07-01

.... Vertical alignment may be accomplished by vehicle air suspension or other suitable means of meeting the... vehicles and systems. 1192.173 Section 1192.173 Parks, Forests, and Public Property ARCHITECTURAL AND... TRANSPORTATION VEHICLES Other Vehicles and Systems § 1192.173 Automated guideway transit vehicles and systems. (a...

Advanced propulsion system concept for hybrid vehicles

Science.gov (United States)

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

1980-01-01

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

Improvement the DTC system for electric vehicles induction motors

Directory of Open Access Journals (Sweden)

Arif Ali

2010-01-01

Full Text Available A three-phase squirrel-cage induction motor is used as a propulsion system of an electric vehicle (EV. Two different control methods have been designed. The first is based on the conventional DTC Scheme adapted for three level inverter. The second is based on the application of fuzzy logic controller to the DTC scheme. The motor is controlled at different operating conditions using a FLC based DTC technique. In the simulation the novel proposed technique reduces the torque and current ripples. The EV dynamics are taken into account.

Experimental Exploration of RSSI Model for the Vehicle Intelligent Position System

Directory of Open Access Journals (Sweden)

Zhichao Cao

2015-01-01

Full Text Available Vehicle intelligent position systems based on Received Signal Strength Indicator (RSSI in Wireless Sensor Networks (WSNs are efficiently utilized. The vehicle’s position accuracy is of great importance for transportation behaviors, such as dynamic vehicle routing problems and multiple pedestrian routing choice behaviors and so on. Therefore, a precise position and available optimization is necessary for total parameters of conventional RSSI model. In this papar, we investigate the experimental performance of translating the power measurements to corresponding distance between each pair of nodes. The priori knowledge about the environment interference could impact the accuracy of vehicles’s position and the reliability of paremeters greatly. Based on the real-world outdoor experiments, we compares different regression analysis of the RSSI model, in order to establish a calibration scheme on RSSI model. We showed that the average error of RSSI model is able to decrease throughout the rules of environmental factor n and shadowing factor ? respectively. Moreover, the calculation complexity is reduced. Since variation tendency of environmental factor n, shadowing factor ? with distance and signal strength could be simulated respectively, RSSI model fulfills the precision of the vehicle intelligent position system.

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

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.

Thirteenth Workshop for Computational Fluid Dynamic Applications in Rocket Propulsion and Launch Vehicle Technology. Volume 2

Science.gov (United States)

Williams, R. W. (Compiler)

1996-01-01

This conference publication includes various abstracts and presentations given at the 13th Workshop for Computational Fluid Dynamic Applications in Rocket Propulsion and Launch Vehicle Technology held at the George C. Marshall Space Flight Center April 25-27 1995. The purpose of the workshop was to discuss experimental and computational fluid dynamic activities in rocket propulsion and launch vehicles. The workshop was an open meeting for government, industry, and academia. A broad number of topics were discussed including computational fluid dynamic methodology, liquid and solid rocket propulsion, turbomachinery, combustion, heat transfer, and grid generation.

Vehicle System Management Modeling in UML for Ares I

Science.gov (United States)

Pearson, Newton W.; Biehn, Bradley A.; Curry, Tristan D.; Martinez, Mario R.

2011-01-01

The Spacecraft & Vehicle Systems Department of Marshall Space Flight Center is responsible for modeling the Vehicle System Management for the Ares I vehicle which was a part of the now canceled Constellation Program. An approach to generating the requirements for the Vehicle System Management was to use the Unified Modeling Language technique to build and test a model that would fulfill the Vehicle System Management requirements. UML has been used on past projects (flight software) in the design phase of the effort but this was the first attempt to use the UML technique from a top down requirements perspective.

A COOPERATIVE ASSISTANCE SYSTEM BETWEEN VEHICLES FOR ELDERLY DRIVERS

Directory of Open Access Journals (Sweden)

Naohisa HASHIMOTO

2009-01-01

Full Text Available This paper proposes a new concept of elderly driver assistance systems, which performs the assistance by cooperative driving between two vehicles, and describes some experiments with elderly drivers. The assistance consists of one vehicle driven by an elderly driver called a guest vehicle and the other driven by a assisting driver called a host vehicle, and the host vehicle assists or escorts the guest vehicle through the inter-vehicle communications. The functions of the systems installed on a single-seat electric vehicle are highly evaluated by subjects of elderly drivers in virtual streets on a test track.

Vehicle Remote Health Monitoring and Prognostic Maintenance System

Directory of Open Access Journals (Sweden)

Uferah Shafi

2018-01-01

Full Text Available In many industries inclusive of automotive vehicle industry, predictive maintenance has become more important. It is hard to diagnose failure in advance in the vehicle industry because of the limited availability of sensors and some of the designing exertions. However with the great development in automotive industry, it looks feasible today to analyze sensor’s data along with machine learning techniques for failure prediction. In this article, an approach is presented for fault prediction of four main subsystems of vehicle, fuel system, ignition system, exhaust system, and cooling system. Sensor is collected when vehicle is on the move, both in faulty condition (when any failure in specific system has occurred and in normal condition. The data is transmitted to the server which analyzes the data. Interesting patterns are learned using four classifiers, Decision Tree, Support Vector Machine, K Nearest Neighbor, and Random Forest. These patterns are later used to detect future failures in other vehicles which show the similar behavior. The approach is produced with the end goal of expanding vehicle up-time and was demonstrated on 70 vehicles of Toyota Corolla type. Accuracy comparison of all classifiers is performed on the basis of Receiver Operating Characteristics (ROC curves.

Sensor system for fuel transport vehicle

Science.gov (United States)

Earl, Dennis Duncan; McIntyre, Timothy J.; West, David L.

2016-03-22

An exemplary sensor system for a fuel transport vehicle can comprise a fuel marker sensor positioned between a fuel storage chamber of the vehicle and an access valve for the fuel storage chamber of the vehicle. The fuel marker sensor can be configured to measure one or more characteristics of one or more fuel markers present in the fuel adjacent the sensor, such as when the marked fuel is unloaded at a retail station. The one or more characteristics can comprise concentration and/or identity of the one or more fuel markers in the fuel. Based on the measured characteristics of the one or more fuel markers, the sensor system can identify the fuel and/or can determine whether the fuel has been adulterated after the marked fuel was last measured, such as when the marked fuel was loaded into the vehicle.

Characterization Test Procedures for Intersection Collision Avoidance Systems Based on Vehicle-to-Vehicle Communications

Science.gov (United States)

2015-12-01

Characterization test procedures have been developed to quantify the performance of intersection collision avoidance (ICA) systems based on vehicle-to-vehicle communications. These systems warn the driver of an imminent crossing-path collision at a r...

A wireless sensor network-based portable vehicle detector evaluation system.

Science.gov (United States)

Yoo, Seong-eun

2013-01-17

In an upcoming smart transportation environment, performance evaluations of existing Vehicle Detection Systems are crucial to maintain their accuracy. The existing evaluation method for Vehicle Detection Systems is based on a wired Vehicle Detection System reference and a video recorder, which must be operated and analyzed by capable traffic experts. However, this conventional evaluation system has many disadvantages. It is inconvenient to deploy, the evaluation takes a long time, and it lacks scalability and objectivity. To improve the evaluation procedure, this paper proposes a Portable Vehicle Detector Evaluation System based on wireless sensor networks. We describe both the architecture and design of a Vehicle Detector Evaluation System and the implementation results, focusing on the wireless sensor networks and methods for traffic information measurement. With the help of wireless sensor networks and automated analysis, our Vehicle Detector Evaluation System can evaluate a Vehicle Detection System conveniently and objectively. The extensive evaluations of our Vehicle Detector Evaluation System show that it can measure the traffic information such as volume counts and speed with over 98% accuracy.

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.

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.

Automated Vehicle Monitoring System

OpenAIRE

Wibowo, Agustinus Deddy Arief; Heriansyah, Rudi

2014-01-01

An automated vehicle monitoring system is proposed in this paper. The surveillance system is based on image processing techniques such as background subtraction, colour balancing, chain code based shape detection, and blob. The proposed system will detect any human's head as appeared at the side mirrors. The detected head will be tracked and recorded for further action.

Vehicle-to-Grid Power in Danish Electric Power Systems

DEFF Research Database (Denmark)

Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

2009-01-01

The integration of renewable energy systems is often constrained by the variable nature of their output. This demands for the services of storing the electricity generated from most of the renewable energy sources. Vehicle-to-grid (V2G) power could use the inherent energy storage of electric...... vehicles and its quick response time to balance and stabilize a power system with fluctuating power. This paper outlines the use of battery electric vehicles in supporting large-scale integration of renewable energy in the Danish electric power systems. The reserve power requirements for a high renewable...... energy penetration could be met by an amount of V2G based electric vehicles less than 10% of the total vehicle need in Denmark. The participation of electric vehicle in ancillary services would earn significant revenues to the vehicle owner. The power balancing services of electric vehicles...

Vehicle health management for guidance, navigation and control systems

Science.gov (United States)

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

1993-01-01

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

Optimization analysis of thermal management system for electric vehicle battery pack

Science.gov (United States)

Gong, Huiqi; Zheng, Minxin; Jin, Peng; Feng, Dong

2018-04-01

Electric vehicle battery pack can increase the temperature to affect the power battery system cycle life, charge-ability, power, energy, security and reliability. The Computational Fluid Dynamics simulation and experiment of the charging and discharging process of the battery pack were carried out for the thermal management system of the battery pack under the continuous charging of the battery. The simulation result and the experimental data were used to verify the rationality of the Computational Fluid Dynamics calculation model. In view of the large temperature difference of the battery module in high temperature environment, three optimization methods of the existing thermal management system of the battery pack were put forward: adjusting the installation position of the fan, optimizing the arrangement of the battery pack and reducing the fan opening temperature threshold. The feasibility of the optimization method is proved by simulation and experiment of the thermal management system of the optimized battery pack.

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.

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.

Impact of the variation in dynamic vehicle load on flexible pavement responses

Science.gov (United States)

Ahsanuzzaman, Md

The purpose of this research was to evaluate the dynamic variation in asphalt pavement critical responses due to dynamic tire load variations. An attempt was also made to develop generalized regression equations to predict the dynamic response variation in flexible pavement under various dynamic load conditions. The study used an extensive database of computed pavement response histories for five different types of sites (smooth, rough, medium rough, very rough and severely rough), two different asphalt pavement structures (thin and thick) at two temperatures (70 °F and 104 °F), subjected to a tandem axle dual tire at three speeds 25, 37 and 50 mph (40, 60 and 80 km/h). All pavement responses were determined using the 3D-Move Analysis program (Version 1.2) developed by University of Nevada, Reno. A new term called Dynamic Response Coefficient (DRC) was introduced in this study to address the variation in critical pavement responses due to dynamic loads as traditionally measured by the Dynamic Load Coefficient (DLC). While DLC represents the additional varying component of the tire load, DRC represents the additional varying component of the response value (standard deviation divided by mean response). In this study, DRC was compared with DLC for five different sites based on the roughness condition of the sites. Previous studies showed that DLC varies with vehicle speed and suspension types, and assumes a constant value for the whole pavement structure (lateral and vertical directions). On the other hand, in this study, DRC was found to be significantly varied with the asphalt pavement and function of pavement structure, road roughness conditions, temperatures, vehicle speeds, suspension types, and locations of the point of interest in the pavement. A major contribution of the study is that the variation of pavement responses due to dynamic load in a flexible pavement system can be predicted with generalized regression equations. Fitting parameters (R2) in the

Design optimization of the transmission system for electric vehicles considering the dynamic efficiency of the regenerative brake

NARCIS (Netherlands)

Zhao, Bolin; Lv, Chen; Hofman, Theo; Steinbuch, Maarten; Zhang, Junzhi; Cao, Dongpu

2018-01-01

In this paper, gear ratios of a two-speed transmission system are optimized for an electric passenger car. Quasi static system models, including the vehicle model, the motor, the battery, the transmission system, and drive cycles are established in MATLAB/Simulink at first. Specifically, since the

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.

Effect of process parameters on the dynamic behavior of polymer electrolyte membrane fuel cells for electric vehicle applications

Directory of Open Access Journals (Sweden)

A.A. Abd El Monem

2014-03-01

Full Text Available This paper presents a dynamic mathematical model for Polymer Electrolyte Membrane “PEM” fuel cell systems to be used for electric vehicle applications. The performance of the fuel cell, depending on the developed model and taking the double layer charging effect into account, is investigated with different process parameters to evaluate their effect on the unit behavior. Thus, it will be easy to develop suitable controllers to regulate the unit operation, which encourages the use of fuel cells especially with electric vehicles applications. The steady-state performance of the fuel cell is verified using a comparison with datasheet data and curves provided by the manufacturer. The results and conclusions introduced in this paper provide a base for further investigation of fuel cells-driven dc motors for electric vehicle.

Optimization of an implicit constrained multi-physics system for motor wheels of electric vehicle

International Nuclear Information System (INIS)

Lei, Fei; Du, Bin; Liu, Xin; Xie, Xiaoping; Chai, Tian

2016-01-01

In this paper, implicit constrained multi-physics model of a motor wheel for an electric vehicle is built and then optimized. A novel optimization approach is proposed to solve the compliance problem between implicit constraints and stochastic global optimization. Firstly, multi-physics model of motor wheel is built from the theories of structural mechanics, electromagnetism and thermal physics. Then, implicit constraints are applied from the vehicle performances and magnetic characteristics. Implicit constrained optimization is carried out by a series of unconstrained optimization and verifications. In practice, sequentially updated subspaces are designed to completely substitute the original design space in local areas. In each subspace, a solution is obtained and is then verified by the implicit constraints. Optimal solutions which satisfy the implicit constraints are accepted as final candidates. The final global optimal solution is optimized from those candidates. Discussions are carried out to discover the differences between optimal solutions with unconstrained problem and different implicit constrained problems. Results show that the implicit constraints have significant influences on the optimal solution and the proposed approach is effective in finding the optimals. - Highlights: • An implicit constrained multi-physics model is built for sizing a motor wheel. • Vehicle dynamic performances are applied as implicit constraints for nonlinear system. • An efficient novel optimization is proposed to explore the constrained design space. • The motor wheel is optimized to achieve maximum efficiency on vehicle dynamics. • Influences of implicit constraints on vehicle performances are compared and analyzed.

Systems analysis in the vehicle powertrain technology VI. Dynamic behaviour of the total system of vehicle power trains; Systemanalyse in der Kfz-Antriebstechnik VI. Dynamisches Gesamtsystemverhalten von Fahrzeugantrieben

Energy Technology Data Exchange (ETDEWEB)

Laschet, Andreas

2011-07-01

The thematic issue under consideration sets new topics in the areas of vibration assessment, NVH optimization of vehicle drives as well as total system approach in the context of the tuning of power trains. Due to the continuously increasing demands on drive technical solutions in automotive technology the total analysis of the complete propulsion system shouldalways be highly valued.

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

FY2016 Vehicle Systems Annual Progress Report

Energy Technology Data Exchange (ETDEWEB)

None, None

2017-10-31

Vehicle Systems is concerned with advancing light-, medium-, and heavy-duty (HD) vehicle systems to support DOE’s goals of developing technologies for the U.S. transportation sector that enhance national energy security,increase U.S. competitiveness in the global economy, and support improvement of U.S. transportation and energy infrastructure.

A stereo vision-based obstacle detection system in vehicles

Science.gov (United States)

Huh, Kunsoo; Park, Jaehak; Hwang, Junyeon; Hong, Daegun

2008-02-01

Obstacle detection is a crucial issue for driver assistance systems as well as for autonomous vehicle guidance function and it has to be performed with high reliability to avoid any potential collision with the front vehicle. The vision-based obstacle detection systems are regarded promising for this purpose because they require little infrastructure on a highway. However, the feasibility of these systems in passenger car requires accurate and robust sensing performance. In this paper, an obstacle detection system using stereo vision sensors is developed. This system utilizes feature matching, epipoplar constraint and feature aggregation in order to robustly detect the initial corresponding pairs. After the initial detection, the system executes the tracking algorithm for the obstacles. The proposed system can detect a front obstacle, a leading vehicle and a vehicle cutting into the lane. Then, the position parameters of the obstacles and leading vehicles can be obtained. The proposed obstacle detection system is implemented on a passenger car and its performance is verified experimentally.

Kinetic energy recovery systems in motor vehicles

Science.gov (United States)

Śliwiński, C.

2016-09-01

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

Robust Road Condition Detection System Using In-Vehicle Standard Sensors

Directory of Open Access Journals (Sweden)

Juan Jesús Castillo Aguilar

2015-12-01

Full Text Available The appearance of active safety systems, such as Anti-lock Braking System, Traction Control System, Stability Control System, etc., represents a major evolution in road safety. In the automotive sector, the term vehicle active safety systems refers to those whose goal is to help avoid a crash or to reduce the risk of having an accident. These systems safeguard us, being in continuous evolution and incorporating new capabilities continuously. In order for these systems and vehicles to work adequately, they need to know some fundamental information: the road condition on which the vehicle is circulating. This early road detection is intended to allow vehicle control systems to act faster and more suitably, thus obtaining a substantial advantage. In this work, we try to detect the road condition the vehicle is being driven on, using the standard sensors installed in commercial vehicles. Vehicle models were programmed in on-board systems to perform real-time estimations of the forces of contact between the wheel and road and the speed of the vehicle. Subsequently, a fuzzy logic block is used to obtain an index representing the road condition. Finally, an artificial neural network was used to provide the optimal slip for each surface. Simulations and experiments verified the proposed method.

Robust Road Condition Detection System Using In-Vehicle Standard Sensors.

Science.gov (United States)

Castillo Aguilar, Juan Jesús; Cabrera Carrillo, Juan Antonio; Guerra Fernández, Antonio Jesús; Carabias Acosta, Enrique

2015-12-19

The appearance of active safety systems, such as Anti-lock Braking System, Traction Control System, Stability Control System, etc., represents a major evolution in road safety. In the automotive sector, the term vehicle active safety systems refers to those whose goal is to help avoid a crash or to reduce the risk of having an accident. These systems safeguard us, being in continuous evolution and incorporating new capabilities continuously. In order for these systems and vehicles to work adequately, they need to know some fundamental information: the road condition on which the vehicle is circulating. This early road detection is intended to allow vehicle control systems to act faster and more suitably, thus obtaining a substantial advantage. In this work, we try to detect the road condition the vehicle is being driven on, using the standard sensors installed in commercial vehicles. Vehicle models were programmed in on-board systems to perform real-time estimations of the forces of contact between the wheel and road and the speed of the vehicle. Subsequently, a fuzzy logic block is used to obtain an index representing the road condition. Finally, an artificial neural network was used to provide the optimal slip for each surface. Simulations and experiments verified the proposed method.

The behaviour of a vehicle’s suspension system on dynamic testing conditions

Science.gov (United States)

Mihon, L.; Lontiş, N.; Deac, S.

2018-01-01

The paper presents a car suspension’s behaviour on dynamic testing conditions through theoretical and mathematical simulation on specific model, on the single traction wheel, according to the real vehicle and by experiment on the test bench by reproducing the road’s geometry and vehicle’s speed and measuring the acceleration and damping response of the suspension system on that wheel. There are taking in consideration also the geometry and properties of the tyre-wheel model and physical wheel’s properties. The results are important due to the suspension’s model properties which allows to extend the theory and applications to the whole vehicle for improving the vehicle’s dynamics.

Dynamic Stiffness Transfer Function of an Electromechanical Actuator Using System Identification

Science.gov (United States)

Kim, Sang Hwa; Tahk, Min-Jea

2018-04-01

In the aeroelastic analysis of flight vehicles with electromechanical actuators (EMAs), an accurate prediction of flutter requires dynamic stiffness characteristics of the EMA. The dynamic stiffness transfer function of the EMA with brushless direct current (BLDC) motor can be obtained by conducting complicated mathematical calculations of control algorithms and mechanical/electrical nonlinearities using linearization techniques. Thus, system identification approaches using experimental data, as an alternative, have considerable advantages. However, the test setup for system identification is expensive and complex, and experimental procedures for data collection are time-consuming tasks. To obtain the dynamic stiffness transfer function, this paper proposes a linear system identification method that uses information obtained from a reliable dynamic stiffness model with a control algorithm and nonlinearities. The results of this study show that the system identification procedure is compact, and the transfer function is able to describe the dynamic stiffness characteristics of the EMA. In addition, to verify the validity of the system identification method, the simulation results of the dynamic stiffness transfer function and the dynamic stiffness model were compared with the experimental data for various external loads.

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.

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.

AUTOMATED COMPUTER SYSTEM OF VEHICLE VOICE CONTROL

Directory of Open Access Journals (Sweden)

A. Kravchenko

2009-01-01

Full Text Available Domestic cars and foreign analogues are considered. Failings are marked related to absence of the auxiliary electronic system which serves for the increase of safety and comfort of vehicle management. Innovative development of the complex system of vocal management which provides reliability, comfort and simplicity of movement in a vehicle is offered.

Vehicle rollover risk and electronic stability control systems.

Science.gov (United States)

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

2008-06-01

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

Trajectory planning and tracking for autonomous vehicles navigation

OpenAIRE

Chebly , Alia

2017-01-01

In this thesis, the trajectory planning and the control of autonomous vehicles are addressed. As a first step, a multi-body modeling technique is used to develop a four wheeled vehicle planar model. This technique considers the vehicle as a robot consisting of articulated bodies. The geometric description of the vehicle system is derived using the modified Denavit Hartenberg parameterization and then the dynamic model of the vehicle is computed by applying a recursive method used in robotics,...

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.

Performance enhancement of low-cost, high-accuracy, state estimation for vehicle collision prevention system using ANFIS

Science.gov (United States)

Saadeddin, Kamal; Abdel-Hafez, Mamoun F.; Jaradat, Mohammad A.; Jarrah, Mohammad Amin

2013-12-01

In this paper, a low-cost navigation system that fuses the measurements of the inertial navigation system (INS) and the global positioning system (GPS) receiver is developed. First, the system's dynamics are obtained based on a vehicle's kinematic model. Second, the INS and GPS measurements are fused using an extended Kalman filter (EKF) approach. Subsequently, an artificial intelligence based approach for the fusion of INS/GPS measurements is developed based on an Input-Delayed Adaptive Neuro-Fuzzy Inference System (IDANFIS). Experimental tests are conducted to demonstrate the performance of the two sensor fusion approaches. It is found that the use of the proposed IDANFIS approach achieves a reduction in the integration development time and an improvement in the estimation accuracy of the vehicle's position and velocity compared to the EKF based approach.

Integrated vehicle-based safety systems light-vehicle field operational test key findings report.

Science.gov (United States)

2011-01-01

"This document presents key findings from the light-vehicle field operational test conducted as part of the Integrated Vehicle-Based Safety Systems program. These findings are the result of analyses performed by the University of Michigan Transportat...

Modular Energy Storage System for Alternative Energy Vehicles

Energy Technology Data Exchange (ETDEWEB)

Thomas, Janice [Magna Electronics Inc., Auburn Hills, MI (United States); Ervin, Frank [Magna Electronics Inc., Auburn Hills, MI (United States)

2012-05-15

An electrical vehicle environment was established to promote research and technology development in the area of high power energy management. The project incorporates a topology that permits parallel development of an alternative energy delivery system and an energy storage system. The objective of the project is to develop technologies, specifically power electronics, energy storage electronics and controls that provide efficient and effective energy management between electrically powered devices in alternative energy vehicles plugin electric vehicles, hybrid vehicles, range extended vehicles, and hydrogen-based fuel cell vehicles. In order to meet the project objectives, the Vehicle Energy Management System (VEMS) was defined and subsystem requirements were obtained. Afterwards, power electronics, energy storage electronics and controls were designed. Finally, these subsystems were built, tested individually, and integrated into an electric vehicle system to evaluate and optimize the subsystems performance. Phase 1 of the program established the fundamental test bed to support development of an electrical environment ideal for fuel cell application and the mitigation of many shortcomings of current fuel cell technology. Phase 2, continued development from Phase 1, focusing on implementing subsystem requirements, design and construction of the energy management subsystem, and the integration of this subsystem into the surrogate electric vehicle. Phase 2 also required the development of an Alternative Energy System (AES) capable of emulating electrical characteristics of fuel cells, battery, gen set, etc. Under the scope of the project, a boost converter that couples the alternate energy delivery system to the energy storage system was developed, constructed and tested. Modeling tools were utilized during the design process to optimize both component and system design. This model driven design process enabled an iterative process to track and evaluate the impact

An Assessment Methodology for Emergency Vehicle Traffic Signal Priority Systems

OpenAIRE

McHale, Gene Michael

2002-01-01

Emergency vehicle traffic signal priority systems allow emergency vehicles such as fire and emergency medical vehicles to request and receive a green traffic signal indication when approaching an intersection. Such systems have been around for a number of years, however, there is little understanding of the costs and benefits of such systems once they are deployed. This research develops an improved method to assess the travel time impacts of emergency vehicle traffic signal priority system...

Dynamic and Static Behavior of Hollow-Core FRP-Concrete-Steel and Reinforced Concrete Bridge Columns under Vehicle Collision

Directory of Open Access Journals (Sweden)

Omar I. Abdelkarim

2016-12-01

Full Text Available This paper presents the difference in behavior between hollow-core fiber reinforced polymer-concrete-steel (HC-FCS columns and conventional reinforced concrete (RC columns under vehicle collision in terms of dynamic and static forces. The HC-FCS column consisted of an outer FRP tube, an inner steel tube, and a concrete shell sandwiched between the two tubes. The steel tube was hollow inside and embedded into the concrete footing with a length of 1.5 times the tube diameter while the FRP tube stopped at the top of footing. The RC column had a solid cross-section. The study was conducted through extensive finite element impact analyses using LS-DYNA software. Nine parameters were studied including the concrete material model, unconfined concrete compressive strength, material strain rate, column height-to-diameter ratio, column diameter, column top boundary condition, axial load level, vehicle velocity, and vehicle mass. Generally, the HC-FCS columns had lower dynamic forces and higher static forces than the RC columns when changing the values of the different parameters. During vehicle collision with either the RC or the HC-FCS columns, the imposed dynamic forces and their equivalent static forces were affected mainly by the vehicle velocity and vehicle mass.

Dynamic Gas Flow Effects on the ESD of Aerospace Vehicle Surfaces

Science.gov (United States)

Hogue, Michael D.; Kapat, Jayanta; Ahmed, Kareem; Cox, Rachel E.; Wilson, Jennifer G.; Calle, Luz M.; Mulligan, Jaysen

2016-01-01

The purpose of this work is to develop a dynamic version of Paschen's Law that takes into account the flow of ambient gas past aerospace vehicle surfaces. However, the classic Paschen's Law does not take into account the flow of gas of an aerospace vehicle, whose surfaces may be triboelectrically charged by dust or ice crystal impingement, traversing the atmosphere. The basic hypothesis of this work is that the number of electron-ion pairs created per unit distance by the electric field between the electrodes is mitigated by the electron-ion pairs removed per unit distance by the flow of gas. The revised Paschen equation must be a function of the mean velocity, v(sub xm), of the ambient gas and reduces to the classical version of Paschen's law when the gas mean velocity, v(sub xm) = 0. New formulations of Paschen's Law, taking into account Mach number and dynamic pressure, derived by the authors, will be discussed. These equations will be evaluated by wind tunnel experimentation later this year. Based on the results of this work, it is hoped that the safety of aerospace vehicles will be enhanced with a redefinition of electrostatic launch commit criteria. It is also possible that new products, such as new anti-static coatings, may be formulated from this data.

Model supported sensor information platform for the transversal dynamics and longitudinal dynamics of vehicles. Applications to error diagnostics and error tolerance; Modellgestuetzte Sensorinformationsplattform fuer die Quer- und Laengsdynamik von Kraftfahrzeugen. Anwendungen zur Fehlerdiagnose und Fehlertoleranz

Energy Technology Data Exchange (ETDEWEB)

Halbe, Iris

2008-07-01

The contribution under consideration contacts engineers and scientists within the range of the motor vehicle dynamics. For the monitoring of the signals measured in series vehicle, a sensor information platform is designed. Thus, this supplies correct sensor information to the monitoring systems and offers estimated parameters and conditions for the regulation. The basis is a comprehensive concept of the transverse dynamics, longitudinal dynamics and staggering dynamics with different physical and experimental models. On the basis of these models, several procedures of error recognition are pointed out (observer, parity equations, parameter estimation), and their suitability in the driving dynamics is examined. Based on the results of error recognition, the defective sensor is diagnosed with Fuzzy in order to replace it with a computed signal. This error tolerance becomes possible by a two-trace model with a Kalman filter. Furthermore, conditions and parameters are estimated with different methods.

Usability engineering of "In Vehicle Information Systems" with multi-tasking GOMS

OpenAIRE

Urbas, L.; Leuchter, S.

2008-01-01

The developments in vehicle electronics and new services are supposed to promise more convenience in driving. The offers and ideas range from vehicle-related installations, such as accident alert, petrol station assistance, dynamic navigation and travel guide, to communication and entertainment services. There is one central design problem that is essential for achieving the main objective "safe motor vehicle driving", i.e. the use of the new service must not unduly distract the driver. In th...

49 CFR 38.173 - Automated guideway transit vehicles and systems.

Science.gov (United States)

2010-10-01

... accomplished by vehicle air suspension or other suitable means of meeting the requirement. (c) In stations... 49 Transportation 1 2010-10-01 2010-10-01 false Automated guideway transit vehicles and systems... DISABILITIES ACT (ADA) ACCESSIBILITY SPECIFICATIONS FOR TRANSPORTATION VEHICLES Other Vehicles and Systems § 38...

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.

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.

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...

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.

Numerical simulation of shock absorbers heat load for semi-active vehicle suspension system

Directory of Open Access Journals (Sweden)

Demić Miroslav D.

2016-01-01

Full Text Available Dynamic simulation, based on modelling, has a significant role during to the process of vehicle development. It is especially important in the first design stages, when relevant parameters are to be defined. Shock absorber, as an executive part of a semi-active suspension system, is exposed to thermal loads which can lead to its damage and degradation of characteristics. Therefore, this paper attempts to analyze a conversion of mechanical work into heat energy by use of a method of dynamic simulation. The issue of heat dissipation from the shock absorber has not been taken into consideration.

Vehicle speed guidance strategy at signalized intersection based on cooperative vehicle infrastructure system

Directory of Open Access Journals (Sweden)

Fengyuan JIA

2017-10-01

Full Text Available In order to reduce stopping time of vehicle at a signalized intersection, aiming at the difficulty, even the impossibility to obtain real-time queue length of intersection in third and fourth-tier cities in China sometimes, a speed guidance strategy based on cooperative vehicle infrastructure system is put forward and studied. For validating the strategy, the traffic signal timing data of the intersection at Hengshan Road and North Fengming Lake Road in Wuhu is collected by a vehicular traffic signal reminder system which is designed. The simulation experiments using the acquired data are done by software VISSIM. The simulation results demonstrate that the strategy under high and low traffic flow can effectively decrease the link travel-time, reducing average ratio is 9.2 % and 13.0 %, respectively, and the effect under low traffic flow is better than that under high traffic flow. The strategy improves efficiency of traffic at a signalized intersection and provides an idea for the application of vehicle speed guidance based on cooperative vehicle infrastructure system.

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.

Obstacle detection system for underground mining vehicles

Energy Technology Data Exchange (ETDEWEB)

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

1998-01-01

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

Investigating the impact of in-vehicle transients on diesel soot emissions

Directory of Open Access Journals (Sweden)

Filipi Zoran

2008-01-01

Full Text Available This paper describes development of a test cell setup for concurrent running of a real engine and a simulation of the vehicle system, and its use for investigating highly-dynamic engine-in-vehicle operation and its effect on diesel engine emissions. Running an engine in the test cell under conditions experienced in the vehicle enables acquiring detailed insight into dynamic interactions between power train sub-systems, and the impact of it on fuel consumption and transient emissions. This type of data may otherwise be difficult and extremely costly to obtain from a vehicle prototype test. In particular, engine system response during critical transients and the effect of transient excursions on emissions are investigated using advanced, fast-response test instrumentation and emissions analyzers. Main enablers of the work include the highly dynamic AC electric dynamometer with the accompanying computerized control system and the computationally efficient simulation of the driveline/vehicle system. The latter is developed through systematic energy-based proper modeling that tailors the virtual model to capture critical powertrain transients while running in real time. Coupling the real engine with the virtual driveline/vehicle offers a chance to easily modify vehicle parameters, and even study different power train configurations. In particular, the paper describes the engine-in-the-loop study of a V-8, 6l engine coupled to a virtual 4´4 off road vehicle. This engine is considered as a high-performance option for this truck and the real prototype of the complete vehicle does not exist yet. The results shed light on critical transients in a conventional powertrain and their effect on NOx and soot emissions. Measurements demonstrate very large spikes of particulate concentration at the initiation of vehicle acceleration events. Characterization of transients and their effect on particulate emission provides a basis for devising engine-level or

On-demand high-capacity ride-sharing via dynamic trip-vehicle assignment.

Science.gov (United States)

Alonso-Mora, Javier; Samaranayake, Samitha; Wallar, Alex; Frazzoli, Emilio; Rus, Daniela

2017-01-17

Ride-sharing services are transforming urban mobility by providing timely and convenient transportation to anybody, anywhere, and anytime. These services present enormous potential for positive societal impacts with respect to pollution, energy consumption, congestion, etc. Current mathematical models, however, do not fully address the potential of ride-sharing. Recently, a large-scale study highlighted some of the benefits of car pooling but was limited to static routes with two riders per vehicle (optimally) or three (with heuristics). We present a more general mathematical model for real-time high-capacity ride-sharing that (i) scales to large numbers of passengers and trips and (ii) dynamically generates optimal routes with respect to online demand and vehicle locations. The algorithm starts from a greedy assignment and improves it through a constrained optimization, quickly returning solutions of good quality and converging to the optimal assignment over time. We quantify experimentally the tradeoff between fleet size, capacity, waiting time, travel delay, and operational costs for low- to medium-capacity vehicles, such as taxis and van shuttles. The algorithm is validated with ∼3 million rides extracted from the New York City taxicab public dataset. Our experimental study considers ride-sharing with rider capacity of up to 10 simultaneous passengers per vehicle. The algorithm applies to fleets of autonomous vehicles and also incorporates rebalancing of idling vehicles to areas of high demand. This framework is general and can be used for many real-time multivehicle, multitask assignment problems.

Review on Automotive Power Generation System on Plug-in Hybrid Electric Vehicles & Electric Vehicles

Directory of Open Access Journals (Sweden)

Leong Yap Wee

2016-01-01

Full Text Available Regenerative braking is a function to recharge power bank on the Plug-in electric vehicles (PHEV and electric vehicles (EV. The weakness of this system is, it can only perform its function when the vehicle is slowing down or by stepping the brake foot pedal. In other words, the electricity recharging system is inconsistent, non-continuous and geography dependent. To overcome the weakness of the regenerative braking system, it is suggested that to apply another generator which is going to be parallel with the regenerative braking system so that continuous charging can be achieved. Since the ironless electricity generator has a less counter electromotive force (CEMF comparing to an ironcored electricity generator and no cogging torque. Applying the ironless electricity generator parallel to the regenerative braking system is seen one of the options which creates sustainable charging system compared to cored electricity generator.

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.

Experimental Autonomous Vehicle Systems

DEFF Research Database (Denmark)

Ravn, Ole; Andersen, Nils Axel

1998-01-01

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

Optimal Charging of Electric Drive Vehicles: A Dynamic Programming Approach

DEFF Research Database (Denmark)

Delikaraoglou, Stefanos; Capion, Karsten Emil; Juul, Nina

2013-01-01

, therefore, we propose an ex ante vehicle aggregation approach. We illustrate the results in a Danish case study and find that, although optimal management of the vehicles does not allow for storage and day-to-day flexibility in the electricity system, the market provides incentive for intra-day flexibility....

A Review Of Design And Control Of Automated Guided Vehicle Systems

OpenAIRE

Le-Anh, Tuan; Koster, René

2004-01-01

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

System Architecture Design for Electric Vehicle (EV) Systems

DEFF Research Database (Denmark)

Xu, Zhao; Wu, Qiuwei; Nielsen, Arne Hejde

2010-01-01

The electric vehicle (EV) system should fulfill the energy needs of EVs to meet the EV users’ driving requirements and enable the system service from EVs to support the power system operation with high penetration of renewable energy resources (RES) by providing necessary infrastructures. In orde...

Dynamic response characteristics of the high-temperature superconducting maglev system under lateral eccentric distance

Science.gov (United States)

Wang, Bo; Zheng, Jun; Si, Shuaishuai; Qian, Nan; Li, Haitao; Li, Jipeng; Deng, Zigang

2016-07-01

Off-centre operation of high-temperature superconducting (HTS) maglev systems caused by inevitable conditions such as the misregistration of vehicle, crosswind and curve negotiation, may change the distribution of the trapped flux in the HTS bulks and the magnetic interaction between HTS bulks and the PMG. It impacts on the performance of HTS maglev, and more seriously makes the maglev vehicle overturned. Therefore, understanding the performance of the HTS maglev in off-center operation is very important. In this paper, the dynamic response characteristics of a cryostat with twenty-four onboard YBaCuO superconductor bulks were experimentally investigated at different eccentric distances under loads before the initial FC process. Parameters such as vibration accelerations, displacement, natural frequency and dynamic stiffness were acquired and analyzed via the B&K vibration analyzer and laser displacement sensors. Results suggest that the natural frequency and dynamic stiffness of the maglev vehicle would be obviously reduced with the eccentric distance, posing negative effects on the stability of HTS maglev.

Comparative analysis of aluminum-air battery propulsion systems for passenger vehicles

Science.gov (United States)

Salisbury, J. D.; Behrin, E.; Kong, M. K.; Whisler, D. J.

1980-02-01

Three electric propulsion systems using an aluminum air battery were analyzed and compared to the internal combustion engine (ICE) vehicle. The engine and fuel systems of a representative five passenger highway vehicle were replaced conceptually by each of the three electric propulsion systems. The electrical vehicles were constrained by the computer simulation to be equivalent to the ICE vehicle in range and acceleration performance. The vehicle masses and aluminum consumption rates were then calculated for the electric vehicles and these data were used as figures of merit. The Al-air vehicles analyzed were (1) an Al-air battery only electric vehicle; (2) an Al-air battery combined with a nickel zinc secondary battery for power leveling and regenerative braking; and (3) an Al-air battery combined with a flywheel for power leveling and regenerative braking. All three electric systems compared favorably with the ICE vehicle.

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.